Goods storing and taking system

Abstract

The embodiment of the utility model provides a goods storing and taking system. The goods storing and taking system comprises a goods shelf, a temporary storage part, a storing and taking mechanism and a first temporary storage position identification part. Wherein the goods shelf comprises a plurality of cross beams, and a plurality of layers of storage intervals are formed by the plurality of cross beams. The temporary storage part is detachably connected to the lower portion of the bottommost storage section in the vertical direction. The storing and taking mechanism is movably connected with the outer side face of the goods shelf and used for transferring goods between the storage area and the temporary storage part. And the first temporary storage position identification part is arranged on at least one cross beam and is used for indicating the position of the temporary storage part. According to the embodiment of the invention, the accuracy of positioning the temporary storage part by the access mechanism can be improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of intelligent warehouse, and in particular, to a goods storage and retrieval system. BACKGROUND

[0002] In an intelligent warehouse, goods placed on shelves in a storage area are transported to a work station by a transfer vehicle, queued into a picking location, and after the required goods are picked, transported back to the storage area by the transfer vehicle. Among them, when the goods are taken out of the warehouse, the goods are taken out of the storage area on the shelf by the storage and retrieval mechanism, transported to the temporary storage part at the bottom of the shelf, put into the temporary storage part, and then taken out of the temporary storage part by the transfer vehicle. When the goods are put into the warehouse, the goods are put into the temporary storage part at the bottom of the shelf by the transfer vehicle, and then taken out of the temporary storage part by the storage and retrieval mechanism and transported to the storage area on the shelf.

[0003] Among them, the storage and retrieval mechanism and the transfer vehicle hand over the goods through the temporary storage part. If the position of the temporary storage part is not accurately positioned by the storage and retrieval mechanism, it will cause the goods to fall, the goods to fail to be stored and retrieved, and other problems, affecting the storage and retrieval of the goods. For example, the storage and retrieval mechanism will store the goods in the temporary storage part at an angle due to inaccurate positioning of the position of the temporary storage part, and the transfer vehicle will lift the goods when it reaches the temporary storage part. Since the goods are at an angle, the goods may fall during the transportation of the transfer vehicle. UTILITY MODEL CONTENT

[0004] Embodiments of the present disclosure provide a goods storage and retrieval system, comprising: a shelf comprising a plurality of beams, the plurality of beams forming a plurality of storage areas in a vertical direction; a temporary storage part detachably connected below the storage area of the bottom layer in the vertical direction; a storage and retrieval mechanism movably connected to the outer side of the shelf for transferring goods between the storage area and the temporary storage part; and a first temporary storage position identification part provided on at least one of the beams for indicating the position of the temporary storage part.

[0005] In an embodiment of the present disclosure, the plurality of storage areas are arranged in sequence along the vertical direction, and the first temporary storage position identification part is provided on the beam corresponding to the middle layer storage area of the plurality of storage areas.

[0006] In an embodiment of the present disclosure, the first temporary storage position identification part is provided on the beam corresponding to the second layer storage area of the plurality of storage areas arranged from bottom to top.

[0007] In one embodiment of the present disclosure, the access mechanism comprises: a moving support horizontally movably connected with the at least two beams; a loading platform vertically movably connected with the moving support, configured to access the goods from the storage section and the temporary storage; and a position recognition unit arranged on the loading platform and configured to determine the position of the temporary storage based on the first temporary storage position identification unit.

[0008] In one embodiment of the present disclosure, the position recognition unit comprises: a first imaging assembly configured to acquire an image of the first temporary storage position identification unit; and a first processor configured to determine the position of the temporary storage based on the image of the first temporary storage position identification unit, and generate an instruction for driving the loading platform to move to an access position corresponding to the position of the temporary storage.

[0009] In one embodiment of the present disclosure, the position recognition unit comprises: a first imaging assembly configured to acquire an image of the first temporary storage position identification unit; and a first processor configured to determine the position of the temporary storage based on the image of the first temporary storage position identification unit, and generate an instruction for driving the loading platform to move to an access position corresponding to the position of the temporary storage.

[0010] In one embodiment of the present disclosure, one of the first temporary storage position identification units comprises a plurality of first position identification codes of the same size arranged in a horizontal direction.

[0011] In one embodiment of the present disclosure, the position recognition unit comprises: a first imaging assembly configured to acquire an image of the first temporary storage position identification unit; and a first processor configured to determine the position of the temporary storage based on the image of the first temporary storage position identification unit, and generate an instruction for driving the loading platform to move to an access position corresponding to the position of the temporary storage.

[0012] In one embodiment of the present disclosure, the transfer vehicle comprises: a vehicle body; a second imaging assembly arranged on the vehicle body and configured to acquire an image of the second temporary storage position identification unit; and a second processor arranged on the vehicle body and configured to determine the position of the temporary storage based on the image of the second temporary storage position identification unit, and generate an instruction for driving the vehicle body to move to the position of the temporary storage.

[0013] In one embodiment of the present disclosure, a goods identification unit is arranged on the goods; the transfer vehicle further comprises: a third imaging assembly arranged on the vehicle body and configured to acquire an image of the goods identification unit; and the second processor is further configured to generate an instruction for adjusting the pose of the vehicle body based on the image of the goods identification unit.

[0014] In one embodiment of the present disclosure, one of the second temporary storage position identification units comprises a plurality of second position identification codes of the same size arranged in an array.

[0015] The goods access system provided by the embodiment of the present disclosure can improve the accuracy of the access mechanism in positioning the temporary storage position according to the first temporary storage position identification unit after determining the position of the temporary storage position by the encoder control, thereby improving the stability and accuracy of the access mechanism in accessing the goods in the temporary storage position. BRIEF DESCRIPTION OF DRAWINGS

[0016] Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments made with reference to the following drawings:

[0017] Figure 1 is a schematic diagram of an application scenario of the goods access system of the embodiment of the present disclosure;

[0018] Figure 2 is Figure 1 is a partial schematic diagram of a single goods shelf, an access mechanism and a transfer vehicle in

[0019] Figure 3 is Figure 1 is a partial schematic diagram of a temporary storage position, an access mechanism and a transfer vehicle below the goods shelf in

[0020] Figure 4 is a schematic diagram of the goods access system of the embodiment of the present disclosure;

[0021] Figure 5A and Figure 5B are respectively Figure 4 are schematic diagrams of the surfaces of the goods shelves on both sides of the aisle in

[0022] Figure 6 is a top view showing the second temporary storage position identification unit and the position of the temporary storage position in Figure 4

[0023] Figure 7A is a schematic diagram of the arrangement of the goods identification unit and the third imaging assembly on the goods and the transfer vehicle;

[0024] Figure 7B is Figure 7A is a bottom view of the bottom of the goods in

[0025] Figure 8 is a flowchart of a goods access method according to an embodiment of the present disclosure;

[0026] Figure 9 is a flowchart of a goods access method according to another embodiment of the present disclosure;

[0027] ​Figure 10 is a block diagram of an electronic device for implementing a goods access method according to an embodiment of the disclosure. DETAILED DESCRIPTION

[0028] The disclosure will be described in further detail below with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the present disclosure and are not intended to limit the present disclosure. In addition, it should be noted that, for the purpose of description, only parts related to the present disclosure are shown in the drawings.

[0029] It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and embodiments.

