Warehousing system

Abstract

The invention belongs to the technical field of warehouse logistics, and discloses a warehousing system. The warehousing system comprises a plurality of goods shelves, a first robot and a second robot, each goods shelf comprises a shallow layer area and a deep layer area, each shallow layer area comprises a plurality of first storage positions located on the outer layer of the corresponding goods shelf, and each deep layer area comprises a plurality of second storage positions located on the inner layer of the corresponding goods shelf; the second storage position is used for storing goods, and the first storage position is used for temporarily storing goods; the first robot is used for transferring goods between the second storage position of the deep layer area and the first storage position of the shallow layer area; the second robot is used for transferring goods between the first storage position and the work station of the shallow layer area or between the shallow layer areas. According to the warehousing system, a temporary storage area is not independently arranged any more, the temporary storage function is replaced with the multiple storage positions in the shallow layer area, the temporary storage capacity of goods is greatly improved, meanwhile, the multiple second robots are combined, carrying operation in the shallow layer area can be conveniently achieved, carrying operation does not need to be conducted through the first robot any more, and the goods delivery efficiency is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics technology, and more particularly to warehousing systems. Background Technology

[0002] Currently, in the warehousing and logistics sector, warehouses have a high density of storage locations, and two types of robots, namely bin robots and handling robots, are commonly used in combination to achieve the transfer and storage of warehouse bins.

[0003] Existing shelving typically includes storage and temporary storage areas. Products with higher demand are usually placed in the temporary storage area for temporary storage, while products with lower demand are placed in the storage area for longer-term storage. By coordinating the flow of goods between the storage and temporary storage areas, the efficiency of goods entering and leaving the warehouse is improved.

[0004] A warehousing device, as disclosed in the prior art (see CN202010231545.9), uses a bin robot for transferring data between the storage area and the temporary storage area, and then uses a handling robot to transfer data between the temporary storage area and the workstation. Because a separate temporary storage area is required, too many costly bin robots are needed for operations in the high-level storage area. Furthermore, the utilization rate of the number of temporary storage locations is low, making it unsuitable for warehouses with increasingly high storage density and severely impacting the outbound efficiency of the handling robots. Summary of the Invention

[0005] The purpose of this invention is to provide a warehousing system that avoids the need for a separate temporary storage area, improves the storage capacity of goods, and also enhances shipping efficiency.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] Warehousing systems, including:

[0008] Multiple shelves, each shelf including a shallow area and a deep area, the shallow area including multiple first storage positions located on the outer layer of the shelf, and the deep area including multiple second storage positions located on the inner layer of the shelf; the second storage positions are used to store goods, and the first storage positions are used to temporarily store goods;

[0009] A first robot is used to transfer goods between the second storage location in the deep zone and the first storage location in the shallow zone;

[0010] A second robot is used to transfer goods between the first storage location and the workstation in the shallow area or between the shallow areas.

[0011] As an alternative to the warehousing system, the shallow area includes a fixed area, and the shallow area also includes a transition area and / or a temporary storage area. The temporary storage area includes one or two layers of first storage positions located at the bottom of the shallow area. The fixed area includes first storage positions located at the top of adjacent temporary storage areas. The transition area includes first storage positions located at the top of adjacent fixed areas.

[0012] As an alternative solution to a warehousing system, when the shallow area includes the fixed area and the transition area but does not have the temporary storage area, the bottom layer of the shelf is provided with a first space, and the second robot can freely move through the first space in both empty and full-load states.

[0013] As an alternative to the warehousing system, the second robot can retrieve and place goods from the aisle between two adjacent shelves.

[0014] As an alternative to the warehousing system, when the shallow area includes the fixed area and the transition area but does not have the temporary storage area, the warehousing system further includes a first channel located below the deep area. The bottom layer of the fixed area has a first gap, and the second robot can move through the first gap in the aisle between the first channel and two adjacent shelves.

