Storage device and storage method

Abstract

The invention relates to a storage device and method, and the device comprises a storage module which comprises a first mechanical arm and a storage position, the storage position is used for storing an object, and the first mechanical arm is used for moving a tray of a tray transfer mechanism to the storage position and moving the tray of the storage position to the tray transfer mechanism; the arrangement module comprises a second mechanical arm and a tray transferring mechanism, the second mechanical arm is used for transferring the to-be-stored objects to a tray borne by the tray transferring mechanism, and the tray transferring mechanism is used for transferring the tray to a connector of the storage module and the arrangement module; the tray has a first state in which no object is placed and a second state in which the object is placed; the control module is used for acquiring the tray bearing condition of the tray transfer mechanism; responding to the object storage instruction, and obtaining classification information of the object; and when the tray transfer mechanism has the tray in the first state, the second mechanical arm is controlled to place the object in the vacancy of the tray in the first state, the type of the tray is updated based on the classification information, and the updated type is obtained. The device can improve the efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a storage device and a storage method. Background Art

[0002] In the technical field of medical devices, a storage module is used to store objects such as samples and quality control products. Before storing an object, the object is first placed into a tray of a sorting module, and then the tray is placed into an idle position of the storage module. When an object needs to be retrieved from the storage module, the tray where the object is located needs to be searched, and then the tray is taken out to the sorting module, and then the target object on the tray is taken out.

[0003] When different types of objects need to be stored in the storage module, since the storage times of different types of objects are random, if the storage module does not define the types of trays, different types of objects will be placed on the same tray, resulting in inability to classify and manage. And when a user temporarily needs to retrieve multiple objects of the same type, it takes a long time to wait. In the prior art, to solve the problems of classification management and long waiting time, it is proposed to manually set the types of each tray in advance to classify and store the objects. However, when the number of trays is large, the manual setting operation is relatively cumbersome, resulting in reduced efficiency. Summary of the Invention

[0004] Based on this, it is necessary to provide a storage device and a storage method that can improve work efficiency for the above technical problems.

[0005] In a first aspect, the present application provides a storage device, which includes:

[0006] A storage module, including a first robotic arm and storage positions, where the storage positions are used for cryogenic storage of objects to be stored, and the first robotic arm is used to transfer the tray carried on a tray transfer mechanism to the storage position, and to transfer the tray placed in the storage position to the tray transfer mechanism;

[0007] A sorting module, including a second robotic arm and the tray transfer mechanism, where the second robotic arm is used to transfer the object to be stored to the tray carried on the tray transfer mechanism, and the tray transfer mechanism is used to move the carried tray to the interface between the storage module and the sorting module;

[0008] The tray includes a first state where no object is placed and a second state where an object is placed;

[0009] A control module, configured to obtain the tray loading condition of the tray transfer mechanism; in response to an object depositing instruction, obtain the classification information of the object to be stored; when the tray transfer mechanism is carrying the tray in the first state, control the second robotic arm to place the object in an empty space of the tray in the first state, and update the type of the tray based on the classification information of the object to obtain the updated type of the tray.

[0010] In one embodiment, the control module is further configured to:

[0011] When the tray transfer mechanism is carrying the tray in the second state, determine whether the type of the tray matches the classification information of the object;

[0012] When the classification information of the object matches the type of the tray, place the object to be stored in an empty space of the tray to be transferred to the storage location for storage.

[0013] In one embodiment, the control module is further configured to:

[0014] When the tray transfer mechanism is simultaneously carrying the tray in the first state and the tray in the second state, determine whether the type of the tray in the second state matches the classification information of the object;

[0015] When the classification information of the object matches the type of the tray in the second state, place the object to be stored in an empty space of the tray in the second state to be transferred to the storage location for storage;

[0016] When the classification information of the object does not match the type of the tray in the second state, place the object to be stored in an empty space of the tray in the first state to be transferred to the storage location for storage.

[0017] In one embodiment, when the classification information of the object matches the type of the tray, placing the object to be stored in an empty space of the tray includes:

[0018] Determine the label information of the tray, and screen out the target identification information that matches the label information from the identification information of each stored object in the storage module, and count the number of the target identification information;

[0019] When the number of the target identification information is less than the preset placement number of the tray, determine that there is an empty space in the tray;

[0020] Control the second robotic arm to place the object to be stored in the empty space of the tray.

[0021] In one embodiment, the control module is further configured to:

[0022] In the case where the classification information of the object does not match the type of the tray, control the first robotic arm to transfer the tray to the storage location;

[0023] According to the types of the trays placed in the storage location, determine a first target tray that matches the classification information of the object from the trays placed in the storage location;

[0024] Control the first robotic arm to transfer the first target tray to the tray transfer mechanism to place the object to be stored in the empty space of the first target tray.

[0025] In one embodiment, the determining a first target tray that matches the classification information of the object from the trays placed in the storage location according to the types of the trays placed in the storage location includes:

[0026] According to the types of the trays placed in the storage location, determine candidate trays that match the classification information of the object from the trays placed in the storage location;

[0027] Determine the candidate tray with an empty space and the least number of empty spaces as the first target tray.

[0028] In one embodiment, the control module is further configured to:

[0029] In the case where the classification information of the object does not match the type of the tray, if there is a tray placement position on the tray transfer mechanism that does not carry a tray, control the tray transfer mechanism to translate the tray placement position that does not carry a tray to the interface between the storage module and the sorting module;

[0030] According to the types of the trays placed in the storage location, determine a second target tray that matches the classification information of the object from the trays placed in the storage location;

[0031] Control the first robotic arm to transfer the second target tray to the tray placement position that does not carry a tray to place the object to be stored in the empty space of the second target tray.

[0032] In one embodiment, the control module is further configured to:

[0033] When the pallet transfer mechanism does not carry the pallet, control the first robotic arm to transfer the third target pallet placed at the storage position to the pallet transfer mechanism, so as to place the object to be stored in the empty space of the third target pallet; the type of the third target pallet matches the classification information of the object and there is an empty space, and / or the third target pallet is in the first state.

[0034] In one embodiment, the pallet transfer mechanism includes a take-out pallet placement position and a deposit pallet placement position. The deposit pallet placement position is used to carry the pallet allowing the placement of the object to be stored, and the take-out pallet placement position is used to carry the pallet allowing the placement of the object to be taken out; the second robotic arm is further configured to take out the object to be taken out from the pallet carried at the take-out pallet placement position; the control module is further configured to:

[0035] In response to an object take-out instruction, determine the fourth target pallet where the object to be taken out is located from the storage position; the object take-out instruction carries the identification information of the object to be taken out, the position information of the fourth target pallet in the storage position, and the hole position information of the object to be taken out on the fourth target pallet; the priority of the object take-out instruction is higher than the priority of the object deposit instruction;

[0036] According to the position information, control the first robotic arm to transfer the fourth target pallet from the storage position to the pallet transfer mechanism;

[0037] According to the hole position information, control the second robotic arm to take out the object to be taken out from the fourth target pallet;

[0038] If the object to be taken out is the last object in the fourth target pallet, update the type of the fourth target pallet to an empty pallet.

[0039] In one embodiment, obtaining the pallet loading situation of the pallet transfer mechanism includes:

[0040] When the storage device is initialized, control the sorting module to detect the pallet loading situation of the pallet transfer mechanism;

[0041] When it is detected that the pallet transfer mechanism carries the pallet, obtain the label information of the carried pallet;

[0042] Based on the label information of the pallet, obtain the type of the pallet to determine the pallet loading situation of the pallet transfer mechanism, and store the object to be stored based on the pallet loading situation; the pallet loading situation is used to determine whether the pallet transfer mechanism currently carries the pallet and to determine the type of the pallet.