[0030] Figure 1 application scenarios of a goods access system 100 according to an embodiment of the disclosure are shown, Figure 2 application scenarios of a goods access system 100 according to an embodiment of the disclosure are shown, Figure 1 application scenarios of a goods access system 100 according to an embodiment of the disclosure are shown, Figure 3 application scenarios of a goods access system 100 according to an embodiment of the disclosure are shown, Figure 1 application scenarios of a goods access system 100 according to an embodiment of the disclosure are shown, Figure 1 application scenarios of a goods access system 100 according to an embodiment of the disclosure are shown, Figure 2 application scenarios of a goods access system 100 according to an embodiment of the disclosure are shown, Figure 3 application scenarios of a goods access system 100 according to an embodiment of the disclosure are shown.

[0031] The goods access system 100 includes a goods storage area 1000, a goods access mechanism 130, and a transfer vehicle 140.

[0032] The temporary storage 120 is used for the goods access mechanism 130 and the transfer vehicle 140 to hand over the goods 150. The temporary storage 120 is detachably connected below the storage interval 111 of the bottommost layer of the goods shelf 110, and is a position for temporarily storing the goods 150, forming a temporary storage position of the goods 150. Figure 3 The temporary storage 120 can be suspendedly connected below the storage interval 111 of the bottommost layer of the goods shelf 110.

[0033] The goods access mechanism 130 is used to transfer the goods 150 between the storage interval 111 and the temporary storage 120. The goods access mechanism 130 is movably connected with the outer side of the goods shelf 110, and can move along the outer side of the goods shelf 110 to take out the goods 150 from the storage interval 111, transport the goods 150 to the temporary storage 120, and store the goods 150 in the temporary storage 120, or take out the goods 150 from the temporary storage 120, transport the goods 150 to the storage interval 111, and store the goods 150 in the storage interval 111.

[0034] The transfer vehicle 140 is used for transferring the goods 150 in and out of the storage area. The transfer vehicle 140 can take the goods 150 out of the temporary storage 120, transport the goods 150 out of the storage area, or transport the goods 150 back to the storage area and store the goods 150 in the temporary storage 120. Among them, Figure 3 In FIG. 1, the support mechanism constituting the storage interval 111 in the shelf 110 is omitted, and only the shelf beam corresponding to the storage interval 111 is shown.

[0035] It should be noted that, Figure 1 The number of shelves 110 arranged in the storage area is not limited to four, and skilled persons in the art can know that the number of shelves 110 arranged in the storage area can be more than four, for example, five, eight, etc. The number of shelves 110 arranged in the storage area can also be less than four, for example, one, two, etc. The embodiments of the present disclosure do not limit this. When two or more shelves 110 are arranged in the storage area, the two or more shelves 110 can be shelves of the same type divided according to multiple classification standards, or can be shelves of different types divided according to multiple classification standards. The embodiments of the present disclosure do not limit this. The goods 150 in the embodiments of the present disclosure can also be boxes. The embodiments of the present disclosure do not limit the form of the goods 150.

[0036] Figure 4 The goods storage and retrieval system 100 of the embodiments of the present disclosure is shown, Figure 5A And Figure 5B respectively show Figure 4 the surfaces of the shelves 110 on both sides of the aisle. As shown in Figure 4 , Figure 5A and Figure 5B , the goods storage and retrieval system 100 of the embodiments of the present disclosure can include a shelf 110, a temporary storage 120, a storage and retrieval mechanism 130, and a first temporary storage position identification part 160.

[0037] The shelf 110 includes a plurality of beams 112, and the plurality of beams 112 form a plurality of layers of storage intervals 111. The temporary storage 120 is detachably connected below the storage interval 111 at the bottom layer in the vertical direction. The storage and retrieval mechanism 130 is movably connected to the outer side of the shelf 110, and is used for transferring the goods 150 between the storage interval 111 and the temporary storage 120. The first temporary storage position identification part 160 is arranged on at least one beam 112, and is used for indicating the position of the temporary storage 120.

[0038] The access mechanism 130 can accurately position the temporary storage 120 according to the first temporary storage position identifier 160 after determining the position of the temporary storage 120 through the encoder control, which can improve the accuracy of the access mechanism 130 in positioning the temporary storage 120, thereby improving the stability and accuracy of the access mechanism 130 in accessing the goods 150 in the temporary storage 120.

[0039] Since the access mechanism 130 frequently moves back and forth between the temporary storage 120 and the storage section 111 when transferring the goods 150, the access mechanism 130 needs to frequently position the temporary storage 120 at the position set by the first temporary storage position identifier 160. If the position set by the first temporary storage position identifier 160 is low, the access mechanism 130 may collide with the transfer vehicle 140. Since the access mechanism 130 needs to position the temporary storage 120 according to the first temporary storage position identifier 160, the closer the position set by the first temporary storage position identifier 160 to the temporary storage 120, the more accurate the positioning will be. If the position set by the first temporary storage position identifier 160 is high and far away from the temporary storage 120, the access mechanism 130 may have a large error in positioning the temporary storage 120 according to the first temporary storage position identifier 160. Therefore, the first temporary storage position identifier 160 needs to be set at a position close to the temporary storage 120 without affecting the operation of the transfer vehicle 140, thereby avoiding the risk of collision and ensuring the accuracy of positioning.

[0040] In some optional embodiments, the multi-layer storage sections 111 are arranged in sequence along the vertical direction, and the first temporary storage position identifier 160 can be arranged on the cross beam 112 corresponding to the middle layer storage section of the multi-layer storage sections 111 to meet the principle of being close to the temporary storage 120 without affecting the operation of the transfer vehicle 140. Since the height of the transfer vehicle 140 is usually close to the bottom of the first layer storage section 111 arranged from bottom to top of the multi-layer storage sections 111, but lower than the second layer storage section 111 by a distance, the first temporary storage position identifier 160 arranged on the cross beam 112 corresponding to the second layer storage section 111 can better meet the principle of being close to the temporary storage 120 without affecting the operation of the transfer vehicle 140. Alternatively, as shown in Figure 5A the first temporary storage position identifier 160 can be arranged on the cross beam 112 corresponding to the second layer storage section of the multi-layer storage sections 111 arranged from bottom to top.

[0041] The embodiments of the present disclosure do not limit the way the first temporary storage position identifier 160 is arranged on the cross beam 112, and the first temporary storage position identifier 160 can be arranged on the cross beam 112 in any appropriate connection manner, for example, the first temporary storage position identifier 160 can be arranged on the cross beam 112 in a manner of adhesion, riveting, or fastener connection.

[0042] In some optional embodiments, as shown in Figure 4 andFigure 5B As shown, the access mechanism 130 can include a moving bracket 131, a loading platform 132, and a position recognition unit. The moving bracket 131 can be horizontally movably connected with the at least two beams 112. The loading platform 132 can be vertically movably connected with the moving bracket 131, and is configured to access the goods 150 from the storage compartments 111 and the temporary storage unit 120. The position recognition unit is arranged on the loading platform 132, and is configured to determine the position of the temporary storage unit 120 based on the first temporary storage position identification unit 160. The access mechanism 130 can achieve the movement of the loading platform 132 along the horizontal direction and the vertical direction of the outer side surface of the shelf 110 through the horizontal movement of the moving bracket 131 and the vertical movement of the loading platform 132. The loading platform 132 can be positioned to the storage compartments 111 and the temporary storage unit 120 on the shelf 110 through the movement along the horizontal direction and the vertical direction of the outer side surface of the shelf 110, and the goods 150 can be transferred between the storage compartments 111 and the temporary storage unit 120.