[0015] As an alternative to a warehousing system, when the shallow area includes the fixed area, the transition area, and the temporary storage area, the temporary storage area includes a single-row structure or a double-row structure, and the bottom layer of the temporary storage area has a second opening, through which the second robot can enter the aisle between two adjacent shelves.

[0016] As an alternative to the storage system, when the temporary storage area has a single-row structure, the storage system also includes a second channel located below the deep area. The second channel has a dual-channel structure and can accommodate two second robots passing through in parallel.

[0017] As an alternative to the warehousing system, the second robot can pick up and place goods in the second channel or the alleyway.

[0018] As an alternative to the warehousing system, when there is an empty space in the first storage position at the bottom layer of the temporary storage area, the second robot can move through the empty first storage position and between the second channel and the aisle between the two adjacent shelves, whether it is loaded or empty.

[0019] As an alternative to the warehousing system, when the temporary storage area has a double-row structure, the warehousing system includes a third aisle located below the deep area. The third aisle has a single-aisle structure, and its width is greater than the length of the second robot. The second robot can move between the third aisle or between the aisles of two adjacent shelves.

[0020] As an optional solution for a warehousing system, when the inventory level is a first preset value, the transition area is in a storage state, and the first robot can store goods in the transition area; when the inventory level is a second preset value, the transition area is in a temporary storage state, and the second robot can temporarily store goods in the transition area.

[0021] As an alternative to a warehousing system, the first robot can transfer goods between the fixed area and the transition area, between the fixed area and the temporary storage area, or between the transition area and the temporary storage area.

[0022] As an alternative to the warehousing system, the second robot has a telescopic arm extending in a vertical direction, through which the height of the second robot is adjusted to fork goods located in the shallow area.

[0023] Beneficial effects:

[0024] In this invention, the shallow zone serves as the outer layer of the entire shelving unit, adjacent to the aisles between adjacent shelving units. Therefore, a single shelving unit typically has two opposing shallow zones. The deep zone is located in the inner layer of the entire shelving unit, situated between the two opposing shallow zones. When moving goods from storage locations in the deep zone, a first robot is used to transfer the goods from the deep zone to the shallow zone, and then a second robot completes the transfer of goods from the shallow zone. Goods in the deep zone are typically not frequently accessed, making them suitable for storing goods that do not participate in circulation for extended periods. The shallow zone faces the aisles, facilitating easy retrieval of goods, and can be used for short-term temporary storage. This warehousing system significantly improves the temporary storage capacity of goods by eliminating the need for a separate temporary storage area and replacing the temporary storage function with multiple storage locations in the shallow zone. Furthermore, the combination of multiple second robots facilitates the operation, eliminating the need for a first robot to handle the shallow zone's movement, thus effectively improving outbound efficiency. Attached Figure Description

[0025] Figure 1 This is a first structural schematic diagram of a storage system with a single-row temporary storage area provided in an embodiment of the present invention;

[0026] Figure 2 This is a first structural schematic diagram of a warehousing system that eliminates a separate temporary storage area, provided in an embodiment of the present invention.

[0027] Figure 3This is a second structural schematic diagram of a storage system with a single-row temporary storage area provided in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the third structure of a storage system with a single-column temporary storage area provided in an embodiment of the present invention;

[0029] Figure 5 This is a fourth structural schematic diagram of a storage system with a single-column temporary storage area provided in an embodiment of the present invention;

[0030] Figure 6 This is a second structural schematic diagram of a warehousing system that eliminates a separate temporary storage area, provided in an embodiment of the present invention.

[0031] Figure 7 This is a first structural schematic diagram of a storage system with a double-row temporary storage area provided in an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the second structure of a storage system with a double-row temporary storage area provided in an embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of the third structure of a storage system with a double-row temporary storage area provided in an embodiment of the present invention;

[0034] Figure 10 This is a schematic diagram of the movement path of the second robot in a storage system with a single-column temporary storage area provided in an embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the movement path of the second robot in a storage system with a single-column temporary storage area and a first gap, provided by an embodiment of the present invention.