[0043] In one embodiment, the control module is further configured to:

[0044] When the second robotic arm places the object on the tray, trigger a transfer waiting instruction and time the waiting duration of the tray transfer mechanism; the transfer waiting instruction carries a preset waiting duration;

[0045] When the waiting duration of the tray transfer mechanism exceeds the preset waiting duration, control the tray transfer mechanism to translate to the interface between the storage module and the sorting module, so that the first robotic arm places the tray in the storage position.

[0046] In one embodiment, the control module is further configured to:

[0047] Obtain the preset storage area of each type of tray in the storage position;

[0048] According to the type of the tray to be transferred to the storage position, control the first robotic arm to place the tray in the corresponding preset storage area in the storage position.

[0049] In a second aspect, the present application provides a storage method for a storage device, where the storage device includes a storage module, a sorting module, and a tray:

[0050] The storage module includes a first robotic arm and a storage position, the storage position is used for low-temperature storage of objects to be stored, and the first robotic arm is used to transfer the tray carried on the tray transfer mechanism to the storage position and transfer the tray placed in the storage position to the tray transfer mechanism;

[0051] The sorting module includes a second robotic arm and the tray transfer mechanism, the second robotic arm is used to transfer the object to be stored to the tray carried on the tray transfer mechanism, and the tray transfer mechanism is used to move the carried tray to the interface between the storage module and the sorting module;

[0052] The tray includes a first state in which no object is placed and a second state in which an object is placed;

[0053] The method includes:

[0054] Obtain the tray loading condition of the tray transfer mechanism;

[0055] In response to an object storage instruction, obtain the classification information of the object to be stored;

[0056] When the tray transfer mechanism carries the tray in the first state, control the second robotic arm to place the object in the empty space of the tray in the first state, and update the type of the tray based on the classification information of the object to obtain the updated type of the tray.

[0057] The above storage device and storage method obtain the tray loading situation of the tray transfer mechanism, respond to the object storage instruction, obtain the classification information of the object to be stored, when the tray transfer mechanism carries the tray in the first state, control the second robotic arm to place the object in the empty space of the tray in the first state, and update the type of the tray based on the classification information of the object to obtain the updated type of the tray. In this way, different types of objects can be classified and stored without manually setting the type of each tray, improving the storage work efficiency. In addition, the storage device and storage method do not require a fixed number of trays and can be automatically adjusted according to the objects to be stored, with more flexible operation, avoiding waste of trays and affecting work efficiency when the number settings of different types of trays are unreasonable. Description of the Drawings

[0058] Figure 1 It is a structural block diagram of a storage device in an embodiment;

[0059] Figure 2 It is a schematic diagram of the duration setting interface in an embodiment;

[0060] Figure 3 It is a schematic flow diagram of the storage method of a storage device in an embodiment.

[0061] Among them, the above drawings include the following reference numerals:

[0062] Storage device 100, storage module 102, sorting module 104, tray 106, control module 108, first robotic arm 1021, storage location 1022, second robotic arm 1041, tray transfer mechanism 1042. Detailed Description of the Embodiment

[0063] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] Such as Figure 1As shown in the figure, an embodiment of the present application provides a storage device. The storage device 100 includes a storage module 102, a sorting module 104, a tray 106, and a control module 108. The storage module 102 includes a first robotic arm 1021 and storage positions 1022. The storage positions 1022 are used for storing objects to be stored at low temperature. The first robotic arm 1021 is used to transfer the tray 106 carried on the tray transfer mechanism 1042 to the storage position 1022, and to transfer the tray 106 placed at the storage position 1022 to the tray transfer mechanism 1042. The sorting module 104 includes a second robotic arm 1041 and a tray transfer mechanism 1042. The second robotic arm 1041 is used to transfer the object to be stored to the tray 106 carried on the tray transfer mechanism 1042. The tray transfer mechanism 1042 is used to move the carried tray 106 to the interface between the storage module 102 and the sorting module 104. The tray 106 includes a first state in which no object is placed and a second state in which an object is placed. The control module 108 is used to obtain the tray loading situation of the tray transfer mechanism 1042; in response to an object storage instruction, obtain the classification information of the object to be stored; when the tray transfer mechanism 1042 carries a tray 106 in the first state, control the second robotic arm 1041 to place the object in the empty space of the tray 106 in the first state, and based on the classification information of the object, update the type of the tray 106 to obtain the updated type of the tray 106.

[0065] In some embodiments, the storage module further includes a warehouse door located at the interface between the storage module and the sorting module. The warehouse door includes an open state and a closed state. Further, during the process of taking out or storing a tray from the storage module, control the warehouse door at the interface between the storage module and the sorting module to open. When no tray is taken out or stored in the storage module, control the warehouse door at the interface between the storage module and the sorting module to close, so as to maintain the stability of the internal temperature of the storage module.

[0066] Among them, the tray loading situation is used to determine whether the tray transfer mechanism 1042 carries a tray and the type of the tray carried in the tray transfer mechanism 1042. Specifically, according to the tray loading situation, it can be determined whether the tray carried in the tray transfer mechanism 1042 is an empty tray without an object (i.e., the first state), and the type of the tray with an object placed can be determined. For example, if the tray carried in the tray transfer mechanism 1042 is an empty tray without an object (i.e., the first state), the type of the tray carried in the tray transfer mechanism 1042 is an empty tray. If the tray carried in the tray transfer mechanism 1042 is a tray with an object placed (i.e., the second state) and the placed object is a quality control product, the type of the tray carried in the tray transfer mechanism 1042 is a quality control product tray.

[0067] Further, obtain the tray loading condition of the tray transfer mechanism, including: during the initialization of the storage device, obtain the tray loading condition of the tray transfer mechanism, and / or during the process of the storage device accessing an object, obtain the tray loading condition of the tray transfer mechanism. Specifically, during the process of the storage device storing an object, place the object to be stored in the empty space of the tray in the first state, and based on the classification information of the object, update the type of the tray to obtain the updated type of the tray, and at the same time store the updated type of the tray, so as to determine the tray loading condition of the tray transfer mechanism in real time according to the updated type of the tray, and thus deposit and retrieve the object according to the tray loading condition.

[0068] The objects to be stored include, but are not limited to, various types of samples and reagents. Further, the reagents include, but are not limited to, quality control products and calibration products; the samples include, but are not limited to, blood samples and body fluid samples. The samples can also be routine samples, emergency samples, and error samples. Specifically, the routine samples can be routine centrifuged samples and routine non-centrifuged samples. The classification information of the object can be understood as the category to which the object belongs. For example, if the object is a blood sample, the classification information is blood sample; if the object is a quality control product, the classification information is quality control product; if the object is a reagent, the classification information is reagent.

[0069] Whether the tray transfer mechanism carries a tray in the first state is determined according to the tray loading condition.

[0070] Further, each tray can be used to place multiple objects. The objects to be stored are allowed to be placed in one of the empty spaces of the tray, or can be placed in sequence. For example, when placing multiple objects in tray A in the first state, according to the number of each empty space in tray A, place the first object to be stored in the empty space numbered 1, place the second object to be stored in the empty space numbered 2, and place the nth object to be placed in the empty space numbered n.

[0071] Further, when the actual number of trays carried by the tray transfer mechanism is at least one and all the carried trays are in the first state, place the object to be stored in the empty space of the tray to transfer the object to be stored to the storage position for storage; based on the classification information of the object, update the type of the tray to obtain the updated type of the tray. Among them, the number of trays that the tray transfer mechanism can carry is at least one.