[0043] The embodiments of the present disclosure do not limit the number and position of the beams 112 connected with the moving bracket 131 on the shelf 110. For example, the moving bracket 131 can be connected with the beams 112 corresponding to the uppermost storage compartments 111 and the lowermost storage compartments 111 on the shelf 110, and the beams 112 corresponding to the uppermost storage compartments 111 and the lowermost storage compartments 111 on the shelf 110 can be used as two tracks, and the moving bracket 131 can move horizontally along the two tracks. The moving bracket 131 can move horizontally along the at least two beams 112 in various ways, and the embodiments of the present disclosure do not limit the same. For example, the moving bracket 131 can include a motor and a walking wheel, and the moving bracket 131 can move horizontally along the at least two beams 112 by driving the walking wheel with the motor.

[0044] The embodiments of the present disclosure do not limit the connection manner of the loading platform 132 and the moving bracket 131. For example, the moving bracket 131 can include two vertical tracks, and the loading platform 132 can be connected with the two vertical tracks on the moving bracket 131, and the loading platform 132 can move vertically along the two tracks. The loading platform 132 can move vertically along the moving bracket 131 in various ways, and the embodiments of the present disclosure do not limit the same. For example, the loading platform 132 can include a motor and a walking wheel, and the loading platform 132 can move vertically along the moving bracket 131 by driving the walking wheel with the motor.

[0045] It should be understood that, in order to enable the mobile bracket 131 to move stably along the horizontal direction on the cross beam 112, the mobile bracket 131 can further include a fixing mechanism for keeping the mobile bracket 131 in contact with the cross beam 112. Similarly, in order to enable the loading platform 132 to move stably along the vertical direction on the mobile bracket 131, the loading platform 132 can further include a fixing mechanism for keeping the loading platform 132 in contact with the mobile bracket 131. In some optional embodiments, the motor can also be connected with the driven member through a speed change mechanism or the like. The implementation of the present disclosure is not limited in this regard.

[0046] Optionally, the position recognition unit can include a first imaging assembly and a first processor. The first imaging assembly is configured to acquire an image of the first temporary storage position identification unit 160. The first processor is configured to determine the position of the temporary storage unit 120 based on the image of the first temporary storage position identification unit 160, and generate an instruction for driving the loading platform 132 to move to an access position corresponding to the position of the temporary storage unit 120. By acquiring the image of the first temporary storage position identification unit 160 through the first imaging assembly, the first processor determines the position of the temporary storage unit 120 according to the image of the first temporary storage position identification unit 160, and generates an instruction for driving the loading platform 132 to move according to the position of the temporary storage unit 120. According to the instruction generated by the first processor, the loading platform 132 can be accurately moved to the access position corresponding to the position of the temporary storage unit 120, and the goods 150 can be accessed from the temporary storage unit 120, thereby improving the success rate of accessing the goods 150 from the temporary storage unit 120 by the loading platform 132.

[0047] For example, the first imaging assembly can be a camera or a camera including an optical lens and an image sensor, and the image sensor can include a CCD sensor or a CMOS sensor, and the first imaging assembly can further include a light source module and a control module, and the implementation of the present disclosure is not limited in this regard. The first processor can determine the first deviation information between the loading platform 132 and the temporary storage unit 120 according to the pixel coordinates of the first temporary storage position identification unit 160 in the image of the first temporary storage position identification unit 160, through a coordinate conversion algorithm in the field of image processing, in combination with the camera extrinsic parameters and the camera intrinsic parameters of the first imaging assembly, and can generate an instruction for driving the loading platform 132 to move to an access position corresponding to the position of the temporary storage unit 120 according to the first deviation information between the loading platform 132 and the temporary storage unit 120. The driving device on the mobile bracket 131 and / or the loading platform 132 can drive the loading platform 132 to move along the horizontal direction and / or the vertical direction of the outer side of the goods shelf 110 to the access position corresponding to the position of the temporary storage unit 120 according to the instruction generated by the first processor.

[0048] For example, a coordinate system is established with the horizontal direction of the outer side of the shelf 110 as the x-axis and the vertical direction as the y-axis, and the first deviation information between the loading table 132 and the temporary storage 120 determined according to the image of the first temporary storage position identification part 160 can include the difference in the x-axis coordinate and the difference in the y-axis coordinate of the loading table 132 and the temporary storage 120 in the coordinate system of the outer side of the shelf 110. If the difference in the x-axis coordinate and the difference in the y-axis coordinate of the loading table 132 and the temporary storage 120 in the coordinate system of the outer side of the shelf 110 are both 0, it indicates that the loading table 132 has moved to the access position corresponding to the position of the temporary storage 120. If the difference in the x-axis coordinate and the difference in the y-axis coordinate of the loading table 132 and the temporary storage 120 in the coordinate system of the outer side of the shelf 110 are both not 0, and are Δx and Δy respectively, it indicates that the loading table 132 needs to be moved by a distance of Δx in the horizontal direction and a distance of Δy in the vertical direction to reach the access position corresponding to the position of the temporary storage 120.

[0049] In some optional embodiments, one first temporary storage position identification part 160 can include a plurality of first positioning identification codes of the same size arranged in the horizontal direction. For example, one first temporary storage position identification part 160 can include three first positioning identification codes of the same size arranged in the horizontal direction of the cross beam 112. The number of first positioning identification codes included in the first temporary storage position identification part 160 is not limited in the embodiments of the present disclosure. The first positioning identification code can be a one-dimensional code, a two-dimensional code, or a pattern, a number, etc. that can play an identification role. The type of the first positioning identification code is not limited in the embodiments of the present disclosure.

[0050] In addition to being used to indicate the position of the temporary storage 120, the plurality of first positioning identification codes of the same size included in the first temporary storage position identification part 160 can also be used to indicate the position of itself in the first temporary storage position identification part 160. The manner in which the first positioning identification code indicates the position of itself in the first temporary storage position identification part 160 is not limited in the embodiments of the present disclosure. For example, the first positioning identification code can use the last two bits in the identification code to indicate the position of itself in the first temporary storage position identification part 160, and the three first positioning identification codes of the same size arranged in the horizontal direction in the first temporary storage position identification part 160 can use “01”, “10” and “11” respectively to indicate the position of themselves in the first temporary storage position identification part 160.

[0051] The first processor of the loading platform 132 identifies the first positioning identification code in the image of the first temporary storage location identification section 160, thereby determining the position of the first positioning identification code in the first temporary storage location identification section 160. Based on the position of the first positioning identification code in the first temporary storage location identification section 160, and the number and size of the first positioning identification codes in the first temporary storage location identification section 160, the processor determines the position of the temporary storage section 120 corresponding to the first temporary storage location identification section 160. Therefore, based on the position of the temporary storage section 120 corresponding to the first temporary storage location identification section 160 and the position of the loading platform 132, the processor determines the first deviation information between the loading platform 132 and the temporary storage section 120. By employing multiple first positioning identification codes arranged horizontally in the first temporary storage location identification section 160, the area of ​​the first temporary storage location identification section 160 used for identification can be increased, effectively avoiding missing codes and improving the efficiency of the storage and retrieval mechanism 130 in positioning the temporary storage section 120.

