Warehousing system and handling equipment

Abstract

The utility model relates to the technical field of warehouse logistics, and discloses a warehousing system and carrying equipment, and the warehousing system comprises a management system and the carrying equipment. Wherein the management system is configured to send a carrying instruction to the carrying equipment. The carrying equipment comprises a controller, a driving mechanism and a taking and placing mechanism, and the controller is configured to receive a carrying instruction and send target motion parameters to the driving mechanism based on the carrying instruction; and the driving mechanism is configured to drive the taking and placing mechanism to receive or deliver the to-be-carried object according to the target motion parameters. Wherein the target motion parameter is related to cargo information of the to-be-carried object; the cargo information of the to-be-carried object comprises at least one of size information, weight information and shape information of the to-be-carried object, and the target motion parameters comprise at least one of the motion state of the pick-and-place mechanism, the motion direction of the pick-and-place mechanism and the number of rotation turns of the pick-and-place mechanism. According to the embodiment of the invention, the receiving and delivering safety of the to-be-carried object can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, in particular to a warehouse system and a carrying device. BACKGROUND

[0002] In the warehouse system, a sorting personnel can place a package on a conveying line to be conveyed to a carrying robot at a package supply table, and the carrying robot carries the package to a corresponding destination for delivery after receiving the package. When the carrying robot receives the package conveyed by the conveying line at the package supply table, the package may fall off, affecting the safety of package conveying. CONTENT OF THE UTILITY MODEL

[0003] To solve the above problems, the present application provides a warehouse system and a carrying device, which can avoid the falling of the package during conveying to the carrying device and improve the safety of package conveying. Specifically, the present application discloses the following technical solutions:

[0004] The first aspect of the present application provides a warehouse system, comprising a management system and a carrying device. The management system is configured to send a carrying instruction to the carrying device. The carrying device comprises a controller, a driving mechanism and a taking and placing mechanism. The controller is electrically connected with the driving mechanism, and the driving mechanism is drivingly connected with the taking and placing mechanism. The controller is configured to receive the carrying instruction and send target motion parameters to the driving mechanism based on the carrying instruction. The driving mechanism is configured to drive the taking and placing mechanism to receive or deliver a to-be-carried object according to the target motion parameters. The target motion parameters are related to the cargo information of the to-be-carried object. The cargo information of the to-be-carried object comprises at least one of size information, weight information and shape information of the to-be-carried object. The target motion parameters comprise at least one of a motion state of the taking and placing mechanism, a motion direction of the taking and placing mechanism and a number of rotation turns of the taking and placing mechanism.

[0005] In some embodiments, if the cargo information of the to-be-carried object meets a preset threshold range, the motion state of the taking and placing mechanism of the carrying device is motion, and the taking and placing mechanism rotates in a first direction by a first preset number of turns; or, if the cargo information of the to-be-carried object does not meet the preset threshold range, the motion state of the taking and placing mechanism of the carrying device is non-motion.

[0006] In some embodiments, the warehouse system further comprises at least one shielding device. The setting position of the shielding device is related to the parking position of the carrying device when receiving or delivering the to-be-carried object. The shielding device is used to shield the to-be-carried object placed on the carrying device to prevent the to-be-carried object from falling off.

[0007] In some embodiments, the warehouse system further comprises at least one conveying device. The conveying device is configured to receive the object to be carried and convey the object to be carried to the taking and placing mechanism of the carrying device parked at the receiving area corresponding to the conveying device. The taking and placing mechanism of the carrying device is configured to rotate a first preset number of turns in the first direction to receive the object to be carried conveyed by the conveying device, or not to move to receive the object to be carried conveyed by the conveying device.

[0008] In some embodiments, the warehouse system further comprises at least one conveying device and at least one shielding device. The shielding device is arranged on one side of the output end of the conveying device, and a receiving area for parking the carrying device is arranged between the shielding device and the output end of the conveying device; the shielding device is used to shield the object to be carried conveyed by the output end of the conveying device to prevent the object to be carried from falling off.

[0009] In some embodiments, the shielding device comprises a support part and a shielding part; the shielding part is arranged on the support part and at a position with a preset height from the ground; the shielding part is used to shield the object to be carried conveyed by the output end of the conveying device. The preset height is a fixed height or an adjustable height; the preset height is related to at least one of the height of the output end of the conveying device, the height of the taking and placing mechanism of the carrying device, and the cargo information of the object to be carried.

[0010] In some embodiments, the warehouse system further comprises at least one first acquisition device; the at least one first acquisition device comprises at least one of an acquisition device arranged on the carrying device, an acquisition device arranged on the conveying device, and an acquisition device arranged on the shielding device. The first acquisition device is configured to acquire first detection information corresponding to the object to be carried after the taking and placing mechanism of the carrying device receives the object to be carried; wherein the first detection information is used to indicate the position of the object to be carried on the taking and placing mechanism; if the object to be carried is located within a preset area on the taking and placing mechanism, the carrying device carries the object to be carried away from the receiving area; or if the object to be carried is located outside the preset area, the taking and placing mechanism rotates a second preset number of turns in the second direction to move the object to be carried into the preset area.

[0011] In some embodiments, the warehouse system further comprises a conveying device and a plurality of conveying lines, the conveying lines comprising at least one first conveying line and at least one second conveying line. The conveying device is configured to convey a first to-be-transported object in the plurality of to-be-transported objects to the first conveying line and a second to-be-transported object in the plurality of to-be-transported objects to the second conveying line according to the cargo information of the plurality of to-be-transported objects, wherein the cargo information of the first to-be-transported object meets a preset threshold range, and the cargo information of the second to-be-transported object does not meet the preset threshold range. The first conveying line is configured to convey the received first to-be-transported object to a pick-and-place mechanism of a first transport device located in a first receiving area corresponding to the first conveying line. The first transport device is configured to control the movement of the pick-and-place mechanism of the first transport device and rotate in a first direction by a first preset number of turns. The second conveying line is configured to convey the received second to-be-transported object to a pick-and-place mechanism of a second transport device located in a second receiving area corresponding to the second conveying line. The second receiving area is provided with a shielding device on a side away from an output end of the second conveying line. The second transport device is configured to control the pick-and-place mechanism of the second transport device not to move.

[0012] In some embodiments, the warehouse system further comprises a second acquisition device and an output device. When the transport device moves to the position of the target container corresponding to the to-be-transported object and delivers the to-be-transported object, the second acquisition device is configured to acquire second detection information corresponding to the to-be-transported object. The second detection information is used to indicate the delivery result of the to-be-transported object. When the delivery result indicates that the to-be-transported object is not delivered to the target container, the output device outputs abnormal information.