[0072] After placing an object in the empty space of the tray in the first state, the tray is in the second state. When the tray is in the first state, the type of the tray is an empty tray; when the tray is in the second state, the type of the tray corresponds to the classification information of the placed object. For example, when controlling the second robotic arm to place the quality control product, which is the object to be stored, in the empty space of the tray in the first state, the type of the tray is updated from an empty tray to a quality control product type.

[0073] In the above storage device, by obtaining the tray loading situation of the tray transfer mechanism and in response to the object storage instruction, the classification information of the object to be stored is obtained. When the tray transfer mechanism is carrying a tray in the first state, the second robotic arm is controlled to place the object in the empty space of the tray in the first state, and based on the classification information of the object, the type of the tray is updated to obtain the updated type of the tray. In this way, different types of objects can be classified and stored without manually setting the type of each tray, improving the storage work efficiency. In addition, the storage device does not need to fix the number of trays and can be automatically adjusted according to the objects to be stored, with more flexible operation, avoiding waste of trays and affecting work efficiency when the number settings of different types of trays are unreasonable.

[0074] In one embodiment, the control module is further configured to: when the tray transfer mechanism is carrying a tray in the second state, determine whether the type of the tray matches the classification information of the object; in the case where the classification information of the object matches the type of the tray, place the object to be stored in the empty space of the tray to be transferred to the storage location for storage.

[0075] Among them, the number of trays that the tray transfer mechanism can carry is at least one, and the current actual number of trays carried by the tray transfer mechanism may be one or may be multiple.

[0076] When the number of trays that the tray transfer mechanism can carry is one and the current actual one tray carried is in the second state, determine whether the type of the tray matches the classification information of the object; in the case where the classification information of the object matches the type of the tray, place the object to be stored in the empty space of the tray to be transferred to the storage location for storage.

[0077] When the number of trays that the tray transfer mechanism can carry is multiple, taking the number of trays that the tray transfer mechanism can carry being two as an example, the situations where the tray transfer mechanism is carrying a tray in the second state mainly include: First, the tray transfer mechanism is carrying one tray in the second state and there is one tray placement position without a carried tray; Second, each tray placement position in the tray transfer mechanism is carrying a tray in the second state; Third, the tray transfer mechanism is carrying one tray in the second state and there is one tray in the first state.

[0078] Further, when the number of pallets actually carried by the pallet transfer mechanism is at least one and each pallet is in the second state, it is determined whether the type of each pallet matches the classification information of the object to be stored. And when the classification information of the object to be stored matches the types of at least one pallet, the number of vacant positions of the matched pallet is determined, and the object to be stored is placed in the vacant position of the pallet with the matching type and the least number of vacant positions, so as to be transferred to the storage position for storage.

[0079] Since the type of the pallet is determined based on the classification information of the object placed in the pallet, whether the classification information of the object matches the type of the pallet can be understood as whether the classification information of the object placed in the pallet is consistent with the classification information of the object to be stored. For example, if the classification information of the object placed in the pallet is type A and the classification information of the object to be stored is type B, and type A and type B are not the same, it indicates that the classification information of the object placed in the pallet is not consistent with the classification information of the object to be stored. Therefore, it can be determined that the classification information of the object does not match the type of the pallet.

[0080] In this embodiment, by determining whether the type of the pallet matches the classification information of the object when the pallet transfer mechanism carries pallets in the second state, it can be ensured that each object is placed in a pallet of the corresponding type, realizing classified storage of the objects, avoiding the possible problem of cross - contamination caused by mixed placement of objects, and improving the reliability of the storage device. By placing the object to be stored in the vacant position of the pallet when the classification information of the object matches the type of the pallet, the remaining vacant positions of the pallet can be fully utilized, realizing the effective utilization of the vacant positions of the pallet.

[0081] In one embodiment, the control module is further configured to: when the pallet transfer mechanism simultaneously carries pallets in the first state and in the second state, determine whether the type of the pallet in the second state matches the classification information of the object. When the classification information of the object matches the type of the pallet in the second state, place the object to be stored in the vacant position of the pallet in the second state, so as to be transferred to the storage position for storage. When the classification information of the object does not match the type of the pallet in the second state, place the object to be stored in the vacant position of the pallet in the first state, so as to be transferred to the storage position for storage.

[0082] Wherein, the number of pallets that the pallet transfer mechanism can carry is at least two. For example, the number of pallets that the pallet transfer mechanism can carry is two, one of which is in the first state and the other is in the second state; the number of pallets that the pallet transfer mechanism can carry is three, one of which is in the first state and two are in the second state.

[0083] The tray in the second state may have no empty space or may have empty spaces. Further, when the classification information of the object matches the type of the tray in the second state, if the tray in the second state has no empty space, the object to be stored is placed in the empty space of the tray in the first state to be transferred to the storage position for storage. This can save the time of taking out the tray from the storage module to quickly store the object to be stored. Further, if there is an empty space in the tray in the second state, the object to be stored is placed in the empty space of the tray in the second state.

[0084] The number of empty spaces in the tray in the second state may be multiple or may be one. Further, when the number of empty spaces in the tray in the second state is multiple, the object to be stored is allowed to be placed in any one of the empty spaces of the tray, or can be placed in order. For example, according to the number of each empty space in the tray, the object to be stored is placed in the empty space with the smallest number.

[0085] In this embodiment, when the classification information of the object does not match the type of the tray in the second state, the object to be stored is placed in the empty space of the tray in the first state, which can save the time of taking out the tray matching the classification information of the object from the storage module, so that the object to be stored can be stored in the storage position in time.

[0086] In one embodiment, when the classification information of the object matches the type of the tray, placing the object to be stored in the empty space of the tray includes: determining the label information of the tray, and screening out the target identification information that matches the label information from the identification information of each stored object in the storage module, and counting the number of the target identification information; when the number of the target identification information is less than the preset placement number of the tray, determining that there is an empty space in the tray; controlling the second robotic arm to place the object to be stored in the empty space of the tray.

[0087] Among them, the label information of the tray is the data pre-stored in the database of the storage device. The label information of each tray is unique and can be used to identify a specific tray. The label information includes but is not limited to text labels, graphic labels, barcode labels, and radio frequency labels. For example, digital numbers, two-dimensional codes, barcodes.

[0088] The identification information of the stored object is stored in the database of the storage device. The identification information of the stored object is the data used to identify the object stored in a certain tray. Specifically, according to the label information and hole position information of the tray associated with the identification information of the stored object in the database, it is determined in which hole position of which tray of the storage position the stored object is placed. The identification information includes but is not limited to text labels, graphic labels, barcode labels, and radio frequency labels.

[0089] The target identification information is the information corresponding to the label information of the tray. For example, if the tray number in the label information corresponds to the number in the identification information, it is considered that the label information matches the identification information; if the graphic symbol in the label information corresponds to the graphic in the identification information, it is considered that the label information matches the identification information.

[0090] The preset placement quantity is determined according to the number of holes on the tray. For example, if the number of holes on the tray is 96, the preset placement quantity is 96; if the number of holes on the tray is 48, the preset placement quantity is 48.

[0091] The number of target identification information is less than the preset placement quantity of the tray, indicating that the holes on the tray are not full yet, and objects to be stored can continue to be placed.

[0092] In some embodiments, when the number of target identification information is equal to the preset placement quantity of the tray, it is determined that the tray is full of objects, and the object to be stored is placed in the empty space of the tray in the first state, or placed in another tray of a matching type with an empty space, and the first robotic arm is controlled to transfer the tray full of objects from the tray transfer mechanism to the storage position.