[0052] Optionally, the center of each first positioning identification code may also have a first specific feature. The first specific feature of the center of the first positioning identification code may be a specific graphic, symbol, etc., and the embodiments of this disclosure are not limited thereto. For example, the first specific feature may be a triangle, a cross symbol, etc. The first processor of the loading platform 132 can determine the first center deviation information between the center of the first positioning identification code corresponding to the first specific feature and the center of the first imaging component based on the position of the first specific feature in the image of the first temporary storage unit 160, and can correct the first deviation information between the loading platform 132 and the temporary storage unit 120 based on the first center deviation information. By identifying the first specific feature of the center of the first positioning identification code, the deviation information between the center of the first positioning identification code and the center of the first imaging component can be determined. By correcting the first deviation information between the loading platform 132 and the temporary storage unit 120 determined according to the position of the first positioning identification code in the first temporary storage unit 160 based on the determined center deviation information, the positioning accuracy of the storage mechanism 130 for the temporary storage unit 120 can be further improved.

[0053] like Figure 1 and Figure 2 As shown, in Figure 1 In this application scenario, the storage mechanism 130 not only determines the location of the temporary storage section 120 and retrieves goods 150 from it, but also determines the location of the storage area 111 on the shelf 110 and retrieves goods 150 from there. If the storage mechanism 130 cannot be roughly aligned with the storage area 111 for retrieving goods 150, problems such as goods 150 falling or getting stuck on the beams 112 of the shelf 110 may occur, affecting the retrieval of goods 150. Therefore, the storage mechanism 130 also needs to accurately locate the storage area 111 on the shelf 110.

[0054] In other alternative implementations, such as Figure 5A As shown, the goods storage and retrieval system 100 of this disclosure may further include a storage location identifier 170. The storage location identifier 170 is disposed on the crossbeam 112 of the shelf 110 and is used to indicate the location of the storage area 111. A first imaging component of the loading platform 132 of the storage and retrieval mechanism 130 is also used to acquire an image of the storage location identifier 170. A first processor of the loading platform 132 of the storage and retrieval mechanism 130 is further configured to determine the location of the storage area 111 based on the image of the storage location identifier 170, and generate an instruction to drive the loading platform 132 to move to the storage location corresponding to the location of the storage area 111. The first imaging component acquires an image of the storage location identifier 170. The first processor determines the location of the storage area 111 based on the image of the storage location identifier 170 and generates an instruction to drive the loading platform 132 to move based on the location of the storage area 111. Based on the instruction generated by the first processor, the loading platform 132 can be accurately moved to the access position corresponding to the location of the storage area 111, and the goods 150 can be accessed from the storage area 111, which can improve the success rate of the loading platform 132 accessing the goods 150 from the storage area 111.

[0055] The first processor, based on the image from the storage location identifier 170, can determine the second deviation information between the loading platform 132 and the storage area 111, and generate an instruction to move the loading platform 132 to the access position corresponding to the position in the storage area 111 based on the second deviation information. The moving support 131 and / or the drive device on the loading platform 132 can, according to the instruction generated by the first processor, drive the loading platform 132 to move horizontally and / or vertically along the outer side of the shelf 110 to the access position corresponding to the position in the storage area 111.

[0056] like Figure 5A As shown, the positions of the storage location markers 170 on the crossbeams 112 of the shelf 110 correspond one-to-one with the positions of the storage sections 111. The positions of the first temporary storage location markers 160 on the crossbeams 112 of the shelf 110 correspond one-to-one with the positions of the temporary storage sections 120. To avoid conflicts between the placement of the first temporary storage location markers 160 and the storage location markers 170 on the same crossbeam 112, the positions of the temporary storage sections 120 connected to the shelf 110 and the storage sections 111 can be staggered. The embodiments of this disclosure do not limit the manner in which the storage location markers 170 are placed on the crossbeams 112; the storage location markers 170 can be placed on the crossbeams 112 in any suitable connection manner, such as by gluing, riveting, or fastening.

[0057] Optionally, similar to the first temporary storage identifier 160, a storage bit identifier 170 may also include a plurality of third positioning identifiers of the same size arranged horizontally. The number and type of the third positioning identifiers included in the storage bit identifier 170 may be the same as or different from those in the first temporary storage identifier 160; this embodiment of the present disclosure does not limit this. Similarly, the plurality of third positioning identifiers of the same size included in the storage bit identifier 170 can be used not only to indicate the position of the storage interval 111 but also to indicate their own position within the storage bit identifier 170. The manner in which the third positioning identifiers indicate their own position within the storage bit identifier 170 may be the same as or different from those in the first temporary storage identifier 160; this embodiment of the present disclosure does not limit this.

[0058] The first processor of the loading platform 132 identifies the third positioning identification code in the image of the storage location identification unit 170, thereby determining the position of the third positioning identification code in the storage location identification unit 170. Based on the position of the third positioning identification code in the storage location identification unit 170, and the number and size of the third positioning identification codes in the storage location identification unit 170, the processor determines the position of the storage interval 111 corresponding to the storage location identification unit 170. Therefore, based on the position of the storage interval 111 corresponding to the storage location identification unit 170 and the position of the loading platform 132, the second deviation information between the loading platform 132 and the storage interval 111 can be determined. By employing multiple third positioning identification codes arranged horizontally in the storage location identification unit 170, the area of ​​the storage location identification unit 170 for identification can be increased, effectively avoiding missing codes and improving the efficiency of the storage and retrieval mechanism 130 in locating the storage interval 111.

[0059] like Figure 1 and Figure 3 As shown, in Figure 1 In this application scenario, it includes not only the storage mechanism 130 determining the location of the temporary storage section 120 and retrieving goods 150 from the temporary storage section 120, but also the transfer vehicle 140 determining the location of the temporary storage section 120 and retrieving goods 150 from the temporary storage section 120. If the transfer vehicle 140 does not accurately locate the temporary storage section 120, goods 150 may fall or the storage / retrieval of goods 150 may fail, affecting the storage and retrieval of goods 150. Currently, the existing transfer vehicle 140 also determines the location of the temporary storage section 120 through encoder control. However, the accuracy of encoder-controlled positioning is limited and cannot meet the requirement for precise positioning of the temporary storage section 120 by the transfer vehicle 140. Therefore, the transfer vehicle 140 also needs to accurately locate the temporary storage section 120.

[0060] In some alternative implementations, such as Figure 4 , Figure 5A ,Figure 5B and Figure 6 As shown, the cargo storage and retrieval system 100 of this disclosure may further include: a second temporary storage location identifier 180 and a transfer vehicle 140. The second temporary storage location identifier 180 is disposed on the ground below the temporary storage location 120 and is used to indicate the location of the temporary storage location 120. The transfer vehicle 140 is configured to determine the location of the temporary storage location 120 based on the second temporary storage location identifier 180, and to store and retrieve cargo 150 from the temporary storage location 120. Figure 6 It shows Figure 4 A top view showing the positions of the second temporary storage location identifier 180 and the temporary storage location 120.

[0061] Because the first temporary storage location marker 160, located on the crossbeam 112 of the shelf 110 for positioning the storage mechanism 130, cannot be used by the transfer vehicle 140 to position the temporary storage section 120. Furthermore, to facilitate the transfer vehicle 140's access to and retrieval of goods 150 from the temporary storage section 120, the transfer vehicle 140 typically has a lifting mechanism, and the front and rear of the temporary storage section 120 usually have openings for the transfer vehicle 140 to lift and access the goods 150 via the lifting mechanism. This type of temporary storage section 120 with double-sided openings also cannot have a temporary storage location marker for positioning the transfer vehicle 140. Therefore, in this embodiment, the second temporary storage position identifier 180 is disposed on the ground below the temporary storage section 120 to indicate the position of the temporary storage section 120. After the transfer vehicle 140 determines the position of the temporary storage section 120 through the encoder control, it can accurately locate the position of the temporary storage section 120 according to the second temporary storage position identifier 180, which can improve the accuracy of the transfer vehicle 140 in locating the temporary storage section 120, thereby improving the stability and accuracy of the transfer vehicle 140 in storing and retrieving goods 150 in the temporary storage section 120.