[0036] Figure 12 This is a schematic diagram of the movement path of the second robot in a storage system with a single-column structure of temporary storage area and empty space provided in an embodiment of the present invention;

[0037] Figure 13 This is a schematic diagram of the movement path of the second robot in a storage system with a double-row temporary storage area provided in an embodiment of the present invention;

[0038] Figure 14 This is a schematic diagram of the movement path of the second robot freely moving under the shelf in a warehouse system without an independent temporary storage area, as provided in an embodiment of the present invention.

[0039] In the picture:

[0040] 11. First storage bit; 12. Second storage bit;

[0041] 100. Shelving; 110. Shallow area; 111. Temporary storage area; 112. First aisle; 113. First gap; 114. Second aisle; 115. Fixed area; 116. Transition area; 117. Third aisle;

[0042] 120. Deep Zone; 130. First Space;

[0043] 200, First robot; 300, Second robot; 310, Telescopic arm; 400, Lane. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0045] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0046] Please see the appendix Figure 1 - Appendix Figure 6 This embodiment relates to a warehousing system for use in modern, efficient logistics warehousing. The warehousing system includes multiple shelves 100, a first robot 200, and a second robot 300. Each shelf 100 includes a shallow area 110 and a deep area 120. The shallow area 110 includes multiple first storage positions 11 located on the outer layer of the shelf 100, and the deep area 120 includes multiple second storage positions 12 located on the inner layer of the shelf 100. The second storage positions 12 are used to store goods, and the first storage positions 11 are used to temporarily store goods. The first robot 200 is used to transfer goods between the second storage positions 12 in the deep area 120 and the first storage positions 11 in the shallow area 110. The second robot 300 is used to transfer goods between the first storage positions 11 in the shallow area 110 and workstations, or between the shallow areas 110.

[0047] The shelving unit 100 is constructed from multiple spaced-apart uprights and vertically spaced shelves, which can be connected by welding or threaded fasteners. Multiple shelving units 100 are arranged in an array, with aisles formed between adjacent units for passage by the first robot 200 and the second robot 300. Multiple first storage locations 11 for temporary storage of goods are formed in the shallow section 110 of the shelving unit 100, and multiple second storage locations 12 for storing goods are formed in the deep section 120. Goods are typically contained in bins. When moving goods from the first storage location 11, the second robot 300 operates on the bins, simultaneously moving the bins and the goods within them. Each first storage location 11 and second storage location 12 is rectangular in shape and has the same dimensions, forming a standard storage shelving unit 100.

[0048] Furthermore, a single shelf 100 includes a shallow area 110 and a deep area 120. It can be understood that the shallow area 110 serves as the outer layer of the entire shelf 100 and is adjacent to the aisle between adjacent shelves 100. Therefore, a single shelf 100 typically has two opposing shallow areas 110. The deep area 120 is located in the inner layer of the entire shelf 100, that is, between the two opposing shallow areas 110. In this embodiment, when moving goods in the deep zone 120, the first robot 200 is used to transfer the deep zone 120 to the shallow zone 110 first, and then the second robot 300 is used to complete the transfer of goods in the shallow zone 110. Alternatively, the first robot 200 can be used to transfer goods located at a high position in the shallow zone 110 to a low position in the shallow zone 110. Usually, the goods in the deep zone 120 are not frequently accessed and are suitable for storing goods that do not participate in the flow for a long time. The shallow zone 110 faces the passageway, making it convenient to access goods. The shallow zone 110 can be used for short-term temporary storage of goods or for the circulation of goods.

[0049] In this embodiment, the first robot 200 is a bin robot, which can be an AGV (Automated Guided Vehicle) or a stacker crane with a lifting mechanism and a storage mechanism. This embodiment does not limit the type of the first robot 200, as long as it can transfer and retrieve goods between the deep zone 120 and the shallow zone 110. Additionally, to accommodate the vertical transfer of goods in the shallow zone 110, the second robot 300 also has a lifting mechanism. The lifting mechanism of the second robot 300 has an arm structure at its end for forking goods. Slots are provided on the shelf for engaging with the arm. The arm structure lifts and supports the goods, thus separating them from the shelf. The specific engaging mechanism of the slots and arm is not specifically limited in this invention.