[0093] In this embodiment, by determining the label information of the tray, screening out the target identification information that matches the label information from the identification information of each stored object in the storage module, and counting the number of target identification information, when the number of target identification information is less than the preset placement quantity of the tray, it is determined that there is an empty space on the tray. In this way, the empty space situation of the tray can be accurately counted, and it can be accurately judged whether the tray has enough empty space to place objects, avoiding the waste of empty space or placement failure caused by blind placement, and improving the accuracy of the utilization of the empty space of the tray. At the same time, the entire process from determining the label information, screening for matching, counting the quantity to controlling the second robotic arm to place objects is automatically completed by the storage device, without the need for manual frequent viewing and operation, reducing manual intervention, reducing labor costs, improving work efficiency and accuracy, and enhancing the automation level of the storage device.

[0094] In one embodiment, the control module is further configured to: when the classification information of the object does not match the type of the tray, control the first robotic arm to transfer the tray to the storage position; determine the first target tray that matches the classification information of the object from each tray placed in the storage position according to the types of each tray placed in the storage position; control the first robotic arm to transfer the first target tray to the tray transfer mechanism to place the object to be stored in the empty space of the first target tray.

[0095] Among them, the number of pallets that the pallet transfer mechanism can carry is at least one. Further, if the number of pallets actually carried by the pallet transfer mechanism is one, when the classification information of the object does not match the type of the carried pallet, the first robotic arm is controlled to transfer the carried pallet to the storage position; if the number of pallets actually carried by the pallet transfer mechanism is multiple, when the classification information of the object does not match the type of each pallet, the first robotic arm is controlled to transfer one of the pallets carried by the pallet transfer mechanism to the storage position. When the number of pallets actually carried by the pallet transfer mechanism is multiple, the types of each pallet may be the same or different.

[0096] When determining the first target pallet, the position information of the first target pallet in the storage position is also determined, so as to control the first robotic arm to transfer the first target pallet to the pallet placement position where no pallet is placed in the pallet transfer mechanism according to the position information of the first target pallet in the storage position.

[0097] The number of empty spaces in the first target pallet is at least one. Further, when the number of empty spaces in the first target pallet is multiple, the object to be stored is placed in the empty space with the smallest number according to the number of each empty space in the first target pallet; when the number of empty spaces in the first target pallet is one, the object to be stored is directly placed in the only empty space.

[0098] The number of first target pallets matching the classification information of the object may be one or multiple. Further, when the number of first target pallets matching the classification information of the object is multiple, the first robotic arm is controlled to transfer one of the first target pallets to the pallet transfer mechanism to place the object to be stored in the empty space of the first target pallet.

[0099] There may be pallets matching the classification information of the object in the storage position, or there may be no pallets matching the classification information of the object. Further, if the types of the pallets placed in the storage position do not match the classification information of the object, the first robotic arm is controlled to transfer the pallet in the first state in the storage position to the pallet transfer mechanism to place the object to be stored in the empty space of the pallet in the first state.

[0100] In this embodiment, when the classification information of the object does not match the type of the pallet, the first robotic arm is controlled to transfer the pallet to the storage position, and according to the types of the pallets placed in the storage position, the first target pallet matching the classification information of the object is determined from the pallets placed in the storage position, so that it can be ensured that each object can be placed in the pallet matching its own classification information, effectively avoiding the phenomenon of mixed placement, improving the standardization of storage, and facilitating the subsequent management and retrieval of stored objects.

[0101] In one embodiment, determining a first target tray that matches the classification information of an object from each tray placed in a storage location according to the type of each tray placed in the storage location includes: determining candidate trays that match the classification information of the object from each tray placed in the storage location according to the type of each tray placed in the storage location; and determining the candidate tray with the fewest empty spaces as the first target tray.

[0102] Among them, the candidate trays include trays that are not fully filled with objects and trays that are fully filled with objects. The number of candidate trays may be one or more. Further, when the number of candidate trays is one, it is determined whether the candidate tray has empty spaces, and when the candidate tray has empty spaces, the candidate tray is determined as the first target tray. Further, when the number of candidate trays is at least one and none of the candidate trays have empty spaces, one tray in the first state in the storage location is determined as the first target tray.

[0103] The number of empty spaces in the candidate tray can be determined according to the difference between the preset placement quantity of the candidate tray and the quantity of objects already placed. Further, the quantity of objects already placed in the candidate tray can be determined according to the quantity of identification information of the stored objects that matches the label information of the candidate tray. Specifically, the label information of the candidate tray is determined, and from the candidate identification information of each stored object in the storage module, the identification information that matches the label information of the candidate tray is filtered out, the quantity of the matching identification information is counted, and the quantity of the matching identification information is determined as the quantity of objects already placed in the candidate tray.

[0104] In some embodiments, the number of empty spaces in the candidate tray can also be obtained by measurement using a sensor. Specifically, a vision sensor is used to capture an image of the candidate tray to obtain a target image of the candidate tray; based on the target image, the number of empty spaces in the candidate tray is identified to obtain the number of empty spaces in the candidate tray. Among them, the target image includes each hole position of the candidate tray.

[0105] In this embodiment, by first determining candidate trays that match the object classification information according to the type of the tray, it is ensured that the object can be placed in a tray of a suitable type, achieving precise matching. On this basis, by selecting the candidate tray with the fewest empty spaces as the first target tray, trays that are close to being fully loaded can be preferentially utilized, avoiding waste of empty space resources, and improving the overall utilization rate of the tray space.

[0106] In one embodiment, the control module is further configured to: when the classification information of the object does not match the type of the tray, if there is a tray placement position on the tray transfer mechanism that does not carry a tray, control the tray transfer mechanism to translate the tray placement position that does not carry a tray to the interface between the storage module and the sorting module; determine a second target tray that matches the classification information of the object from the trays placed in the storage positions according to the types of the trays placed in the storage positions; control the first robotic arm to transfer the second target tray to the tray placement position that does not carry a tray, so as to place the object to be stored in the empty space of the second target tray.

[0107] In some embodiments, the number of trays that the tray transfer mechanism can carry is multiple. Taking the number of trays that the tray transfer mechanism can carry being three as an example, when the classification information of the object does not match the type of the tray, if there is a tray placement position on the tray transfer mechanism that does not carry a tray and there is a tray in the first state, directly determine the tray in the first state as the second target tray.

[0108] In some embodiments, the number of second target trays in the storage positions may be one or multiple. Further, if the number of second target trays is multiple, determine the number of empty spaces in each second target tray, and control the first robotic arm to transfer the second target tray with an empty space and the least number of empty spaces to the tray placement position that does not carry a tray, so as to place the object to be stored in the empty space of the second target tray.

[0109] In some embodiments, when the type of the tray in the second state matches the classification information of the object, place the object to be stored in the empty space of the tray, so as to transfer it to the storage position for storage.

[0110] In this embodiment, when the classification information of the object does not match the type of the tray and there is a tray placement position on the tray transfer mechanism that does not carry a tray, control the tray transfer mechanism to translate the tray placement position that does not carry a tray to the interface between the storage module and the sorting module, and control the first robotic arm to transfer the second target tray to the tray placement position that does not carry a tray. In this way, the tray placement position on the tray transfer mechanism that does not carry a tray can be fully utilized, avoiding waste of idle resources. In addition, since the second target tray is directly transferred to the tray placement position that does not carry a tray, the step of transferring the tray with a mismatched type to the storage position is omitted, enabling the object to be stored to be timely placed in the empty space of the second target tray, so that the object to be stored can be timely stored.