[0013] The second aspect of the embodiments of the present application provides a transport device, comprising a controller, a driving mechanism and a pick-and-place mechanism. The controller is electrically connected to the driving mechanism, and the driving mechanism is drivingly connected to the pick-and-place mechanism. The controller is configured to receive a transport instruction and send target motion parameters to the driving mechanism based on the transport instruction. The driving mechanism is configured to drive the pick-and-place mechanism to receive or deliver a to-be-transported object according to the target motion parameters. The pick-and-place mechanism is configured to receive or deliver the to-be-transported object according to the target motion parameters. The target motion parameters are related to the cargo information of the to-be-transported object. The cargo information of the to-be-transported object comprises at least one of size information, weight information and shape information of the to-be-transported object. The target motion parameters comprise at least one of a motion state of the pick-and-place mechanism, a motion direction of the pick-and-place mechanism and a number of turns of the pick-and-place mechanism.

[0014] The warehouse system and the carrying device provided by the embodiments of the present application determine the target motion parameter corresponding to the taking and placing mechanism of the carrying device for carrying the to-be-carried object through the cargo information of the to-be-carried object, and the taking and placing mechanism of the carrying device receives or delivers the to-be-carried object based on the target motion parameter. Since the target motion parameter of the taking and placing mechanism is determined based on the cargo information of the to-be-carried object, the taking and placing mechanism of the carrying device can receive or deliver the to-be-carried object with more reasonable motion parameters, thereby avoiding the to-be-carried object from falling during the receiving or delivering process, and improving the safety of the to-be-carried object conveying and delivering. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0016] Figure 1 A schematic diagram of a warehouse system provided by the embodiments of the present application;

[0017] Figure 2 A schematic diagram of another warehouse system provided by the embodiments of the present application;

[0018] Figure 3 A schematic diagram of a conveying line provided by the embodiments of the present application;

[0019] Figure 4 A schematic diagram of a conveying scene of a to-be-carried object provided by the embodiments of the present application;

[0020] Figure 5 A schematic diagram of another conveying scene of a to-be-carried object provided by the embodiments of the present application;

[0021] Figure 6 A schematic diagram of a scene of a to-be-carried object on a taking and placing mechanism provided by the embodiments of the present application. DETAILED DESCRIPTION

[0022] In order to make the technical personnel in the art better understand the technical solutions in the embodiments of the present application, and make the above-mentioned purposes, features and advantages of the embodiments of the present application more apparent and easy to understand, the technical solutions in the embodiments of the present application will be further described in detail below with reference to the drawings.

[0023] In a warehouse system, a picker can place a package (e.g., a cargo or a container containing a cargo) on a conveying line to be conveyed to a delivery robot at a delivery station. The picking system dispatches the delivery robot to move to a delivery station corresponding to the conveying line to receive the package conveyed by the conveying line. Generally, the delivery robot can control the conveying belt thereon to rotate to receive the package conveyed by the conveying line during the movement to the delivery station.

[0024] In the above package conveying process, when the conveying object is a package of a regular size or weight, the rotation of the conveying line can be matched with the rotation of the taking and placing mechanism of the handling device to achieve the transfer of the conveying object to the taking and placing mechanism of the delivery robot. However, when the taking and placing mechanism of the delivery robot rotates abnormally, the conveying object can fall off. In addition, when the target object is small in size (e.g., small in height) or light in weight, the conveying object can fall off due to inertia and the like during the conveying of the conveying object to the handling device, so that the conveying object cannot be successfully transferred to the taking and placing mechanism of the delivery robot. When the conveying object falls off or the like, manual intervention is required for abnormal handling, which affects the safety and work efficiency of the warehouse system.

[0025] To solve the above problems, the embodiments of the present application provide a warehouse system and a handling device. The target motion parameter corresponding to the taking and placing mechanism of the handling device is determined based on the cargo information of the to-be-handled object, so that the handling device receives or delivers the to-be-handled object based on the target motion parameter, thereby avoiding the falling of the to-be-handled object and improving the safety of the handling process and the work efficiency of the warehouse system.

[0026] Figure 1 A schematic diagram of a warehouse system is provided in the embodiments of the present application. As shown in Figure 1 , the warehouse system 100 includes a storage area 101, a plurality of carriers 10, a plurality of handling devices 20, and a management system (not shown in the drawings). Figure 1

[0027] In some examples, the storage area 101 includes a plurality of carriers 10. The carrier 10 is used to carry a cargo or a container, for example, the carrier 10 can be a shelf, a pallet, a trolley, a cage, etc. Taking the carrier 10 as a shelf as an example, the carrier 10 includes a plurality of storage locations (also referred to as storage positions). The storage location can be used to place a container such as a box, a pallet, or a packaging box, or can directly place a cargo. The embodiments of the present application do not limit this, and the following embodiments are exemplarily described by taking the storage location as a container. For example, when the carrier 10 is a shelf, the shelf can be a movable shelf or a fixed shelf. The carrier 10 provided in the embodiments of the present application can refer to any carrier used to place a container.

[0028] ​In some examples, the handling device 20 can be used to handle goods, containers, or vehicles 10. The handling device 20 can be a handling robot. The handling device 20 can move the target object to the corresponding destination. For example, the handling device 20 can move the vehicle 10 in the inventory area 101 to the workstation for picking, or the handling device 20 can move the target object to the corresponding destination to perform picking or sorting operations.

[0029] Figure 2 This is a schematic diagram of another warehousing system provided in an embodiment of this application.

[0030] In some embodiments, such as Figure 2 As shown, the handling equipment 20 in the warehousing system 100 includes a picking and placing mechanism 21 and a drive mechanism ( Figure 2 (not shown in the image) and controller ( Figure 2 (Not shown in the image). The controller is electrically connected to the drive mechanism, and the drive mechanism is driven to the pick-and-place mechanism 21.

[0031] For example, the controller can receive a handling instruction sent by the management system. This instruction instructs the handling equipment to receive the object to be handled and transport it to its destination for delivery. Upon receiving the handling instruction, the controller can send motion parameters of the handling equipment to the drive mechanism. The drive mechanism then instructs the pick-and-place mechanism to receive or deliver the object to be handled according to these motion parameters. The motion parameters are used to provide status information for the pick-and-place mechanism when receiving or delivering the object, and this status information includes at least one of the following: operating status, direction of motion, and number of rotations.

[0032] In some examples, the pick-and-place mechanism 21 is provided with a bearing surface for carrying the object to be transported. The pick-and-place mechanism can be a tilting structure or a conveying structure. When the pick-and-place mechanism is a tilting structure, the bearing surface can tilt in at least one direction; when the pick-and-place mechanism is a conveying structure, the pick-and-place mechanism 21 includes at least one of the following: a conveyor belt, a conveyor roller, a conveyor drum, or a conveyor roll, etc. For example, the pick-and-place mechanism 21 can move in at least one direction to receive the target object placed on it, or the pick-and-place mechanism can also drive the target object placed on it to move in at least one direction to deliver the target object.