[0050] Please see the appendix Figure 3Optionally, the second robot 300 has a telescopic arm 310 extending in a vertical direction, and the second robot 300 adjusts its height through the telescopic arm 310 to pick up goods located in the shallow area 110.

[0051] In this embodiment, the lifting mechanism of the second robot 300 includes a telescopic arm 310 that can extend along the vertical direction. The telescopic arm 310 is extended and shortened by a drive motor to enable the second robot 300 to lift goods at different heights in the shallow area 110 in the vertical direction.

[0052] In the same warehousing system, multiple second robots 300 that can shuttle are usually required to carry out the transport according to the program and the predetermined route. At the same time, in order to ensure economic cost, the number of first robots 200 is relatively small.

[0053] This warehousing system provides temporary storage and cargo transfer functions through multiple first storage positions 11 in the shallow zone 110, which greatly improves the temporary storage capacity and transfer efficiency of goods. At the same time, combined with multiple second robots 300 with lifting functions, it can easily realize the transfer of temporarily stored goods, no longer relying solely on the first robot 200 for handling operations at high levels in the shallow zone 110, effectively improving the shipping efficiency.

[0054] Optionally, the shallow region 110 includes a fixed region 115, and the shallow region 110 also includes a transition region 116 and / or a temporary storage region 111. The temporary storage region 111 includes one or two layers of first storage bits 11 located at the bottom of the shallow region 110, the fixed region 115 includes first storage bits 11 located at the top of the adjacent temporary storage region 111, and the transition region 116 includes first storage bits 11 located at the top of the adjacent fixed region 115.

[0055] In this embodiment, the shallow area 110 can be divided into a temporary storage area 111, a fixed area 115, and a transition area 116 according to its height. The temporary storage area 111 can be set separately at the bottom of the shelf 100, or the temporary storage area 111 can be removed. The temporary storage area 111 includes one or two layers of first storage positions 11 located at the bottom of the shallow area 110. A fixed area 115 is set above the temporary storage area 111. Preferably, the fixed area 115 includes one or two layers of first storage positions 11. A transition area 116 is set above the fixed area 115. In a modern logistics system, the temporary storage functions of the temporary storage area 111, the fixed area 115, and the transition area 116 can be opened in sequence according to the turnover frequency of goods and the overall retrieval efficiency of goods. For example, in a shelf 100 with an independent temporary storage area 111, when the turnover of goods is relatively small, the number of first storage positions 11 of the temporary storage area 111 is sufficient to meet the turnover. At this time, the fixed area 115 and the transition area 116 can be used to store goods. Furthermore, as the volume of goods turnover increases further, the temporary storage function of the fixed area 115 and even the transition area 116 can be gradually opened to meet the needs of use.

[0056] In this embodiment, the temporary storage area 111 can have the same structure as the fixed area 115. Alternatively, a temporary storage rack can be set separately in the bottom gap of the shelf 100 to separate it from the shelf 100 as a whole, thereby facilitating the flexible arrangement of the temporary storage area 111.

[0057] In this embodiment, the frame structure of the independent temporary storage area 111 is different from that of the fixed area 115 and the transition area 116. Various existing temporary storage rack structures can be independently set in the temporary storage area 111 to facilitate the second robot 300 to pick up the goods.

[0058] Please see the appendix Figure 2 and attached Figure 14 Optionally, when the shallow area 110 includes a fixed area 115 and a transition area 116 and has no temporary storage area 111, the bottom layer of the shelf 100 is provided with a first space 130, and the second robot 300 can freely move through the first space 130 in both empty and full-load states.