[0062] like Figure 5A As shown by the dotted line a, the position of the first temporary storage location marker 160 on the crossbeam 112 of the shelf 110 corresponds to the position of the temporary storage section 120 and the position of the second temporary storage location marker 180 on the ground. This ensures that the storage and retrieval mechanism 130 and the transfer vehicle 140 are in the same position when storing and retrieving goods 150 in the temporary storage section 120, which can further improve the stability of storing and retrieving goods 150 in the temporary storage section 120.

[0063] Optionally, the transfer trolley 140 can comprise a trolley body, a second imaging assembly and a second processor. The second imaging assembly is arranged on the trolley body and is configured to acquire an image of the second temporary storage position identifier 180. The second processor is arranged on the trolley body and is configured to determine the position of the temporary storage position 120 based on the image of the second temporary storage position identifier 180 and generate an instruction for driving the trolley body to move to the position of the temporary storage position 120. By acquiring the image of the second temporary storage position identifier 180 by the second imaging assembly, the second processor determines the position of the temporary storage position 120 based on the image of the second temporary storage position identifier 180 and generates an instruction for driving the transfer trolley 140 to move based on the position of the temporary storage position 120. According to the instruction generated by the second processor, the transfer trolley 140 can be accurately moved to the position of the temporary storage position 120, and the goods 150 can be accessed from the temporary storage position 120, thereby improving the success rate of accessing the goods 150 from the temporary storage position 120 by the transfer trolley 140.

[0064] The second imaging assembly can be a camera or a camera, etc. comprising an optical lens and an image sensor. The composition of the second imaging assembly can be the same as or different from the first imaging assembly, and the embodiments of the present disclosure do not limit this. The second processor can determine the third deviation information between the transfer trolley 140 and the temporary storage position 120 by a coordinate conversion algorithm in the field of image processing, in combination with the camera extrinsic parameters and the camera intrinsic parameters of the second imaging assembly, according to the pixel coordinates of the second temporary storage position identifier 180 in the image of the second temporary storage position identifier 180, and can generate an instruction for driving the transfer trolley 140 to move to the position of the temporary storage position 120 according to the third deviation information between the transfer trolley 140 and the temporary storage position 120. The driving device on the transfer trolley 140 can drive the transfer trolley 140 to move to the position of the temporary storage position 120 according to the instruction generated by the second processor.

[0065] For example, the length direction of the shelf 110 is taken as the x-axis and the width direction of the shelf 110 is taken as the y-axis to establish a coordinate system on the ground of the storage area. The third deviation information between the transfer trolley 140 and the temporary storage position 120 determined according to the image of the second temporary storage position identifier 180 can comprise the difference between the x-axis coordinates and the difference between the y-axis coordinates of the transfer trolley 140 and the temporary storage position 120 in the ground coordinate system of the storage area. If the difference between the x-axis coordinates and the difference between the y-axis coordinates of the transfer trolley 140 and the temporary storage position 120 in the ground coordinate system of the storage area are both 0, it indicates that the transfer trolley 140 has moved to the position of the temporary storage position 120. If the difference between the x-axis coordinates and the difference between the y-axis coordinates of the transfer trolley 140 and the temporary storage position 120 in the ground coordinate system of the storage area are Δx’ and Δy’ respectively, it indicates that the transfer trolley 140 needs to be moved by a distance of Δx’ along the length direction of the shelf 110 and a distance of Δy’ along the width direction of the shelf 110 to reach the position of the temporary storage position 120.

[0066] Optionally, the second temporary storage position identification unit 180 can include a plurality of second position identification codes of the same size arranged in an array. For example, the second temporary storage position identification unit 180 can include four second position identification codes of the same size arranged in a square array on the ground. The number of second position identification codes included in the second temporary storage position identification unit 180 is not limited in the embodiments of the present disclosure. The type of the second position identification codes can be one-dimensional codes, two-dimensional codes, or graphics, numbers, etc. that can play an identification role. The type of the second position identification codes included in the second temporary storage position identification unit 180 can be the same as or different from the first position identification codes of the first temporary storage position identification unit 160, which is not limited in the embodiments of the present disclosure.

[0067] Similarly, the plurality of second position identification codes of the same size included in the second temporary storage position identification unit 180 can be used to indicate the position of the second temporary storage position identification unit 180 itself in the second temporary storage position identification unit 180. The manner in which the second position identification codes indicate the position of the second temporary storage position identification unit 180 itself in the second temporary storage position identification unit 180 can be the same as or different from the first temporary storage position identification unit 160, which is not limited in the embodiments of the present disclosure. For example, the second position identification codes can each indicate the position of the second temporary storage position identification unit 180 itself in the second temporary storage position identification unit 180 by the last two bits in the identification code. The four second position identification codes of the same size arranged in a square array in the second temporary storage position identification unit 180 can each indicate the position of the second temporary storage position identification unit 180 itself in the second temporary storage position identification unit 180 by “00”, “01”, “10” and “11”, respectively.

[0068] The second processor of the transfer trolley 140 can determine the position of the second position identification codes in the second temporary storage position identification unit 180 by identifying the second position identification codes in the image of the second temporary storage position identification unit 180, and can determine the position of the temporary storage unit 120 corresponding to the second temporary storage position identification unit 180 according to the position of the second position identification codes in the second temporary storage position identification unit 180 and the number and size of the second position identification codes in the second temporary storage position identification unit 180. Thus, the second processor of the transfer trolley 140 can determine the third deviation information between the transfer trolley 140 and the temporary storage unit 120 according to the position of the temporary storage unit 120 corresponding to the second temporary storage position identification unit 180 and the position of the transfer trolley 140. By using a plurality of second position identification codes arranged in an array, the second temporary storage position identification unit 180 can expand the area for identification, effectively avoid the situation of missing codes, and improve the efficiency of positioning the temporary storage unit 120 by the transfer trolley 140.

[0069] Optionally, the center of each second positioning identification code can also have a second specific feature. The second specific feature of the center of the second positioning identification code can be a specific pattern, symbol, etc., which can be the same as or different from the first specific feature of the center of the first positioning identification code, and the embodiments of the present disclosure do not make any limitation in this regard. The second processor of the transfer trolley 140 can determine the second center deviation information between the center of the second positioning identification code corresponding to the second specific feature and the center of the second imaging assembly according to the position of the second specific feature in the image of the second temporary storage position identification part 180, and can correct the third deviation information between the transfer trolley 140 and the temporary storage part 120 determined according to the second center deviation information. By identifying the second specific feature of the center of the second positioning identification code, the deviation information between the center of the second positioning identification code and the center of the second imaging assembly can be determined, and the third deviation information between the transfer trolley 140 and the temporary storage part 120 determined according to the position of the second positioning identification code in the second temporary storage position identification part 180 is corrected according to the determined center deviation information, which can further improve the positioning accuracy of the transfer trolley 140 to the temporary storage part 120.