[0033] It should be noted that the target object that the picking and placing mechanism 21 can carry can be goods or containers for placing goods, etc. This application embodiment does not limit this.

[0034] For example, such as Figure 2As shown, the base of the carrying device 20 is provided with the taking and placing mechanism 21. It can be understood that the taking and placing mechanism 21 can be directly provided on the base, or the taking and placing mechanism 21 is provided on the base through the support mechanism 22. The support mechanism 22 is used to carry the taking and placing mechanism 21 so that the taking and placing mechanism 21 is at a fixed height from the ground or the height from the ground is adjustable, so that the carrying device 20 can deliver or collect the objects to be carried. When the height of the support mechanism 22 is adjustable, the support mechanism 22 includes a lifting mechanism, which can be any structure capable of rising or falling within a predetermined height range.

[0035] For example, the lifting mechanism includes any one of the following: a connecting rod lifting mechanism, a gear lifting mechanism, or a sliding rail lifting mechanism, etc. The lifting mechanism can be powered by a motor or other power sources such as hydraulic power, which is not limited in this application.

[0036] In some examples, taking the connecting rod lifting mechanism as an example, the taking and placing mechanism 21 can be carried on the lifting mechanism, for example, the taking and placing mechanism 21 can be arranged on the top of the lifting mechanism and connected with the lifting mechanism. Figure 2 As shown, the taking and placing mechanism 21 can be arranged on the side of the lifting mechanism away from the ground.

[0037] For example, when the height of the support mechanism 22 is fixed, the carrying device 20 can move to the target position at a fixed height to receive or deliver the target object; when the height of the support mechanism 22 is adjustable, that is, the support mechanism 22 includes a lifting mechanism, the lifting mechanism can lift or lower the taking and placing mechanism 21 to different positions through its own rising or falling, so that the taking and placing mechanism 21 can receive or deliver the target object at different heights.

[0038] For example, as shown, Figure 2 As shown, the base of the carrying device 20 further includes a movement mechanism 23, which can include a driving wheel, a driven wheel, a motor, and the like. The motor can drive the driving wheel to rotate, so that the carrying device 20 has the ability to walk. The movement mechanism 23 can further include a battery or other energy storage components, thereby providing energy for the lifting or lowering of the lifting mechanism and the movement of the taking and placing mechanism 21.

[0039] In some embodiments, the management system sends a carrying instruction to the carrying device 20, and the controller of the carrying device 20 receives the carrying instruction, wherein the carrying instruction includes target carrying parameters, and the controller sends target movement parameters to the driving mechanism; the driving mechanism drives the taking and placing mechanism 21 to receive or deliver the objects to be carried according to the target movement parameters.

[0040] The warehouse system 100 provided by the embodiments of the present application determines the target motion parameter corresponding to the taking and placing mechanism of the carrying device for carrying the to-be-carried object through the cargo information of the to-be-carried object, and the taking and placing mechanism of the carrying device receives or delivers the to-be-carried object based on the target motion parameter. Since the target motion parameter of the taking and placing mechanism is determined based on the cargo information of the to-be-carried object, the taking and placing mechanism of the carrying device can receive or deliver the to-be-carried object with more reasonable motion parameters, thereby avoiding the to-be-carried object from falling during the receiving or delivering process and improving the safety of the to-be-carried object conveying and delivering.

[0041] Exemplarily, the target motion parameter is related to the cargo information of the to-be-carried object; the cargo information of the to-be-carried object includes at least one of size information, weight information and shape information of the to-be-carried object.

[0042] In some examples, the size information includes length, width, height, volume, length-height ratio or length-width ratio information of the to-be-carried object; the shape information of the to-be-carried object is used to indicate the shape of the to-be-carried object, which can be a regular cuboid, a square, a cylinder, and other irregular shapes, etc.; and the weight information of the to-be-carried object is used to indicate the weight of the to-be-carried object.

[0043] In some examples, the sorting object can put the to-be-carried object on the taking and placing mechanism 21 of the carrying device 20 to perform a delivery operation on the to-be-carried object through the taking and placing mechanism 21.

[0044] Exemplarily, the sorting object can be a sorting personnel or a sorting device. The sorting device includes a carrying device (such as a sorting robot) and / or a conveying device.

[0045] For example, when the sorting object is a sorting personnel, the sorting personnel can put the to-be-carried object on the taking and placing mechanism 21 of the carrying device 20; when the sorting object is a sorting device, the to-be-carried object can be first carried to the conveying device by the sorting robot, and then conveyed to the carrying device 20 by the conveying device. The conveying device can include a conveying line.

[0046] Exemplarily, the target motion parameter includes at least one of a motion state of the taking and placing mechanism 21, a motion direction of the taking and placing mechanism 21 and a rotation number of the taking and placing mechanism 21.

[0047] In some examples, the motion state of the taking and placing mechanism 21 can include taking and placing mechanism motion and no motion, and when the motion state of the taking and placing mechanism 21 is motion, the target motion parameter further includes the motion direction of the taking and placing mechanism and / or the rotation number of the taking and placing mechanism.

[0048] In some embodiments, as Figure 1As shown, the warehouse system 100 further comprises a conveying device for conveying the target object.

[0049] Exemplarily, the conveying device can be a conveying line 30 or a robot with a conveying function. The robot with a conveying function can be a three-dimensional sorting machine or a sorting robot, etc. For example, the sorting robot can adopt a self-driving mode, move according to a preset delivery path, and complete the collection or delivery action. It should be noted that the embodiments of the present application are not limited to Figure 1 As shown, the conveying device is a conveying line 30. The embodiments of the present application do not limit the type of conveying device. The following embodiments are exemplarily described by taking the conveying device as a conveying line.

[0050] In some examples, the conveying line 30 is used to convey the to-be-transported object, and the taking and placing mechanism 21 of the transport device 20 receives the to-be-transported object conveyed by the conveying line 30 according to the target motion parameter.

[0051] Exemplarily, the conveying line 30 can include a receiving end and a conveying end. The receiving end is used to receive the to-be-transported object. After receiving the to-be-transported object, the conveying line 30 can convey the to-be-transported object to the conveying end in a preset direction. The conveying end is correspondingly provided with a receiving area for parking the transport device 20. The transport device 20 receives the to-be-transported object conveyed by the conveying end of the conveying line 30 in the receiving area. For example, the lifting mechanism of the transport device 20 can lift or lower the taking and placing mechanism 21 to the position of the conveying line 30 of the conveying line 30, so as to receive the to-be-transported object conveyed by the conveying end of the conveying line 30.

[0052] In some examples, the length and shape of the conveying line 30 can be set according to requirements. For example, the conveying line 30 can be a strip-shaped conveying line, or a ring-shaped conveying line, etc. The embodiments of the present application do not limit this.