[0059] In this embodiment, when the shallow area 110 has a fixed area 115 and a transition area 116, but no independent temporary storage area 111, there is still a certain height from the ground at the bottom of the fixed area 115. This height allows the second robot 300 to freely move through the first space 130 in both empty and fully loaded states. Although this type of shelf 100 without an independent temporary storage area 111 sacrifices some of the first storage positions 11 with temporary storage function at the bottom, the second robot 300 can freely turn and move when loaded, greatly saving the shuttle path of the second robot 300, effectively saving handling time, and improving the shipping efficiency of the entire warehousing system.

[0060] Optionally, the second robot 300 can retrieve or place goods from the aisle 400 between two adjacent shelves 100.

[0061] In this embodiment, an aisle 400 is formed between adjacent shelves 100. The width of the aisle 400 is at least wide enough to allow two sets of second robots 300 to pass in parallel and for the second robots 300 to turn around. Furthermore, the aisle 400 can also accommodate the first robot 200 to travel in parallel. In one implementation of this embodiment, the width of the aisle 400 is sufficient for the first robot 200 and the second robot 300 to pass side by side.

[0062] Please see the appendix Figure 6 Optionally, when the shallow area 110 includes a fixed area 115 and a transition area 116 and has no temporary storage area 111, the storage system also includes a first aisle 112, which is located below the deep area 120. The bottom layer of the fixed area 115 has a first gap 113, through which the second robot 300 can move through the first gap 113 in the aisle 400 between the first aisle 112 and two adjacent shelves 100.

[0063] In this embodiment, when the shallow zone 110 has a fixed zone 115 and a transition zone 116, but no independent temporary storage zone 111, a first channel 112 is provided below the deep zone 120. The second robot 300 can also pick up goods in the first channel 112 and transport the goods to the alley 400 through the first gap 113. This avoids the second robot 300 having to load the goods and transport them to the end of the first channel 112 before turning, effectively improving the delivery efficiency.

[0064] Please further refer to the appendix. Figure 7 - Appendix Figure 9 Optionally, when the shallow area 110 includes a fixed area 115, a transition area 116 and a temporary storage area 111, the temporary storage area 111 includes a single-row structure or a double-row structure, and the bottom layer of the temporary storage area 111 has a second gap, through which the second robot 300 can enter the aisle 400 between two adjacent shelves 100.

[0065] In this embodiment, when the shallow area 110 has a fixed area 115, a transition area 116 and a temporary storage area 111, the temporary storage area 111 can be set as a single-row structure or a double-row structure. The single-row structure enhances the convenience of storing and retrieving goods and enables bilateral storage and retrieval. Although the double-row structure has poorer convenience of storing and retrieving goods, it can improve the storage capacity of the shelf 100 and save space.

[0066] Furthermore, regardless of whether it is a single-row or double-row structure, a second gap can be opened at the bottom of the temporary storage area 111, allowing the second robot 300 to enter the aisle 400 between two adjacent shelves 100 through the second gap, shortening the travel path of the second robot 300, increasing the travel options, and thus improving the delivery efficiency.

[0067] Please see the appendix Figure 3 - Appendix Figure 5 Optionally, when the temporary storage area 111 has a single-row structure, the storage system also includes a second channel 114, which is located below the deep area 120. The second channel 114 has a dual-channel structure and can accommodate two second robots 300 passing through in parallel.

[0068] For the single-row temporary storage area 111, this warehousing system has a second channel 114 below the deep area 120. Since the single-row structure occupies less space below the deep area 120, the second channel 114 can be relatively wide, and can even accommodate two second robots 300 passing in parallel when loading goods, further improving the shipping efficiency.

[0069] Please see the appendix Figure 10 and attached Figure 11 Optionally, the second robot 300 can pick up and place goods within the second channel 114 or aisle 400.