[0070] If the goods 150 stored in the temporary storage part 120 are tilted due to external force, problems will occur when the subsequent equipment takes out the goods 150 from the temporary storage part 120, or the goods 150 are tilted due to road bumps during the transportation of the goods 150 by the transfer trolley 140, and the goods 150 are tilted and stored in the temporary storage part 120, which can cause the goods 150 to be unable to be taken out when the storage and taking mechanism 130 takes out the goods 150 from the temporary storage part 120. Therefore, it is necessary to ensure that the degree of tilt of the goods 150 is within a certain range when the goods 150 are stored and taken from the temporary storage part 120.

[0071] Optionally, Figure 7A A schematic view of the arrangement of the goods identification part 191 and the third imaging assembly 192 on the goods 150 and the transfer trolley 140 is shown, Figure 7B A schematic view of the arrangement of the goods identification part 191 and the third imaging assembly 192 on the goods 150 and the transfer trolley 140 is shown, Figure 7A A bottom view of the goods 150 in the temporary storage part 120 is shown. As Figure 7A And Figure 7BAs shown, the goods 150 can be provided with a goods identification part 191. The transfer vehicle 140 can further include a third imaging assembly 192. The third imaging assembly 192 can be arranged on the vehicle body and configured to acquire an image of the goods identification part 191. The second processor can be further configured to generate an instruction for adjusting the pose of the vehicle body based on the image of the goods identification part 191. The third imaging assembly 192 acquires the image of the goods identification part 191, the second processor determines the position of the goods 150 according to the image of the goods identification part 191, and generates an instruction for adjusting the pose of the transfer vehicle 140 according to the position of the goods 150. The pose of the transfer vehicle 140 can be adjusted according to the instruction generated by the second processor, the degree of inclination of the goods 150 relative to the transfer vehicle 140 can be reduced, and the stability of the transfer vehicle 140 in accessing the goods 150 from the temporary storage 120 can be further improved, and the success rate of the transfer vehicle 140 in accessing the goods 150 from the temporary storage 120 can be improved.

[0072] The third imaging assembly 192 can be a camera or a camera, etc. including an optical lens and an image sensor. The composition of the third imaging assembly 192 can be the same as or different from the second imaging assembly and the first imaging assembly, and the present disclosure does not limit the composition of the third imaging assembly 192. The second processor can determine the fourth deviation information between the goods 150 and the transfer vehicle 140 by a coordinate conversion algorithm in the field of image processing, in combination with the camera extrinsic parameter and the camera intrinsic parameter of the third imaging assembly 192, according to the pixel coordinates of the goods identification part 191 in the image of the goods identification part 191, and can generate an instruction for adjusting the pose of the transfer vehicle 140 according to the fourth deviation information between the goods 150 and the transfer vehicle 140. The driving device on the transfer vehicle 140 can adjust the pose of the transfer vehicle 140 according to the instruction generated by the second processor.

[0073] In an optional embodiment, as shown in Figure 7A and Figure 7B The transfer vehicle 140 has a lifting mechanism, the transfer vehicle 140 lifts the tray to access the goods 150 from the temporary storage 120, the goods identification part 191 can be arranged at the bottom of the goods, and the third imaging assembly 192 can be arranged on the tray. The fourth deviation information can include a positional deviation and an angular deviation.

[0074] In the process of taking out the goods 150 from the temporary storage 120 by the transfer trolley 140, the transfer trolley 140 first determines the third deviation information between the transfer trolley 140 and the temporary storage 120 according to the image of the second temporary storage position identifier 180 of the temporary storage 120 obtained by the second imaging assembly, then generates a command for driving the transfer trolley 140 to move to the position of the temporary storage 120 according to the third deviation information, and drives the transfer trolley 140 to move to the position of the temporary storage 120 according to the generated command, so that the transfer trolley 140 is aligned with the temporary storage 120. The transfer trolley 140 then determines the fourth deviation information between the goods 150 and the transfer trolley 140 according to the image of the goods identifier 191 of the goods 150 obtained by the third imaging assembly 192, then generates a command for adjusting the pose of the trolley body according to the fourth deviation information, and adjusts the pose of the trolley body of the transfer trolley 140 according to the generated command, so that the goods 150 on the transfer trolley 140 are aligned with the temporary storage 120. Then the transfer trolley 140 lifts the tray by the lifting mechanism, lifts the goods 150 from the temporary storage 120, and drives out of the temporary storage 120.

[0075] In the process of storing the goods 150 into the temporary storage 120 by the transfer trolley 140, the transfer trolley 140 first lifts the goods 150 on the tray by the lifting mechanism, and drives into the temporary storage 120. Then the transfer trolley 140 determines the third deviation information between the transfer trolley 140 and the temporary storage 120 according to the image of the second temporary storage position identifier 180 of the temporary storage 120 obtained by the second imaging assembly, then generates a command for driving the transfer trolley 140 to move to the position of the temporary storage 120 according to the third deviation information, and drives the transfer trolley 140 to move to the position of the temporary storage 120 according to the generated command, so that the transfer trolley 140 is aligned with the temporary storage 120. Then the transfer trolley 140 determines the fourth deviation information between the goods 150 and the transfer trolley 140 according to the image of the goods identifier 191 of the goods 150 obtained by the third imaging assembly 192, then generates a command for adjusting the pose of the trolley body according to the fourth deviation information, and adjusts the pose of the trolley body of the transfer trolley 140 according to the generated command, so that the goods 150 on the transfer trolley 140 are aligned with the temporary storage 120. Then the transfer trolley 140 stores the goods 150 into the temporary storage 120 by lowering the lifting mechanism.

[0076] Optionally, after determining the fourth deviation information between the goods 150 and the transfer trolley 140, the transfer trolley 140 can judge whether the fourth deviation information is greater than a preset deviation threshold. If the fourth deviation information is greater than the preset deviation threshold, it indicates that the inclination degree of the goods 150 exceeds the inclination degree range within which the goods 150 can be stably stored into the temporary storage 120, and an alarm can be given. If the fourth deviation information is less than or equal to the preset deviation threshold, it indicates that the inclination degree of the goods 150 is within the inclination degree range within which the goods 150 can be stably stored into the temporary storage 120, and the goods 150 can be stored into the temporary storage 120.

[0077] Figure 8 A flow 200 of a goods access method according to an embodiment of the present disclosure is shown. The goods access method provided by the embodiments of the present disclosure can be applied to the goods access system 100 shown in Figure 4 、 Figure 5A and Figure 5B . Wherein, the access mechanism is used to transfer goods between the storage section of the shelf and the temporary storage part, the temporary storage part is connected below the storage section of the bottom layer of the shelf, the first temporary storage position identification part for indicating the position of the temporary storage part is arranged on the cross beam of the shelf, the access mechanism includes a goods carrying table, and the goods carrying table includes a first imaging assembly. As shown in Figure 8 , the flow 200 of the goods access method can include the following steps:

[0078] Step 201: According to the position of the temporary storage part indicated by the first goods access instruction, generate an instruction to drive the goods carrying table to move to the position of the temporary storage part.

[0079] Wherein, the first goods access instruction can be a control instruction issued by the server to the access mechanism, in addition to indicating the position of the temporary storage part, the first goods access instruction also includes information indicating that the access mechanism performs an access operation on the temporary storage part, to drive the access mechanism to take out goods from the temporary storage part, or drive the access mechanism to store goods into the temporary storage part.