[0053] Exemplarily, at least one first detection device can be provided on the conveying line 30. The first detection device is used to collect the information of the to-be-transported object conveyed on the conveying line, and send the collected information to the management system. The management system obtains the goods information of the to-be-transported object according to the collected information. The first detection device can be an image collection device, a sensor or other detection device, etc. The embodiments of the present application do not limit this.

[0054] In some examples, the management system is configured to obtain the goods information of the to-be-transported object, and determine the target motion parameter of the taking and placing mechanism 21 of the transport device 20 according to at least one of the size information, the weight information and the shape information in the goods information of the to-be-transported object.

[0055] For example, the management system can determine the target motion parameter according to the size information, the weight information, or the shape information of the object to be carried; or can determine the target motion parameter according to any two of the size information, the weight information, and the shape information of the object to be carried; or can determine the target motion parameter according to the size information, the weight information, and the shape information of the object to be carried, and the embodiments of the present application are not limited in this regard.

[0056] In some embodiments, if the cargo information of the object to be carried satisfies a preset threshold range, the target motion parameter includes that the motion state of the taking and placing mechanism is motion, and the first preset number of turns of the taking and placing mechanism in the first direction. If the cargo information of the object to be carried does not satisfy the preset threshold range, the target motion parameter includes that the motion state of the taking and placing mechanism is not motion.

[0057] In some examples, the preset threshold range is related to the cargo information, and the preset threshold range corresponding to different cargo information can be different. For example, when the cargo information is size information, the preset threshold range is a size threshold range; when the cargo information is weight information, the preset threshold range is a weight threshold range; and when the cargo information is shape information, the preset threshold range is related to the shape information.

[0058] For example, when the cargo information is size information, the size information can include the height of the object to be carried, and the following embodiments can be exemplarily described by taking the height of the object to be carried as an example. The height of the object to be carried can also be referred to as the thickness of the object to be carried, that is, the size of the object to be carried in the vertical direction. It should be noted that the height of the object to be carried can be understood as the height of the object to be carried along the normal direction of the bearing surface when the object to be carried is delivered to the taking and placing mechanism 21.

[0059] In some examples, when the cargo information is the height of the object to be carried, the preset threshold range can include a height range greater than or equal to a preset height threshold. The preset height threshold can be set according to requirements, or the preset height threshold can also be related to the setting height of the second detection device on the carrying device 20. For example, the preset height threshold can be greater than or equal to the setting height of the second detection device on the carrying device 20. The second detection device can be an image acquisition device, a sensor, or other detection devices, and the embodiments of the present application are not limited in this regard.

[0060] For example, when the cargo information is weight, the preset threshold range can include a weight range greater than or equal to a preset weight threshold. The preset weight threshold can be set according to requirements. For example, the preset weight threshold can be determined according to historical experience data, and the embodiments of the present application are not limited in this regard.

[0061] In some embodiments, the cargo information of the object to be carried not satisfying the preset threshold range comprises: the height of the object to be carried being less than a preset height threshold; and / or, the weight of the object to be carried being less than a preset weight threshold.

[0062] In some examples, when the cargo information is the height of the object to be carried, if the height of the object to be carried is greater than or equal to the preset height threshold, the cargo information of the object to be carried satisfies the preset threshold range; if the height of the object to be carried is less than the preset height threshold, the cargo information of the object to be carried does not satisfy the preset threshold range. For example, the preset height threshold is 10 cm, when the height of the object to be carried exceeds 10 cm, the cargo information of the object to be carried satisfies the preset threshold range, and when the height of the object to be carried does not exceed 10 cm, the cargo information of the object to be carried does not satisfy the preset threshold range.

[0063] In some examples, when the cargo information is the weight of the object to be carried, if the weight of the object to be carried is greater than or equal to the preset weight threshold, the cargo information of the object to be carried satisfies the preset threshold range; if the weight of the object to be carried is less than the preset weight threshold, the cargo information of the object to be carried does not satisfy the preset threshold range. For example, the preset weight threshold is 50 g, when the weight of the object to be carried exceeds 50 g, the cargo information of the object to be carried satisfies the preset threshold range, and when the weight of the object to be carried does not exceed 50 g, the cargo information of the object to be carried does not satisfy the preset threshold range.

[0064] In some examples, when the cargo information is the height and weight of the object to be carried, if the height of the object to be carried is greater than or equal to the preset height threshold, and / or, the weight of the object to be carried is greater than or equal to the preset weight threshold, the cargo information of the object to be carried satisfies the preset threshold range; if the height of the object to be carried is less than the preset height threshold, and the weight of the object to be carried is less than the preset weight threshold, the cargo information of the object to be carried does not satisfy the preset threshold range. For example, when the height of the object to be carried exceeds 10 cm and the weight exceeds 50 g, the cargo information of the object to be carried satisfies the preset threshold range; when the height of the object to be carried does not exceed 10 cm, and / or, the weight does not exceed 50 g, the cargo information of the object to be carried does not satisfy the preset threshold range.

[0065] For example, when it is determined that the cargo information of the object to be carried satisfies the preset threshold range, the movement state of the taking and placing mechanism 21 of the carrying device 20 when receiving or delivering the object to be carried is in motion, and the rotation direction and / or the number of rotations of the taking and placing mechanism 21 are further determined. Wherein, the rotation direction of the taking and placing mechanism 21 is the first direction, and the number of rotations is the first preset number of rotations.

[0066] Figure 3 A schematic diagram of a conveying line is provided for the embodiments of the present application.

[0067] As shown in Figure 3 , the conveying line 30 includes a receiving end 31 and a conveying end 32, and the conveying end 32 is provided with a receiving area 33 on the side away from the receiving end 31, and the handling equipment 20 can stop at the receiving area 33 and receive the to-be-handled object conveyed by the conveying end 32 at the receiving area 33. The conveying line 30 conveys the to-be-handled object in a preset direction to convey the to-be-handled object to the taking and placing mechanism 21 of the handling equipment 20 located at the receiving area 33.

[0068] In some examples, sensors can be provided on the two side edges of the conveying line 30, and the sensors are used to detect the target object of the taking and placing mechanism, wherein the sensors can include multiple pairs of optical sensors such as reflective sensors or diffuse sensors. As shown in Figure 3 , the two side edges of the conveying line are provided with reflective sensors A1, reflective sensors A2 and reflective sensors A3. When the to-be-handled object is transferred to the conveying line 30, the reflective sensors A1, the reflective sensors A2 and the reflective sensors A3 detect the to-be-handled object respectively and send the detection information to the management system, and the management system determines the goods information of the to-be-handled object according to the collected information.

[0069] Continuing to refer to Figure 3 , the taking and placing mechanism 21 of the handling equipment 20 can move in a first direction a or a second direction b. The first direction a is consistent with the conveying direction (i.e. the preset direction) of the conveying line 30, and the second direction is opposite to the conveying direction (i.e. the preset direction) of the conveying line 30.