[0111] In one embodiment, the control module is further configured to: when the pallet transfer mechanism does not carry a pallet, control the first robotic arm to transfer the third target pallet placed at the storage position to the pallet transfer mechanism, so as to place the object to be stored in the empty space of the third target pallet; the type of the third target pallet matches the classification information of the object and there is an empty space, and / or the third target pallet is in the first state.

[0112] Wherein, the third target pallet can be a pallet that matches the classification information of the object and has an empty space, or a pallet in the first state. Further, when there is no pallet that matches the classification information of the object at the storage position, one pallet in the first state at the storage position is determined as the third target pallet; when there is a pallet that matches the classification information of the object at the storage position, the pallet that matches the classification information of the object is determined as the third target pallet.

[0113] The number of third target pallets that match the classification information of the object and have an empty space may be one or more. Further, if the number of third target pallets is more than one, control the first robotic arm to transfer the third target pallet with the least number of empty spaces at the storage position to the pallet transfer mechanism, so as to place the object to be stored in the empty space of the third target pallet. This can give priority to using pallets that are close to full load, avoid waste of empty space resources, and improve the overall utilization rate of the pallet space.

[0114] In this embodiment, by controlling the first robotic arm to transfer the third target pallet placed at the storage position to the pallet transfer mechanism when the pallet transfer mechanism does not carry a pallet, the pallet resources can be fully utilized, so that each pallet can be reasonably used, reducing resource waste and improving the overall utilization efficiency of the pallet resources in the storage device. At the same time, considering the pallets in the first state further expands the selection range, which helps to allocate resources more flexibly and improve work efficiency.

[0115] In one embodiment, the pallet transfer mechanism includes a take-out pallet placement position and a put-in pallet placement position. The put-in pallet placement position is used to carry a pallet that allows the object to be stored to be placed, and the take-out pallet placement position is used to carry a pallet that allows the object to be taken out to be placed; the second robotic arm is further configured to take out the object to be taken out from the pallet carried at the take-out pallet placement position; the control module is further configured to:

[0116] In response to an object removal instruction, determine a fourth target tray where the object to be removed is located from the storage positions; the object removal instruction carries the identification information of the object to be removed, the position information of the fourth target tray in the storage positions, and the hole position information of the object to be removed on the fourth target tray; the priority of the object removal instruction is higher than that of the object storage instruction; according to the position information, control the first robotic arm to transfer the fourth target tray from the storage positions to the tray transfer mechanism; according to the hole position information, control the second robotic arm to remove the object to be removed from the fourth target tray; if the object to be removed is the last object in the fourth target tray, update the type of the fourth target tray to an empty tray.

[0117] Among them, both the object storage instruction and the object removal instruction can be triggered by the staff through the storage device. Further, when both the object removal instruction and the object storage instruction are received simultaneously, first respond to the object removal instruction. When it is determined that the object to be removed has been removed, respond to the object storage instruction to store the object to be stored. This can effectively avoid problems such as space occupation conflicts or object confusion that may be caused by simultaneous object removal and storage operations, and ensure that the object to be removed can be retrieved in a timely manner, improving the processing efficiency of the object to be removed.

[0118] In some embodiments, the object removal instruction may further carry the classification information of the object to be removed. Further, when the user needs to randomly remove an object with specific classification information, the control module is further configured to, in response to the object removal instruction, determine the position information of the fourth target tray that matches the classification information of the object to be removed from the storage positions; according to the position information, control the first robotic arm to transfer the fourth target tray from the storage positions to the tray transfer mechanism, and control the second robotic arm to remove an object placed in the fourth target tray as the object to be removed; the fourth target tray is a tray on which at least one object to be removed is placed.

[0119] If the object to be removed is the last object in the fourth target tray, then after removing the last object, the tray is updated from the second state to the first state, and the tray updated to the first state can be used to place objects of any type, and the type of the fourth target tray is also updated to an empty tray. Further, if the object to be removed is not the last object in the fourth target tray, the type of the fourth target tray is not updated.

[0120] In this embodiment, by updating the type of the fourth target tray to an empty tray when the object to be removed is the last object in the fourth target tray, this can avoid the limitation that a single tray can only be used to store objects of specific classification information forever, automatically reset the type of the tray without manual intervention, and improve work efficiency.

[0121] In one embodiment, obtaining the tray loading condition of the tray transfer mechanism includes: when the storage device is initialized, controlling the sorting module to detect the tray loading condition of the tray transfer mechanism; when it is detected that there is a tray on the tray transfer mechanism, obtaining the label information of the loaded tray; based on the label information of the tray, obtaining the type of the tray to determine the tray loading condition of the tray transfer mechanism, and storing the object to be stored based on the tray loading condition.

[0122] Among them, whether there is a tray on the tray transfer mechanism can be detected by a sensor. When the tray is transferred to the tray transfer mechanism, the type, label information, etc. of the transferred tray will be stored in the database of the storage device. Therefore, when it is detected that there is a tray on the tray transfer mechanism, the label information of the tray carried on the tray transfer mechanism can be directly obtained from the database.

[0123] In the database of the storage device, the label information of the tray is associated with the type of the tray. Therefore, the type of the tray can be obtained according to the label information of the tray.

[0124] The tray loading condition is used to determine whether there is a tray on the current tray transfer mechanism and to determine the type of the tray. Further, when it is detected that the tray transfer mechanism does not carry a tray, it is directly determined that there is no tray on the current tray transfer mechanism, and the step of obtaining label information is no longer continued.

[0125] The types of trays include but are not limited to empty trays, reagent trays, and sample trays. Further, the reagent trays include but are not limited to quality control product trays and calibration product trays; the sample trays include but are not limited to blood sample trays and body fluid sample trays. The sample tray can also be a routine sample tray, an emergency sample tray, or an error sample tray. Specifically, the routine sample tray can be a routine centrifuged sample tray and a routine non-centrifuged sample tray.

[0126] When storing the object to be stored based on the tray loading condition, the object to be stored can be stored by responding to the object deposit instruction.

[0127] In this embodiment, by controlling the sorting module to detect the tray loading condition of the tray transfer mechanism when the storage device is initialized, the initial state of the storage device at startup can be accurately grasped, providing accurate information for subsequent storage operations and avoiding storage errors caused by unknown initial states.

[0128] In one embodiment, the control module is further configured to: when the second robotic arm places an object on the tray, trigger a transfer waiting instruction and time the waiting duration of the tray transfer mechanism; the transfer waiting instruction carries a preset waiting duration; when the waiting duration of the tray transfer mechanism exceeds the preset waiting duration, control the tray transfer mechanism to translate to the interface between the storage module and the sorting module, so that the first robotic arm places the tray at the storage position.

[0129] Wherein, the waiting duration refers to the duration that the tray transfer mechanism waits after the second robotic arm places the object to be stored on the tray carried by the tray transfer mechanism.

[0130] The transfer waiting instruction can be preset in the storage device and is automatically triggered when the second robotic arm places an object on the tray carried by the tray transfer mechanism. In some embodiments, different preset waiting durations can also be set according to the classification information of the stored object. For example, the preset waiting duration for samples is set to 30 minutes, and the preset waiting duration for quality control products is set to 25 minutes.