[0070] In this embodiment, the second robot 300 can pick up goods in the temporary storage areas 111 on both sides of the second channel 114 and transport them along the second channel 114. It can even enter the aisle 400 through the second gap. Of course, the second robot 300 is located on one side of the aisle 400 and can also store and retrieve goods in the shallow area 110 on the side of the aisle 400, ensuring that the second robot 300 can flexibly pick up and put down goods.

[0071] Please see the appendix Figure 12 Optionally, when there is an empty space in the first storage position 11 at the bottom of the temporary storage area 111, the second robot 300 can move between the empty first storage position 11 and the aisle 400 between the second channel 114 and the two adjacent shelves 100, whether it is in a loaded or empty state.

[0072] In this embodiment, the shelf of the temporary storage area 111 differs structurally from the shelves of the fixed area 115 and the transition area 116. The shelf of the temporary storage area 111 can be two parallel support rods. The two support rods are arranged in parallel, and the telescopic arm 310 of the second robot 300 can pass through the space between the two support rods. Therefore, when there is an empty space in the temporary storage area 111 without any goods, the second robot 300 can pass through the first storage position 11 of the empty space in both loaded and unloaded states, thereby realizing movement between the second channel 114 and the aisle 400. This further improves the flexibility of the second robot 300 in transferring goods, increases the number of path options, and improves the transfer efficiency.

[0073] Please see the appendix Figure 13 Optionally, when the temporary storage area 111 has a double-row structure, the storage system includes a third aisle 117, which is located below the deep area 120. The third aisle 117 has a single-aisle structure, and its width is greater than the length of the second robot 300. The second robot 300 can move between the third aisle 117 or between the aisles 400 between two adjacent shelves 100.

[0074] For the double-row temporary storage area 111, a third channel 117 is provided below the deep area 120. The third channel 117 is narrower than the second channel 114, but still wider than the length of the second robot 300, ensuring that the second robot 300 can easily turn around and move within the third channel 117. In this embodiment, the double-row temporary storage area 111 improves the temporary storage capacity for goods. However, for goods located inside, the second robot 300 needs to retrieve them from the second channel 114; for goods located outside, the second robot 300 can retrieve them from the aisles 400 between the shelves 100, relatively reducing the flexibility of retrieval.

[0075] Optionally, when the inventory level is a first preset value, the transition zone 116 is in a storage state, and the first robot 200 can store goods in the transition zone 116; when the inventory level is a second preset value, the transition zone 116 is in a temporary storage state, and the second robot 300 can temporarily store goods in the transition zone 116.

[0076] In this embodiment, the function of the transition zone 116 can be flexibly adjusted according to different inventory levels. For example, when the inventory level is a first preset value, the shelf 100 needs more storage space, but at this time, rapid turnover of goods is not required, so less temporary storage space is needed. Therefore, the transition zone 116 can be used to store goods for a long time. When the inventory level is a second preset value, more temporary storage space is needed for rapid turnover, so the shelf 100 needs more temporary storage space. At this time, the transition zone 116 can be used to temporarily store goods for a short time, improving the turnover rate of goods and ensuring delivery efficiency.

[0077] Optionally, the first robot 200 can transfer goods between the fixed area 115 and the transition area 116, between the fixed area 115 and the temporary storage area 111, or between the transition area 116 and the temporary storage area 111.

[0078] Normally, the first robot 200 is mainly used to pick up and place goods between the deep zone 120 and the shallow zone 110. In order to improve the efficiency of picking up and placing goods and increase the utilization rate of the first robot 200, the number of second robots 300 can also be reduced. The first robot 200 can also operate in the shallow zone 110, specifically between the fixed zone 115 and the transition zone 116, between the fixed zone 115 and the temporary storage zone 111, or between the transition zone 116 and the temporary storage zone 111, so as to further enable the second robot 300 to transfer goods between the shallow zone 110 and the workstation.