[0070] As shown in Figure 1 , the handling equipment 20 can carry the to-be-handled object to the position of the conveying line 30 and place the target object on the receiving end of the conveying line 30 to convey the target object to the handling equipment 20 located at the receiving area through the conveying line 30. The handling equipment 20 for carrying the to-be-handled object to the conveying line 30 and the handling equipment 30 for receiving the to-be-handled object conveyed by the conveying line 30 at the receiving area can be the same type and different handling equipment 30.

[0071] Exemplarily, the conveying line 30 can also correspond to a queuing area, and the queuing area can stop multiple handling equipment. When the handling equipment at the receiving area corresponding to each conveying line 30 receives the to-be-handled object conveyed by the conveying line 30 and leaves the receiving area, the next handling equipment of the queuing area can move to the receiving area and receive the next to-be-handled object conveyed by the conveying line 30 at the receiving area.

[0072] For example, multiple conveying lines 30 can correspond to one queuing area, or part of the multiple conveying lines 30 correspond to one queuing area, or each conveying line 30 can correspond to one queuing area, and the embodiments of the present application are not limited thereto.

[0073] Exemplarily, when the cargo information of the to-be-transported object meets the preset threshold range, it indicates that the size, weight or shape of the to-be-transported object is large, and in this case, the taking-and-placing mechanism 21 of the transport device 20 can move to receive the to-be-transported object.

[0074] For example, as shown in FIG. 3, when the taking-and-placing mechanism 21 of the transport device 20 located in the receiving area 33 receives the to-be-transported object conveyed by the conveying line 30, the movement direction of the taking-and-placing mechanism 21 is the same as the conveying direction of the conveying line 30, that is, the taking-and-placing mechanism 21 can rotate in the first direction a, so that the to-be-transported object conveyed by the conveying line 30 to the conveying end 32 is transferred to the taking-and-placing mechanism 21 of the transport device 20 through the cooperation of the rotation of the conveying line 30 and the rotation of the taking-and-placing mechanism 21. Figure 3 That is, when the to-be-transported object is conveyed by the conveying line 30, the movement direction of the taking-and-placing mechanism 21 of the transport device 20 is consistent with the conveying direction of the conveying line 30.

[0075] In some examples, the number of rotation turns of the taking-and-placing mechanism 21 can be pre-set or determined according to the cargo information of the to-be-transported object. For example, the taking-and-placing mechanism 21 can rotate according to the pre-set number of rotation turns to receive the to-be-transported object. Alternatively, the management system determines the number of rotation turns of the taking-and-placing mechanism 21 according to the cargo information of the to-be-transported object after obtaining the cargo information of the to-be-transported object.

[0076] In some embodiments, when the target movement parameter includes the number of rotation turns of the taking-and-placing mechanism 21, the management system is further configured to: determine the cargo type of the to-be-transported object based on the cargo information of the to-be-transported object; and determine the number of rotation turns of the taking-and-placing mechanism of the transport device when receiving the to-be-transported object based on the cargo type of the to-be-transported object and a mapping relationship between a plurality of cargo types and a plurality of numbers of rotation turns. It should be noted that the cargo information can be used to determine whether the preset threshold range is met, or the cargo type of the to-be-transported object can be determined based on the cargo information and the preset threshold range, and the target movement parameter can be determined based on the cargo type.

[0077]

[0078] ​In some examples, the management system can determine the cargo type of the object to be carried according to the height and / or weight of the object to be carried. For example, a plurality of cargo types can be divided according to the height and weight, such as a first type, a second type, and a third type, etc. For example, the cargo type of the object to be carried whose height does not exceed a first height threshold and whose weight does not exceed a first weight threshold can be determined as the first type; the cargo type of the object to be carried whose height exceeds the first height threshold and does not exceed a second height threshold and whose weight exceeds the first weight threshold and does not exceed a second weight threshold can be determined as the second type; and the cargo type of the object to be carried whose height exceeds the second height threshold and whose weight exceeds the second weight threshold can be determined as the third type. The first height threshold is less than the second height threshold, and the first weight threshold is less than the second weight threshold.

[0079] It should be noted that the heights of the objects to be carried of the first type, the second type, and the third type all exceed a preset height threshold, and the weights thereof exceed a preset weight threshold. That is, the first type, the second type, and the third type are objects to be carried whose cargo information satisfies the preset threshold range.

[0080] For example, the management system can pre-store a first mapping relationship, which is a corresponding relationship between a plurality of cargo types and a plurality of rotation numbers of the taking and placing mechanism. For example, the first mapping relationship can include a first rotation number corresponding to the first type, a second rotation number corresponding to the second type, and a third rotation number corresponding to the third type. The first rotation number is less than the second rotation number, and the second rotation number is less than the third rotation number. For example, the first rotation number can be 0.5 turns, the second rotation number can be 0.7 turns, and the third rotation number can be 1 turn, etc. The specific number of rotation numbers is not limited in the embodiments of the present application.

[0081] For example, the larger the size and / or the weight of the object to be carried is, the larger the rotation number corresponding to the taking and placing mechanism is; and the smaller the size and / or the weight of the object to be carried is, the smaller the rotation number corresponding to the taking and placing mechanism is.

[0082] It should be noted that the cargo types can also be divided in other manners, and the number of cargo types can be more or less. The rotation numbers corresponding to the cargo types can be set according to requirements or determined according to historical data, which is not limited in the embodiments of the present application.

[0083] In some examples, after determining the cargo type of the object to be carried based on the cargo information of the object to be carried, the rotation number corresponding to the cargo type corresponding to the object to be carried is determined by querying the first mapping relationship, so as to determine the rotation number of the taking and placing mechanism when receiving the object to be carried.

[0084] In some embodiments, the carrying device 20 is configured to move to the receiving area corresponding to the conveying line 30, and when reaching the receiving area, the driving mechanism drives the taking and placing mechanism 21 to receive the object to be carried conveyed by the conveying line 30 according to the target motion parameters.

[0085] For example, before the conveying line 30 conveys the object to be carried to the conveying end, the carrying device 20 can be moved to the receiving area corresponding to the conveying line 30 in advance.

[0086] In some examples, before receiving the object to be carried, the initial state of the taking and placing mechanism 21 can be a motion state or a non-motion state. For example, when the initial state of the taking and placing mechanism 21 is a motion state, if the goods information of the object to be carried meets the preset threshold range, the taking and placing mechanism 21 continues to move in the first direction to receive the object to be carried; if the goods information of the object to be carried does not meet the preset threshold range, the taking and placing mechanism 21 stops moving. For another example, when the initial state of the taking and placing mechanism 21 is a non-motion state, if the goods information of the object to be carried meets the preset threshold range, the taking and placing mechanism moves in the first direction to receive the object to be carried; if the goods information of the object to be carried does not meet the preset threshold range, the taking and placing mechanism 21 remains in the non-motion state to receive the object to be carried.