[0080] Step 202: According to the image of the first temporary storage position identification part of the temporary storage part obtained by the first imaging assembly, determine the first deviation information between the goods carrying table and the temporary storage part.

[0081] Step 203: According to the first deviation information, generate an instruction to drive the goods carrying table to move to the access position corresponding to the position of the temporary storage part.

[0082] In the present embodiment, the specific processing of steps 201, 202 and 203 in the flow 200 of the goods access method and the technical effects brought by the same can refer to the related description in the corresponding embodiments of the goods access system 100 of Figure 4 、 Figure 5A and Figure 5B , and thus will not be described here in detail.

[0083] In some optional embodiments of the present disclosure, one first temporary storage position identification part includes a plurality of first positioning identification codes with the same size arranged in a horizontal direction.

[0084] Step 202 can include:

[0085] Identify the first positioning identification code with the largest area in the image of the first temporary storage position identification part, and determine the position of the first positioning identification code with the largest area in the first temporary storage position identification part;

[0086] The first deviation information is determined according to the position of the first positioning identification code with the largest area in the first temporary storage position identification part, and the number and size of the first positioning identification code in the first temporary storage position identification part.

[0087] In some optional embodiments of the present disclosure, the center of the first positioning identification code has a first specific feature.

[0088] Step 202 can further include:

[0089] According to the first specific feature, the first center deviation information between the center of the first positioning identification code with the largest area and the image center of the first temporary storage position identification part is determined.

[0090] The first deviation information is corrected according to the first center deviation information.

[0091] In some optional embodiments of the present disclosure, the flow 200 of the goods storage and retrieval method can further include:

[0092] According to the position of the storage interval indicated by the second goods storage and retrieval instruction, an instruction is generated to drive the loading table to move to the position of the storage interval.

[0093] According to the image of the storage position identification part of the storage interval obtained by the first imaging assembly, the second deviation information between the loading table and the storage interval is determined.

[0094] According to the second deviation information, an instruction is generated to drive the loading table to move to the access position corresponding to the position of the storage interval.

[0095] Figure 9 The flow 300 of the goods storage and retrieval method according to another embodiment of the present disclosure is shown. The goods storage and retrieval method provided by the embodiments of the present disclosure can be applied to the goods storage and retrieval system 100 shown in Figure 4 、 Figure 5A and Figure 5B . Wherein, the transfer trolley is used to store and retrieve goods from the temporary storage part, the temporary storage part is connected below the storage interval of the bottom layer of the goods shelf, the second temporary storage position identification part for indicating the position of the temporary storage part is arranged on the ground below the temporary storage part, and the transfer trolley includes a second imaging assembly. As shown in Figure 9 , the flow 300 of the goods storage and retrieval method can include the following steps:

[0096] Step 301, according to the position of the temporary storage part indicated by the third goods storage and retrieval instruction, an instruction is generated to drive the transfer trolley to move to the position of the temporary storage part.

[0097] The third cargo access instruction can be a control instruction sent by the server to the transfer vehicle. In addition to indicating the position of the temporary storage part, the third cargo access instruction also includes information indicating that the transfer vehicle performs an access operation on the temporary storage part, so as to drive the transfer vehicle to take out the cargo from the temporary storage part or drive the transfer vehicle to store the cargo into the temporary storage part.

[0098] In step 302, the third deviation information between the transfer vehicle and the temporary storage part is determined according to the image of the second temporary storage position identifier of the temporary storage part acquired by the second imaging assembly.

[0099] In step 303, an instruction is generated according to the third deviation information to drive the transfer vehicle to move to the position of the temporary storage part.

[0100] In this embodiment, the specific processing of steps 301, 302 and 303 in the flow 300 of the cargo access method and the technical effects brought by the specific processing can refer to the related descriptions in the corresponding embodiments of the cargo access system 100 of Figure 4 、 Figure 5A and Figure 5B , and thus will not be described here again.

[0101] In some optional embodiments of the present disclosure, one second temporary storage position identifier includes a plurality of second positioning identification codes with the same size arranged in an array;

[0102] Step 302 can include:

[0103] The second positioning identification code with the largest area in the image of the second temporary storage position identifier is identified, and the position of the second positioning identification code with the largest area in the second temporary storage position identifier is determined.

[0104] The third deviation information is determined according to the position of the second positioning identification code with the largest area in the second temporary storage position identifier and the number and size of the second positioning identification codes in the second temporary storage position identifier.

[0105] In some optional embodiments of the present disclosure, the center of the second positioning identification code has a second specific feature;

[0106] Step 302 can further include:

[0107] According to the second specific feature, the second center deviation information between the center of the second positioning identification code with the largest area and the center of the image of the second temporary storage position identifier is determined.

[0108] The third deviation information is corrected according to the second center deviation information.

[0109] In some optional embodiments of the present disclosure, the transfer vehicle further includes a vehicle body and a third imaging assembly;

[0110] The flow 300 of the goods access method can further include:

[0111] determine fourth deviation information between the goods and the transfer vehicle according to the image of the goods identification part of the goods acquired by the third imaging assembly;

[0112] generate instructions to adjust the pose of the vehicle body according to the fourth deviation information.

[0113] As shown in Figure 4 , Figure 5A , Figure 5B and Figure 6 , the goods access system 100 and the flow 200 of the goods access method of the embodiments of the present disclosure are described by taking the racks 110 on both sides of a lane as an example. Figure 4 The support mechanism of each storage space interval 111 above is omitted, and only the cross beam 112 of the rack 110 is shown. In Figure 6 , the second temporary storage position identification part 180 provided on the ground and used for indicating the temporary storage part 120 can be part of the positioning identification parts arranged in an array on the ground and used for navigation and positioning of the transfer vehicle 140. Figure 5A In Figure 4 , the temporary storage part 120 connected below the rack 110 is close to the lane in Figure 5B , the temporary storage part 120 connected below the rack 110 is far away from the lane in Figure 4 and close to the lane on the other side. Figure 5A and Figure 5B , the cross beam 112 of the rack 110 is provided with the storage position identification part 170, which corresponds one-to-one to the storage position formed by the storage space interval 111, and is used for accurate positioning of the storage space interval 111 when the access mechanism 130 accesses the goods 150. Figure 5A In Figure 5A , the cross beam 112 corresponding to the second layer storage space interval 111 of the rack 110 is provided with the first temporary storage position identification part 160 in addition to the storage position identification part 170, and the first temporary storage position identification part 160, the temporary storage part 120, and the second temporary storage position identification part 180 correspond in sequence. Among them, the first temporary storage position identification part 160 is used for accurate positioning of the temporary storage part 120 when the access mechanism 130 accesses the goods 150, which can improve the success rate of accessing the goods 150 from the temporary storage part 120. The first temporary storage position identification part 160, the temporary storage part 120, and the second temporary storage position identification part 180 correspond in sequence, which can unify the position of the access mechanism 130 and the transfer vehicle 140 in the temporary storage part 120 to access the goods 150, and can improve the stability of the temporary storage part 120 in accessing the goods 150. The access mechanism 130 provided on the rack 110 in Figure 5B can access the goods 150 in the temporary storage part 120. Figure 5AThe storage space interval 111 on the shelf 110 and the temporary storage part 120 perform the goods 150 storage and retrieval operation, that is, in the embodiment, the temporary storage part 120 with which the storage and retrieval mechanism 130 performs the goods 150 storage and retrieval operation is not located on the same shelf 110. Of course, in other embodiments, the temporary storage part 120 with which the storage and retrieval mechanism 130 performs the goods 150 storage and retrieval operation can also be located on the same shelf 110.