[0131] In some embodiments, the storage device further includes a retrieval waiting instruction; the control module is further configured to: when the second robotic arm retrieves the object to be retrieved from the fourth target tray, trigger the retrieval waiting instruction, and when the waiting duration for retrieving the object to be retrieved from the fourth target tray exceeds the preset retrieval waiting duration carried by the retrieval waiting instruction, control the first robotic arm to transfer the retrieved fourth target tray to the storage position. This can avoid quality problems with other objects in the fourth target tray. The interface for setting the preset waiting duration and the preset retrieval waiting duration is as Figure 2 shown. Among them, the sample deposit waiting timeout is the preset waiting duration for samples, the quality control deposit timeout is the preset waiting duration for quality control products, and the retrieval tray placement outside timeout is the preset retrieval waiting duration.

[0132] The first robotic arm transfers the tray from the tray transfer mechanism of the sorting module to the storage position of the storage module through the interface.

[0133] In this embodiment, by controlling the tray transfer mechanism to translate to the interface between the storage module and the sorting module when the waiting time of the tray transfer mechanism exceeds the preset waiting duration, so that the first robotic arm places the tray at the storage position, it is possible to avoid the time loss caused by the tray being repeatedly transported between the sorting module and the storage module when continuously storing multiple objects with the same classification information in a short period of time, rather than immediately depositing the tray into the storage module, but waiting for a period of time in the sorting module.

[0134] In some embodiments, when the second robotic arm places an object on the tray, a storage instruction can also be triggered to immediately control the tray transfer mechanism to translate to the interface between the storage module and the sorting module, and control the first robotic arm to place the tray at the transferred storage position. This can timely transport each object to the storage position when only a few objects are to be stored over a long period of time, so as to avoid quality problems of the objects.

[0135] In one embodiment, the control module is further configured to: obtain the preset storage area of each type of tray in the storage position; and control the first robotic arm to place the tray in the corresponding preset storage area in the storage position according to the type of the tray to be transferred to the storage position.

[0136] Wherein, the preset storage area of each type of tray is pre-set in the storage device. For example, the preset storage area corresponding to the tray of type A is area 1, the preset storage area corresponding to the tray of type B is area 2, and the preset storage area corresponding to the tray of type C is area 3. When the type of the tray to be transferred to the storage position is type A, the first robotic arm is controlled to place the tray in area 1 of the storage position.

[0137] The number of objects that can be stored in the preset storage area corresponding to each type of tray can be the same or different.

[0138] In some embodiments, the control module is further configured to: preset the storage order of each type of tray in the storage position; and control the first robotic arm to store the trays in the storage position according to the storage order. For example, there are 160 tray positions in the storage module. When the sample tray or the empty tray is stored in the storage module, it is stored in the storage module according to the order of 1, 2, 3…, 160. When the quality control tray is stored in the storage module, it is stored in the storage module according to the order of 160, 159, …, 1. In this way, different types of trays can be automatically stored in separate areas without manual setting of specific areas, and the risk of cross-contamination that may exist between different types of trays is also reduced.

[0139] In this embodiment, by controlling the first robotic arm to place the tray in the corresponding preset storage area in the storage position according to the type of the tray to be transferred to the storage position, the risk of cross-contamination that may exist between different types of trays can be reduced.

[0140] Based on the same inventive concept, the embodiment of the present application further provides a storage method for a storage device, as Figure 3As shown in the figure, the storage device includes a storage module, a sorting module, and a tray: The storage module includes a first robotic arm and storage positions, where the storage positions are used for storing objects to be stored at low temperature, and the first robotic arm is used to transfer the tray carried on the tray transfer mechanism to the storage position and transfer the tray placed at the storage position to the tray transfer mechanism; The sorting module includes a second robotic arm and a tray transfer mechanism, the second robotic arm is used to transfer the object to be stored to the tray carried on the tray transfer mechanism, and the tray transfer mechanism is used to move the carried tray to the interface between the storage module and the sorting module; The tray includes a first state with no object placed and a second state with an object placed.

[0141] The storage method of the storage device includes:

[0142] S302, obtain the tray loading situation of the tray transfer mechanism;

[0143] S304, in response to the object storage instruction, obtain the classification information of the object to be stored;

[0144] S306, when the tray transfer mechanism carries a tray in the first state, control the second robotic arm to place the object in the empty space of the tray in the first state, and based on the classification information of the object, update the type of the tray to obtain the updated type of the tray.

[0145] In the above storage method of the storage device, by obtaining the tray loading situation of the tray transfer mechanism, in response to the object storage instruction, obtaining the classification information of the object to be stored, when the tray transfer mechanism carries a tray in the first state, controlling the second robotic arm to place the object in the empty space of the tray in the first state, and based on the classification information of the object, updating the type of the tray to obtain the updated type of the tray, it is possible to classify and store different types of objects without manually setting the type of each tray, improving the storage work efficiency. In addition, the storage method of this storage device also does not require a fixed number of trays and can be automatically adjusted according to the objects to be stored, with more flexible operation, avoiding waste of trays and affecting work efficiency when the number settings of different types of trays are unreasonable.

[0146] In one embodiment, the storage method of the storage device further includes:

[0147] When the tray transfer mechanism carries a tray in the second state, determine whether the type of the tray matches the classification information of the object;

[0148] When the classification information of the object matches the type of the tray, place the object to be stored in the empty space of the tray to be transferred to the storage position for storage.

[0149] In this embodiment, when a tray in the second state is carried on the tray transfer mechanism, it is determined whether the type of the tray matches the classification information of the object. This can ensure that each object is placed in a tray of the corresponding type, avoiding confusion when searching for and using the object later due to incorrect placement, and improving the accuracy and reliability of the storage device. When the classification information of the object matches the type of the tray, the object to be stored is placed in the empty space of the tray, so that the remaining empty space of the tray can be fully utilized, realizing the effective utilization of the empty space of the tray.

[0150] In one embodiment, the storage method of the storage device further includes:

[0151] When trays in the first state and the second state are simultaneously carried on the tray transfer mechanism, it is determined whether the type of the tray in the second state matches the classification information of the object;

[0152] When the classification information of the object matches the type of the tray in the second state, the object to be stored is placed in the empty space of the tray in the second state to be transferred to the storage position for storage;

[0153] When the classification information of the object does not match the type of the tray in the second state, the object to be stored is placed in the empty space of the tray in the first state to be transferred to the storage position for storage.

[0154] In this embodiment, when the classification information of the object does not match the type of the tray in the second state, the object to be stored is placed in the empty space of the tray in the first state, which can save the time of taking out a tray that matches the classification information of the object from the storage module, so that the object to be stored can be stored in the storage position in time.

[0155] In one embodiment, when the classification information of the object matches the type of the tray, placing the object to be stored in the empty space of the tray includes:

[0156] Determine the label information of the tray, and screen out the target identification information that matches the label information from the identification information of each stored object in the storage module, and count the number of the target identification information;

[0157] When the number of the target identification information is less than the preset placement number of the tray, it is determined that there is an empty space in the tray;

[0158] Control the second robotic arm to place the object to be stored in the empty space of the tray.

[0159] In this embodiment, by determining the label information of the tray, screening out the target identification information that matches the label information from the identification information of each stored object in the storage module, and counting the number of the target identification information, when the number of the target identification information is less than the preset placement number of the tray, it is determined that there is a vacant space on the tray. In this way, the vacant space situation of the tray can be accurately counted, and it can be accurately judged whether the tray has enough vacant space to place the object, avoiding the waste of vacant space or the failure of placement caused by blind placement, and improving the accuracy of the utilization of the vacant space of the tray. At the same time, the entire process from determining the label information, screening and matching, counting the quantity to controlling the second robotic arm to place the object is automatically completed by the storage device, without the need for manual frequent viewing and operation, reducing manual intervention, lowering the labor cost, improving the work efficiency and accuracy at the same time, and enhancing the automation level of the storage device.