[0087] For example, when the goods information of the object to be carried meets the preset threshold range, if the target motion parameters include the rotation of the taking and placing mechanism in the first direction, after the taking and placing mechanism receives the object to be carried, whether the taking and placing mechanism 21 stops moving can be determined based on the detection information of the second detection device on the carrying device, i.e., the number of rotations of the taking and placing mechanism 21 is determined.

[0088] In some examples, the second detection device on the carrying device 20 can include a plurality of sensors (such as a pair of sensors), which can detect the object to be carried on the taking and placing mechanism 21 and the position of the object to be carried on the taking and placing mechanism 21 after the taking and placing mechanism 21 of the carrying device 20 rotates in the first direction and receives the object to be carried.

[0089] For example, when three pairs of sensors are arranged on the carrying device, after the object to be carried is conveyed onto the taking and placing mechanism 21, if the first pair of sensors detects the object to be carried, the taking and placing mechanism 21 continues to move in the first direction, and when the second pair of sensors detects the object to be carried and the third pair of sensors does not detect the object to be carried, it indicates that the object to be carried has reached a suitable position on the taking and placing mechanism 21, in which case the taking and placing mechanism 21 can stop rotating.

[0090] In some embodiments, as Figure 2As shown, the storage system 100 includes at least one shielding device 50. The shielding device 50 is positioned relative to the docking position of the handling equipment 20 when receiving or delivering an object to be handled; the shielding device 50 is used to shield the object to be handled placed on the handling equipment 20 to prevent the object from falling.

[0091] In some embodiments, the shielding device 50 is disposed on one side of the output end of the conveyor line 30, and a receiving area for docking the transport device 20 is provided between the shielding device 50 and the output end of the conveyor line 30; the shielding device 50 is used to shield the object to be transported conveyed at the output end of the conveyor line 30 to prevent the object to be transported from falling.

[0092] like Figure 2 As shown, upstream equipment (such as...) Figure 1 The conveyor line 30 can deliver the target object to the handling equipment 20 in a preset direction. The pick-and-place mechanism 21 receives the target object delivered by the upstream equipment in the receiving area 33. A shielding device 50 can be set on at least one side of the handling equipment 20 away from the upstream equipment. Alternatively, the target object can be delivered manually to the handling equipment 20 in a preset direction. A shielding device 50 can be set on one side of the handling equipment 20 away from the delivery person in a preset direction.

[0093] Figure 4 This is a schematic diagram of a transportation scenario for an object to be transported, provided in an embodiment of this application. Figure 4 The upstream equipment, conveyor line 30, is used as an example for illustration.

[0094] In some examples, such as Figure 4 As shown, in a scenario where the handling equipment 20 receives an object to be handled from the conveyor line 30, the shielding device 50 can be positioned on the side of the receiving area 33 away from the conveying end of the conveyor line 30. In this case, the shielding device 50 can shield the object to be handled from the conveyor line 30 onto the pick-and-place mechanism 21 of the handling equipment 20 to prevent the object from falling. That is, there is a receiving area 33 between the shielding device 50 and the conveying end of the conveyor line 30 for the handling equipment 20 to dock. When the handling equipment 20 receives the object to be handled from the conveying end of the conveyor line 30 in the receiving area 33, the shielding device 50 can shield the object to be handled to prevent it from falling due to inertia or abnormal rotation of the pick-and-place mechanism 21 of the handling equipment 20.

[0095] In some embodiments, such as Figure 2As shown, the shielding device 50 at least includes a shielding part 501, which is located on the side of the taking and placing mechanism 21 away from the upstream device or the delivery person, and the shielding surface of the shielding part 501 is at a preset angle (for example, 90°) with the bearing surface of the taking and placing mechanism 21. At least part of the shielding part 501 extends along the normal direction of the bearing surface and protrudes out of the bearing surface, and the shielding part 501 is used to shield the target object delivered to prevent the target object from falling outside the target container.

[0096] For example, the shielding device 50 can further include a support part 502, and the shielding part 501 is arranged on the support part 502 and at a position with a preset height from the ground. The preset height can be a fixed height or an adjustable height.

[0097] In some examples, the support part 501 is used to support the shielding part 502 so that the shielding part 502 is at a preset height from the ground, thereby achieving shielding of the to-be-transported object delivered to the taking and placing mechanism 21 of the transport device 20. The shielding part 502 can be fixedly arranged on the support part 501 or adjustably arranged on the support part 501. That is, the height of the support part 501 can be fixed or adjustable.

[0098] For example, the shielding part 502 can have a certain width in the vertical direction, and the width of the shielding part 502 can be set according to requirements, and the width of the shielding part is not limited in the embodiments of the present application.

[0099] In some embodiments, the preset height of the shielding part 502 is related to at least one of the height of the output end of the conveying line 30, the height of the taking and placing mechanism 21 of the transport device 20, and the cargo information of the to-be-transported object.

[0100] For example, in the scenario where the transport device 20 receives the to-be-transported object delivered by the conveying line 30, the preset height of the shielding part 502 is related to at least one of the height of the conveying end of the conveying line 30, the height of the taking and placing mechanism 21 of the transport device 20, and the cargo information of the to-be-transported object. The height of the conveying end of the conveying line 30 is the height of the conveying end of the conveying line 30 from the ground, and the height of the taking and placing mechanism 21 of the transport device 20 is the height of the taking and placing mechanism 21 from the ground.

[0101] For example, the preset height can be set to correspond to the height of the conveying end of the conveying line 30, so that the to-be-transported object delivered by the conveying end of the conveying line 30 can be blocked by the shielding part 502; or the preset height can be set to correspond to the height of the taking and placing mechanism 21 of the transport device 20, for example, the preset height can be equal to the height of the taking and placing mechanism, so that the to-be-transported object on the taking and placing mechanism 21 can be shielded; or the preset height can be set according to the cargo information of the to-be-transported object, such as the weight and / or height of the to-be-transported object.

[0102] Exemplarily, in a scenario where the conveying device 20 delivers the to-be-conveyed object, the preset height of the shielding part 502 can be related to the height of the taking-and-placing mechanism 21 of the conveying device 20 and / or the height of the target container to which the to-be-conveyed object is delivered.

[0103] In some examples, after receiving the to-be-conveyed object, the conveying device 20 needs to deliver the to-be-conveyed object into the target container. During the process of delivering the to-be-conveyed object into the target container, the to-be-conveyed object can not be delivered into the target container due to the weight of the target object being too light or the like, thereby causing the to-be-conveyed object to fall. In this case, the shielding device 50 can also be arranged on the side of the target container away from the conveying device 20. The shielding part 502 of the shielding device 50 can also shield the to-be-conveyed object delivered by the conveying device 20, so that the to-be-conveyed object falls into the target container.