[0114] Correspondingly, the process of realizing the goods 150 storage and retrieval can include the following steps:

[0115] Step 401: According to the first goods storage and retrieval instruction, drive the carrier table of the storage and retrieval mechanism to move to the target storage space interval to take out the goods;

[0116] Step 402: Drive the carrier table to move to the position of the target temporary storage part;

[0117] Step 403: Acquire the image of the first temporary storage position identification part of the target temporary storage part through the first imaging assembly on the carrier table, and acquire the first deviation information of the carrier table and the target temporary storage part according to the image of the first temporary storage position identification part;

[0118] Step 404: According to the first deviation information, generate an instruction to drive the carrier table to accurately move to the storage and retrieval position corresponding to the position of the target temporary storage part through horizontal movement and vertical movement;

[0119] Step 405: Store the goods in the target temporary storage part;

[0120] Step 406: According to the first goods storage and retrieval instruction, drive the transfer vehicle to move to the position of the target temporary storage part;

[0121] Step 407: Acquire the image of the second temporary storage position identification part of the target temporary storage part through the second imaging assembly on the transfer vehicle, and acquire the third deviation information of the transfer vehicle and the target temporary storage part according to the image of the second temporary storage position identification part;

[0122] Step 408: According to the third deviation information, generate an instruction to drive the transfer vehicle to move to the position of the target temporary storage part, lift the goods in the target temporary storage part through the lifting mechanism, and drive out of the target temporary storage part;

[0123] Step 409: The transfer vehicle transports the goods out of the warehouse.

[0124] The goods storage process steps and the goods retrieval process steps are just the opposite, so they will not be described here.

[0125] According to embodiments of this disclosure, this disclosure also provides an electronic device, the electronic device comprising: one or more processors; and a memory for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the methods described in any of the above embodiments.

[0126] According to embodiments of the present disclosure, the present disclosure also provides a computer-readable medium storing a computer program that, when executed by a processor, implements the method as described in any of the above embodiments.

[0127] According to embodiments of this disclosure, this disclosure also provides a computer program product comprising a computer program that, when executed by a processor, implements the methods described in any of the above embodiments.

[0128] Figure 10 A block diagram of an electronic device 500 performing a cargo access method according to an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0129] like Figure 10 As shown, device 500 includes a processor 501, which can perform various appropriate actions and processes according to a computer program stored in read-only memory (ROM) 502 or a computer program loaded from memory 508 into random access memory (RAM) 503. RAM 503 may also store various programs and data required for the operation of device 500. The processor 501, ROM 502, and RAM 503 are interconnected via bus 504. I / O interface (input / output interface) 505 is also connected to bus 504.

[0130] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; memory 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0131] The processor 501 can be various general-purpose and / or special-purpose processing components having processing and computing capabilities. Some examples of the processor 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, and the like. The processor 501 performs various methods and processes described above, such as the reverse scene-based search method. For example, in some embodiments, the reverse scene-based search method can be implemented as a computer software program tangibly embodied in a machine-readable storage medium, such as the memory 508. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the processor 501, one or more steps of the reverse scene-based search method described above can be performed. Alternatively, in other embodiments, the processor 501 can be configured to perform the reverse scene-based search method by any other appropriate means, such as by means of firmware.

[0132] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0133] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be encapsulated in computer program products. These program codes or computer program products can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor 501, causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as part of a standalone software package, or entirely on a remote machine or server.

[0134] In the context of the present disclosure, a machine-readable storage medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable storage medium can be a machine-readable signal storage medium or a machine-readable storage medium. A machine-readable storage medium can include without limitation an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0135] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0136] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0137] The computer system can include clients and servers. This relationship can be. remote, where each server is stored on a remote computer from a client. The clients and the servers can be connected through a communication network. The relationship can be a client-server relationship over a network. A server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of large management difficulty and weak business scalability in traditional physical hosts and VPS services (Virtual Private Server, or VPS for short). The server can also be a server of a distributed system, or a server combined with a blockchain.

[0138] It should be understood that the steps shown above can be reordered, added, or deleted. For example, the steps described in the present disclosure can be executed in parallel, in sequence, or in a different order, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0139] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A cargo storage and retrieval system, characterized in that, include: The shelving includes multiple beams that form multiple storage compartments. The temporary storage section is detachably connected below the lowest storage section in the vertical direction; A storage and retrieval mechanism, movably connected to the outer side of the shelf, is used to transfer goods between the storage area and the temporary storage section; A first temporary storage location identifier is disposed on at least one of the crossbeams to indicate the position of the temporary storage location.

2. The system according to claim 1, characterized in that, The multi-layer storage compartments are arranged sequentially along the vertical direction, and the first temporary storage location identifier is located on the crossbeam corresponding to the middle layer storage compartment of the multi-layer storage compartments.

3. The system according to claim 2, characterized in that, The first temporary storage location identifier is located on the crossbeam corresponding to the second layer of storage intervals arranged from bottom to top in the multi-layer storage intervals.

4. The system according to claim 1, characterized in that, The access mechanism includes: A movable support is horizontally movable to at least two of the crossbeams; A loading platform, vertically movable to the movable support, is used to store and retrieve the goods from the storage area and the temporary storage section; A position identification unit is disposed on the loading platform and configured to determine the position of the temporary storage unit based on the first temporary storage location identifier unit.

5. The system according to claim 4, characterized in that, The location identification unit includes: A first imaging component is used to acquire an image of the first temporary storage identifier. A first processor is configured to determine the position of the temporary storage unit based on the image of the first temporary storage unit identifier, and generate an instruction for driving the loading platform to move to an access position corresponding to the position of the temporary storage unit.

6. The system according to claim 5, characterized in that, Also includes: A storage location identifier is disposed on the crossbeam to indicate the location of the storage area; The first imaging component is also used to acquire an image of the storage bit identifier; The first processor is further configured to determine the location of the storage area based on the image of the storage bit identifier and generate instructions for driving the loading platform to move to an access position corresponding to the location of the storage area.

7. The system according to claim 1, characterized in that, A first temporary storage identifier includes a plurality of first positioning identification codes of the same size arranged in a horizontal direction.

8. The system according to any one of claims 1-7, characterized in that, Also includes: A second temporary storage location identifier is provided on the ground below the temporary storage location to indicate the position of the temporary storage location; The transfer vehicle is configured to determine the location of the temporary storage unit based on the second temporary storage location identifier, for storing and retrieving the goods from the temporary storage unit.

9. The system according to claim 8, characterized in that, The transfer vehicle includes: Vehicle body; The second imaging component is disposed on the vehicle body and is used to acquire the image of the second temporary storage location identifier. A second processor, disposed on the vehicle body, is configured to determine the position of the temporary storage unit based on the image of the second temporary storage unit identifier, and generate instructions for driving the vehicle body to move to the position of the temporary storage unit.

10. The system according to claim 9, characterized in that, The goods are provided with a goods identification section; The transfer vehicle also includes: A third imaging component is disposed on the vehicle body and is used to acquire an image of the cargo marking section; The second processor is also configured to generate instructions for adjusting the position of the vehicle body based on the image of the cargo identification section.

11. The system according to claim 8, characterized in that, A second temporary location identifier includes a plurality of second positioning identification codes of the same size arranged in an array.

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