[0160] In one of the embodiments, the storage method of the storage device further includes:

[0161] In the case where the classification information of the object does not match the type of the tray, controlling the first robotic arm to transfer the tray to the storage position;

[0162] According to the types of the trays placed in the storage position, determining a first target tray that matches the classification information of the object from the trays placed in the storage position;

[0163] Controlling the first robotic arm to transfer the first target tray to the tray transfer mechanism so as to place the object to be stored in the vacant space of the first target tray.

[0164] In this embodiment, in the case where the classification information of the object does not match the type of the tray, by controlling the first robotic arm to transfer the tray to the storage position, and determining a first target tray that matches the classification information of the object from the trays placed in the storage position according to the types of the trays placed in the storage position, it can be ensured that each object can be placed in a tray that matches its own classification information, effectively avoiding the phenomenon of mixed placement, improving the standardization of storage, and facilitating the subsequent management and retrieval of the stored objects.

[0165] In one of the embodiments, determining a first target tray that matches the classification information of the object from the trays placed in the storage position according to the types of the trays placed in the storage position includes:

[0166] According to the types of the trays placed in the storage position, determining candidate trays that match the classification information of the object from the trays placed in the storage position;

[0167] Determining the candidate tray with the least number of vacant spaces as the first target tray.

[0168] In this embodiment, by first determining a candidate tray that matches the object classification information according to the type of the tray, it is ensured that the object can be placed in a tray of a suitable type, achieving precise matching. On this basis, by selecting a candidate tray with available spaces and the least number of available spaces as the first target tray, it is possible to preferentially utilize trays that are nearly full, avoid waste of available space resources, and improve the overall utilization rate of the tray space.

[0169] In one of the embodiments, the storage method of the storage device further includes:

[0170] In the case where the classification information of the object does not match the type of the tray, if there is a tray placement position on the tray transfer mechanism that does not carry a tray, control the tray transfer mechanism to translate the tray placement position that does not carry a tray to the interface between the storage module and the sorting module;

[0171] According to the types of the trays placed in the storage positions, determine a second target tray that matches the classification information of the object from the trays placed in the storage positions;

[0172] Control the first robotic arm to transfer the second target tray to the tray placement position that does not carry a tray, so as to place the object to be stored in the available space of the second target tray.

[0173] In this embodiment, in the case where the classification information of the object does not match the type of the tray and there is a tray placement position on the tray transfer mechanism that does not carry a tray, control the tray transfer mechanism to translate the tray placement position that does not carry a tray to the interface between the storage module and the sorting module, and control the first robotic arm to transfer the second target tray to the tray placement position that does not carry a tray. In this way, the tray placement position on the tray transfer mechanism that does not carry a tray can be fully utilized, avoiding waste of idle resources. In addition, since the second target tray is directly transferred to the tray placement position that does not carry a tray, the step of transferring the tray with a mismatched type to the storage position is omitted, enabling the object to be stored to be timely placed in the available space of the second target tray, so that the object to be stored can be timely stored.

[0174] In one of the embodiments, the storage method of the storage device further includes:

[0175] In the case where the tray transfer mechanism does not carry a tray, control the first robotic arm to transfer a third target tray placed in the storage position to the tray transfer mechanism, so as to place the object to be stored in the available space of the third target tray; the type of the third target tray matches the classification information of the object and there is an available space, and / or the third target tray is in a first state.

[0176] In this embodiment, when the pallet transfer mechanism does not carry a pallet, the first robotic arm is controlled to transfer the third target pallet placed at the storage position to the pallet transfer mechanism. In this way, pallet resources can be fully utilized, enabling each pallet to be reasonably used, reducing resource waste, and improving the overall utilization efficiency of pallet resources in the storage device. At the same time, considering the pallets in the first state further expands the selection range, which helps to allocate resources more flexibly and improve work efficiency.

[0177] In one embodiment, the pallet transfer mechanism includes a pallet removal placement position and a pallet storage placement position. The pallet storage placement position is used to carry pallets that allow the placement of objects to be stored, and the pallet removal placement position is used to carry pallets that allow the placement of objects to be removed; the second robotic arm is further used to remove the object to be removed from the pallet carried at the pallet removal placement position; the storage method of the storage device further includes:

[0178] In response to an object removal instruction, determine the fourth target pallet where the object to be removed is located from the storage positions; the object removal instruction carries the identification information of the object to be removed, the position information of the fourth target pallet in the storage position, and the hole position information of the object to be removed on the fourth target pallet; the priority of the object removal instruction is higher than the priority of the object storage instruction;

[0179] According to the position information, control the first robotic arm to transfer the fourth target pallet from the storage position to the pallet transfer mechanism;

[0180] According to the hole position information, control the second robotic arm to remove the object to be removed from the fourth target pallet;

[0181] If the object to be removed is the last object on the fourth target pallet, update the type of the fourth target pallet to an empty pallet.

[0182] In this embodiment, by updating the type of the fourth target pallet to an empty pallet when the object to be removed is the last object on the fourth target pallet, the limitation that a single pallet can only be used to store objects of specific classification information forever can be avoided, and the type of the pallet can be automatically reset without manual intervention, improving work efficiency.

[0183] In one embodiment, obtaining the pallet loading situation of the pallet transfer mechanism includes:

[0184] When the storage device is initialized, control the sorting module to detect the pallet loading situation of the pallet transfer mechanism;

[0185] When it is detected that there is a pallet carried in the pallet transfer mechanism, obtain the label information of the carried pallet;

[0186] Based on the label information of the pallet, obtain the type of the pallet to determine the pallet loading condition of the pallet transfer mechanism, and store the object to be stored based on the pallet loading condition; the pallet loading condition is used to determine whether there is a pallet carried in the current pallet transfer mechanism and to determine the type of the pallet.

[0187] In this embodiment, when the storage device is initialized, the sorting module is controlled to detect the pallet loading condition of the pallet transfer mechanism, so that the initial state of the storage device at startup can be accurately grasped, providing accurate information for subsequent storage operations and avoiding storage errors caused by unknown initial states.

[0188] In one of the embodiments, the storage method of the storage device further includes:

[0189] When the second robotic arm places the object on the pallet, trigger a transfer waiting instruction and time the waiting duration of the pallet transfer mechanism; the transfer waiting instruction carries a preset waiting duration.

[0190] When the waiting duration of the pallet transfer mechanism exceeds the preset waiting duration, control the pallet transfer mechanism to translate to the interface between the storage module and the sorting module, so that the first robotic arm places the pallet in the storage position.

[0191] In this embodiment, when the waiting time of the pallet transfer mechanism exceeds the preset waiting duration, control the pallet transfer mechanism to translate to the interface between the storage module and the sorting module, so that the first robotic arm places the pallet in the storage position. In this way, when storing multiple objects with the same classification information continuously in a short time, it is not necessary to immediately store the pallet in the storage module, but wait for a period of time in the sorting module, thus avoiding time loss caused by the pallet being repeatedly transported between the sorting module and the storage module.

[0192] In one of the embodiments, the storage method of the storage device further includes:

[0193] Obtain the preset storage area of each type of pallet in the storage position.

[0194] According to the type of the pallet to be transferred to the storage position, control the first robotic arm to place the pallet in the corresponding preset storage area in the storage position.

[0195] In this embodiment, by controlling the first robotic arm to place the pallet in the corresponding preset storage area in the storage position according to the type of the pallet to be transferred to the storage position, the risk of possible cross - contamination between different types of pallets can be reduced.