[0104] In some embodiments, the warehouse system 100 further includes an output device configured to output prompt information if the cargo information of the to-be-conveyed object does not satisfy the preset threshold range. The prompt information is used to instruct an operating object to set the shielding device 50 based on the parking position of the conveying device 20 when receiving or delivering the to-be-conveyed object, and the shielding device 50 is used to shield the to-be-conveyed object received or delivered by the conveying device, so as to prevent the to-be-conveyed object from falling.

[0105] In some examples, the output device can be a display screen, an electronic tag, a loudspeaker, a projection device or the like, and the output device can output the prompt information in the form of text and / or voice. The prompt information can include setting information of the shielding device 50, such as a setting position of the shielding device 50. For example, the setting position of the shielding device 50 is related to the parking position of the conveying device 20 when receiving or delivering the to-be-conveyed object.

[0106] For example, in a scenario where the conveying device 20 receives the to-be-conveyed object, the prompt information output by the output device can prompt the operating object to set the shielding device 50 on the side of the receiving area away from the conveying line 30; or, in a scenario where the conveying device 20 delivers the to-be-conveyed object, the prompt information output by the output device can prompt the operating object to set the shielding device 50 on the side of the target container away from the conveying device 20.

[0107] It should be noted that the output device can be arranged on the conveying device 20, or can be arranged on the conveying line 30, or can be arranged elsewhere, such as a workstation, and the operating object can be an operating person or an operating device, and the present application does not limit this.

[0108] The warehouse system 100 provided by the embodiments of the present application can shield the objects to be carried conveyed by the conveying line 30 by setting the shielding device 50, so that the objects to be carried can fall on the taking and placing mechanism 21 of the carrying device 20, thereby ensuring the safety of the conveying process of the objects to be carried; the shielding device 50 can also shield the objects to be carried delivered by the carrying device 20, so that the objects to be carried can fall into the target container, thereby ensuring the safety of the delivery process of the objects to be carried, avoiding the occurrence of abnormal situations caused by the objects to be carried falling on the ground, and further improving the working efficiency of the warehouse system 100.

[0109] Figure 5 Another schematic diagram of a conveying scene of an object to be carried provided by the embodiments of the present application.

[0110] In some embodiments, as shown in Figure 5 The warehouse system 100 further includes a conveying device 51, and the plurality of conveying lines 30 includes at least one first conveying line and at least one second conveying line. The conveying device 51 is configured to: according to the cargo information of the plurality of objects to be carried, convey a first object to be carried in the plurality of objects to be carried to the first conveying line, and convey a second object to be carried in the plurality of objects to be carried to the second conveying line; wherein the cargo information of the first object to be carried meets a preset threshold range, and the cargo information of the second object to be carried does not meet the preset threshold range.

[0111] In some examples, the conveying device can further include the conveying device 51 and the conveying lines 30. The conveying device 51 can be in communication with the plurality of conveying lines 30 respectively, so as to convey each received object to be carried to each conveying line 30. For example, the conveying device 51 can be in communication with the receiving end of each conveying line 30, so as to convey each object to be carried to the receiving end of each conveying line 30, and then conveyed to the carrying device 20 located in the receiving area corresponding to each conveying line 30 through the conveying line 30.

[0112] For example, the conveying device 51 can also be in the form of a conveying belt, and the sorting personnel or sorting robots can place the plurality of objects to be carried on the conveying device respectively, and then conveyed to each conveying line 30 through the conveying device 51.

[0113] In some examples, the conveying device 51 includes at least one third detection device, which can detect each object to be carried placed on the conveying device, so as to determine the cargo information of each object to be carried.

[0114] For example, the third detection device on the conveying device 51 can be a scanning device, which can scan the identification information on the to-be-transported object and send the scanning result to the management system, and the management system determines the cargo information of the to-be-transported object according to the scanning result; or the third detection device on the conveying device 51 can also be an image acquisition device, which can capture image information of the to-be-transported object and send it to the management system, and the management system determines the cargo information of the to-be-transported object by processing the image information.

[0115] For example, after the management system obtains the cargo information of each to-be-transported object, it determines the relationship between the cargo information and the preset threshold range. That is, it is determined whether the cargo information of each to-be-transported object meets the preset range threshold. It should be noted that the relationship between the cargo information and the preset range threshold is described in the above embodiment, and to avoid repetition, it will not be described here.

[0116] In some examples, the plurality of conveying lines 30 in the warehouse system 100 can be divided into two types of conveying lines, such as a first type of conveying line and a second type of conveying line. Among them, the first type of conveying line includes at least one first conveying line in the plurality of conveying lines, and the second type of conveying line includes a second conveying line in the plurality of conveying lines.

[0117] For example, the first conveying line and the second conveying line can be the same or different. That is, at least the first conveying line can be completely different from at least one second conveying line; or at least the first conveying line can also be partially the same as at least one second conveying line. That is, part of the plurality of conveying lines can belong to both the first type of conveying line and the second type of conveying line, and the embodiments of the present application do not limit this. The embodiments of the present application exemplarily illustrate the case where the first conveying line and the second conveying line are different.

[0118] In some examples, the plurality of to-be-transported objects includes a first to-be-transported object, and if it is determined that the cargo information of the first to-be-transported object meets the preset threshold range, it is determined that the conveying line corresponding to the first to-be-transported object is the first conveying line. Among them, the conveying line corresponding to the first to-be-transported object can be any conveying line in the at least one first conveying line, or can be a first conveying line with the least amount of tasks, or can be a first conveying line determined according to the order corresponding to the first to-be-transported object, and the embodiments of the present application do not limit this.

[0119] That is, at least one first conveying line in the first type of conveying line is used to convey to-be-transported objects (such as the first to-be-transported object) whose cargo information meets the preset threshold range.

[0120] In some embodiments, the first conveying line is configured to convey the received first object to be carried to the taking and placing mechanism of the first carrying device located in the first receiving area corresponding to the first conveying line. The first carrying device is configured to control the movement of the taking and placing mechanism of the first carrying device and rotate the taking and placing mechanism in the first direction by a first preset number of turns.

[0121] In some examples, after determining the first conveying line corresponding to the first object to be carried, the conveying device 51 conveys the first object to be carried to the receiving end of the first conveying line. After receiving the first object to be carried, the first conveying line conveys the first object to be carried to the first carrying device located in the first receiving area corresponding to the first conveying line. The first carrying device is any one of the plurality of carrying devices, and the first carrying device moves to the first receiving area corresponding to the first conveying line to receive the first object to be carried conveyed by the first conveying line.