[0079] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A warehousing system, characterized in that, include: Multiple shelves (100) are provided, each shelf (100) including a shallow area (110) and a deep area (120). The shallow area (110) includes a plurality of first storage positions (11) located on the outer layer of the shelf (100), and the deep area (120) includes a plurality of second storage positions (12) located on the inner layer of the shelf (100). The second storage positions (12) are used to store goods, and the first storage positions (11) are used to temporarily store goods. A first robot (200) is used to transfer goods between the second storage location (12) in the deep zone (120) and the first storage location (11) in the shallow zone (110). A second robot (300) is used to transfer goods between the first storage location (11) and the workstation in the shallow area (110) or between the shallow areas (110).

2. The warehousing system according to claim 1, characterized in that, The shallow region (110) includes a fixed region (115), and the shallow region (110) further includes a transition region (116) and / or a temporary storage region (111). The temporary storage region (111) includes one or two layers of the first storage bit (11) located at the bottom of the shallow region (110). The fixed region (115) includes the first storage bit (11) located at the top of the adjacent temporary storage region (111). The transition region (116) includes the first storage bit (11) located at the top of the adjacent fixed region (115).

3. The warehousing system according to claim 2, characterized in that, When the shallow area (110) includes the fixed area (115) and the transition area (116) and has no temporary storage area (111), the bottom layer of the shelf (100) is provided with a first space (130), and the second robot (300) can freely move through the first space (130) in both empty and full-load states.

4. The warehousing system according to claim 2, characterized in that, The second robot (300) can pick up and put down goods from the aisle (400) between two adjacent shelves (100).

5. The warehousing system according to claim 2, characterized in that, When the shallow area (110) includes the fixed area (115) and the transition area (116) and has no temporary storage area (111), the storage system further includes a first channel (112) located below the deep area (120). The bottom layer of the fixed area (115) has a first gap (113) through which the second robot (300) can move through the first gap (113) in the aisle (400) between the first channel (112) and two adjacent shelves (100).

6. The warehousing system according to claim 2, characterized in that, When the shallow area (110) includes the fixed area (115), the transition area (116) and the temporary storage area (111), the temporary storage area (111) includes a single-row structure or a double-row structure, and the bottom layer of the temporary storage area (111) is provided with a second gap, through which the second robot (300) can enter the aisle (400) between two adjacent shelves (100).

7. The warehousing system according to claim 6, characterized in that, When the temporary storage area (111) is a single-row structure, the storage system also includes a second channel (114), which is located below the deep area (120). The second channel (114) is a dual-channel structure and can accommodate two second robots (300) passing through in parallel.

8. The warehousing system according to claim 7, characterized in that, The second robot (300) can pick up and place goods in the second channel (114) or the alley (400).

9. The warehousing system according to claim 7, characterized in that, When there is an empty space in the first storage position (11) at the bottom of the temporary storage area (111), the second robot (300) can move between the empty first storage position (11) and the aisle (400) between the second channel (114) and the two adjacent shelves (100) in both loaded and unloaded states.

10. The warehousing system according to claim 6, characterized in that, When the temporary storage area (111) has a double-row structure, the storage system includes a third aisle (117), which is located below the deep area (120). The third aisle (117) has a single-aisle structure, and the width of the third aisle (117) is greater than the length of the second robot (300). The second robot (300) can move between the third aisle (117) or between the aisles (400) between two adjacent shelves (100).

11. The warehousing system according to claim 2, characterized in that, When the inventory level is a first preset value, the transition zone (116) is in a storage state, and the first robot (200) can store goods in the transition zone (116); when the inventory level is a second preset value, the transition zone (116) is in a temporary storage state, and the second robot (300) can temporarily store goods in the transition zone (116).

12. The warehousing system according to claim 2, characterized in that, The first robot (200) can transfer goods between the fixed area (115) and the transition area (116), between the fixed area (115) and the temporary storage area (111), or between the transition area (116) and the temporary storage area (111).

13. The warehousing system according to any one of claims 1-12, characterized in that, The second robot (300) has a telescopic arm (310) extending in a vertical direction, and the second robot (300) adjusts its height through the telescopic arm (310) to pick up goods located in the shallow area (110).

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