[0196] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0197] In one embodiment, a computer device is further provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0198] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0199] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0200] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties.

[0201] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0202] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0203] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A storage device, characterized in that: The storage device comprises: A storage module, comprising a first mechanical arm and a storage location, wherein the storage location is used to store objects to be stored at low temperatures, and the first mechanical arm is used to transfer a pallet carried by a pallet transfer mechanism to the storage location, and to transfer the pallet placed at the storage location to the pallet transfer mechanism; A sorting module, comprising a second mechanical arm and the tray transfer mechanism, wherein the second mechanical arm is used to transfer the object to be stored to the tray carried by the tray transfer mechanism, and the tray transfer mechanism is used to move the carried tray to the interface between the storage module and the sorting module; The tray includes a first state where no object is placed and a second state where an object is placed; A control module is used to obtain the tray loading status of the tray transfer mechanism; in response to an object storage instruction, obtain classification information of the object to be stored; when the tray transfer mechanism carries the tray in the first state, control the second robot arm to place the object in an empty space of the tray in the first state, and based on the classification information of the object, update the type of the tray to obtain the updated type of the tray.

2. The storage device according to claim 1, characterized in that The control module is also used for: When the tray in the second state is carried on the tray transfer mechanism, determining whether the type of the tray matches the classification information of the object; In the case where the classification information of the object matches the type of the tray, the object to be stored is placed in an empty position of the tray to be transferred to the storage position for storage.

3. The storage device according to claim 2, characterized in that: The control module is also used for: When the tray transfer mechanism carries the tray in the first state and the tray in the second state at the same time, determining whether the type of the tray in the second state matches the classification information of the object; In a case where the classification information of the object matches the type of the tray in the second state, placing the object to be stored in an empty position of the tray in the second state to be transferred to the storage position for storage; In the case that the classification information of the object does not match the type of the tray in the second state, the object to be stored is placed in an empty position of the tray in the first state to be transferred to the storage position for storage.

4. The storage device according to claim 2, characterized in that: When the classification information of the object matches the type of the tray, placing the object to be stored in an empty space of the tray comprises: Determine the label information of the pallet, and filter out target identification information matching the label information from the identification information of each object stored in the storage module, and count the number of the target identification information; When the number of the target identification information is less than the preset placement number of the tray, determining that there is an empty space on the tray; The second robot arm is controlled to place the object to be stored in an empty space of the tray.

5. The storage device according to claim 2, characterized in that: The control module is also used for: In a case where the classification information of the object does not match the type of the pallet, controlling the first robot arm to transfer the pallet to the storage location; According to the type of each of the pallets placed in the storage location, determining a first target pallet that matches the classification information of the object from among the pallets placed in the storage location; The first robot arm is controlled to transfer the first target tray to the tray transfer mechanism, so as to place the object to be stored in an empty space of the first target tray.

6. The storage device according to claim 5, characterized in that: The step of determining, according to the type of each of the pallets placed in the storage location, a first target pallet that matches the classification information of the object from among the pallets placed in the storage location comprises: According to the type of each of the trays placed in the storage location, determining a candidate tray that matches the classification information of the object from among the trays placed in the storage location; The candidate pallet having empty spaces and the least number of empty spaces is determined as the first target pallet.

7. The storage device according to claim 2, characterized in that: The control module is also used for: In the case where the classification information of the object does not match the type of the pallet, if the pallet transfer mechanism has a pallet placement position that does not carry the pallet, the pallet transfer mechanism is controlled to translate the pallet placement position that does not carry the pallet to the interface between the storage module and the sorting module; According to the type of each of the pallets placed in the storage location, determining a second target pallet that matches the classification information of the object from among the pallets placed in the storage location; The first robot arm is controlled to transfer the second target pallet to a pallet placement position that does not carry the pallet, so as to place the object to be stored in the empty position of the second target pallet.

8. The storage device according to claim 1, characterized in that: The control module is also used for: When the pallet is not carried on the pallet transfer mechanism, the first robot arm is controlled to transfer the third target pallet placed at the storage position to the pallet transfer mechanism, so as to place the object to be stored in the empty position of the third target pallet; the type of the third target pallet matches the classification information of the object and there is an empty position, and / or the third target pallet is in the first state.

9. The storage device according to claim 1, characterized in that: The pallet transfer mechanism includes a take-out pallet placement position and a deposit pallet placement position, the deposit pallet placement position is used to carry a pallet that allows the object to be stored, and the take-out pallet placement position is used to carry the pallet that allows the object to be taken out; the second robot arm is also used to take out the object to be taken out from the pallet carried by the take-out pallet placement position; the control module is also used to: In response to an object taking-out instruction, determining a fourth target tray where the object to be taken out is located from the storage position; the object taking-out instruction carries identification information of the object to be taken out, position information of the fourth target tray in the storage position, and hole position information of the object to be taken out on the fourth target tray; the priority of the object taking-out instruction is higher than the priority of the object depositing instruction; According to the position information, controlling the first robot arm to transfer the fourth target pallet from the storage location to the pallet transfer mechanism; According to the hole position information, controlling the second robot arm to take out the object to be taken out from the fourth target tray; If the object to be taken out is the last object in the fourth target tray, the type of the fourth target tray is updated to an empty tray.

10. The storage device according to claim 1, characterized in that: The obtaining of the pallet load condition of the pallet transfer mechanism includes: When the storage device is initialized, controlling the sorting module to detect the tray load condition of the tray transfer mechanism; When detecting that the pallet is carried in the pallet transfer mechanism, obtaining label information of the carried pallet; Based on the label information of the pallet, the type of the pallet is obtained to determine the pallet loading condition of the pallet transfer mechanism, and the object to be stored is stored based on the pallet loading condition; the pallet loading condition is used to determine whether the pallet is currently loaded in the pallet transfer mechanism, and to determine the type of the pallet.

11. The storage device according to claim 1, characterized in that: The control module is also used for: When the second robot arm places the object on the tray, a transfer waiting instruction is triggered, and the waiting time of the tray transfer mechanism is timed; the transfer waiting instruction carries a preset waiting time; When the waiting time of the tray transfer mechanism exceeds the preset waiting time, the tray transfer mechanism is controlled to translate to the interface between the storage module and the sorting module, so that the first robot arm places the tray in the storage position.

12. The storage device according to claim 1, characterized in that: The control module is also used for: Acquire a preset storage area of ​​each type of the pallet in the storage location; According to the type of the pallet to be transferred to the storage location, the first robot arm is controlled to place the pallet in the corresponding preset storage area in the storage location.

13. A storage method of a storage device, characterized in that: The storage device includes a storage module, a sorting module and a tray: The storage module comprises a first mechanical arm and a storage position, the storage position is used to store the object to be stored at a low temperature, the first mechanical arm is used to transfer the pallet carried by the pallet transfer mechanism to the storage position, and transfer the pallet placed in the storage position to the pallet transfer mechanism; The sorting module comprises a second mechanical arm and the tray transfer mechanism, wherein the second mechanical arm is used to transfer the object to be stored to the tray carried by the tray transfer mechanism, and the tray transfer mechanism is used to move the carried tray to the interface between the storage module and the sorting module; The tray includes a first state where no object is placed and a second state where an object is placed; The method comprises: Obtaining the pallet load condition of the pallet transfer mechanism; In response to an object storage instruction, obtaining classification information of the object to be stored; When the pallet transfer mechanism carries the pallet in the first state, the second robot arm is controlled to place the object in an empty space of the pallet in the first state, and based on the classification information of the object, the type of the pallet is updated to obtain the updated type of the pallet.

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