[0122] For example, because the goods information of the first object to be carried conveyed by the first conveying line meets the preset range threshold, the movement state of the taking and placing mechanism of the first carrying device when receiving the first object to be carried is movement, and the taking and placing mechanism rotates in the first direction by a first preset number of turns.

[0123] In some examples, the plurality of objects to be carried includes a second object to be carried. If it is determined that the goods information of the second object to be carried does not meet the preset threshold range, it is determined that the conveying line corresponding to the second object to be carried is a second conveying line. The conveying line corresponding to the second object to be carried can be any one of at least one second conveying line, or can be a second conveying line with the least amount of tasks, or can be a second conveying line determined according to an order corresponding to the second object to be carried, and the embodiments of the present application are not limited thereto.

[0124] That is, at least one second conveying line in the second type of conveying line is used to convey an object to be carried (such as the second object to be carried) whose goods information does not meet the preset threshold range.

[0125] In some embodiments, the first conveying line is configured to convey the received first object to be carried to the taking and placing mechanism of the first carrying device located in the first receiving area corresponding to the first conveying line. The second carrying device is configured to control the taking and placing mechanism of the second carrying device not to move.

[0126] Exemplarily, after determining the second conveying line corresponding to the second to-be-transported object, the conveying device 51 conveys the second to-be-transported object to the receiving end of the second conveying line, and the second conveying line conveys the second to-be-transported object to the second transport device located in the second receiving area corresponding to the second conveying line after receiving the second to-be-transported object. The second transport device is any one of the plurality of transport devices, and the second transport device moves to the second receiving area corresponding to the second conveying line to receive the second to-be-transported object conveyed by the second conveying line.

[0127] In some examples, since the goods information of the second to-be-transported object conveyed by the second conveying line does not satisfy the preset range threshold, the motion state of the pick-and-place mechanism of the second transport device when receiving the second to-be-transported object is not moving.

[0128] In another example, since the goods information of the second to-be-transported object does not satisfy the preset range threshold, it indicates that the weight of the second to-be-transported object is lighter and / or the height of the second to-be-transported object is lower. Therefore, in order to avoid the second conveying line from conveying the second to-be-transported object to fall due to inertia when conveying the second to-be-transported object, a shielding device can be arranged on the side of the second receiving area away from the conveying end of the second conveying line to shield the second to-be-transported object, thereby further ensuring the safety of the conveying process of the second to-be-transported object.

[0129] As shown in FIG. 1, Figure 5 The conveying device 51 communicates with at least one conveying line, such as the first conveying line, the second conveying line, the third conveying line, and the fourth conveying line. After receiving the to-be-transported objects, the conveying device 51 detects each to-be-transported object by the detection device 52 to determine the goods information of each to-be-transported object. Based on the relationship between the goods information of each to-be-transported object and the preset threshold range, the conveying line corresponding to each to-be-transported object is determined. The first conveying line and the third conveying line are the first type of conveying line, which is used to convey the to-be-transported objects whose goods information satisfies the preset threshold range. The second conveying line and the fourth conveying line are the second type of conveying line, which is used to convey the to-be-transported objects whose goods information does not satisfy the preset threshold range.

[0130] As shown in FIG. 1, Figure 5 When the goods information of the first object A satisfies the preset threshold range, the conveying device 51 conveys the first object A to the receiving end of the first conveying line (or the third conveying line) and conveys the first object A to the first transport device a located in the first receiving area through the first conveying line. When the goods information of the second object B does not satisfy the preset threshold range, the conveying device 51 conveys the second object B to the receiving end of the second conveying line (or the fourth conveying line) and conveys the second object B to the second transport device b located in the second receiving area through the second conveying line. The side of the second receiving area away from the second conveying line is provided with a shielding device 50 to shield the second object B.

[0131] Exemplarily, when the taking and placing mechanism 21 of the carrying device 20 delivers the to-be-carried object, the target motion parameter corresponding to the taking and placing mechanism 21 includes that the motion state of the taking and placing mechanism 21 is motion, and the taking and placing mechanism 21 rotates in the first direction by a first preset number of turns. The taking and placing mechanism 21 delivers the to-be-carried object placed thereon into the target container according to the target motion parameter. For example, the lifting mechanism of the carrying device 20 can lift or lower the taking and placing mechanism 21 to a delivery position of the target container by rising or falling, and the taking and placing mechanism 21 delivers the to-be-carried object into the target container according to the target motion parameter.

[0132] For example, in the scenario where the taking and placing mechanism 21 of the carrying device 20 delivers the to-be-carried object, the first direction is the delivery direction of the taking and placing mechanism 21, that is, the direction when the taking and placing mechanism 21 delivers the to-be-carried object placed thereon into the target container; the first preset number of turns can be one turn, or can be other numbers of turns, which are not limited in the embodiments of the present application.

[0133] In some examples, in the scenario where the taking and placing mechanism 21 of the carrying device 20 delivers the to-be-carried object, if the sheltering device 50 is included in the storage system 100, the sheltering device 50 can be arranged on the side of the target container away from the carrying device, to shelter the to-be-carried object delivered by the carrying device, to prevent the to-be-carried object from falling outside the target container, thereby ensuring the safety of the to-be-carried object delivery process.

[0134] In some examples, when the taking and placing mechanism 21 of the carrying device 20 receives the to-be-carried object, and the taking and placing mechanism 21 stops rotating, the to-be-carried object can move on the taking and placing mechanism 21 due to inertia, and the position of the to-be-carried object on the taking and placing mechanism 21 can affect the safety of the carrying device carrying the to-be-carried object.

[0135] For example, when the to-be-carried object is located at a position close to the edge on the taking and placing mechanism 21, the to-be-carried object can fall during the carrying process of the carrying device 20, thereby affecting the carrying efficiency. Therefore, after the taking and placing mechanism 21 receives the to-be-carried object, the position of the to-be-carried object on the taking and placing mechanism 21 needs to be determined.

[0136] In some embodiments, the management system is configured to: acquire first detection information collected by at least one first acquisition device; and determine the position of the to-be-carried object on the taking and placing mechanism 21 based on the first detection information.

[0137] In some examples, the first acquisition device includes an acquisition device (such as the second detection device in the above embodiment) arranged on the handling device 20. For example, when the pick-and-place mechanism 21 of the handling device 20 receives the object to be handled, the position of the object to be handled on the pick-and-place mechanism 21 can be determined based on the first detection information of the object to be handled acquired by the first acquisition device. For example, the at least one acquisition device can send the acquired first detection information to the management system, and the management system determines the position of the object to be handled on the pick-and-place mechanism of the handling device according to the first detection information.

[0138] Exemplarily, the first acquisition device can be a sensor, an image acquisition device, or other acquisition devices, which are not limited in the embodiments of the present application. For example, in the scenario where the handling device receives the object to be handled, the first acquisition device can be at least one of an acquisition device (such as the first detection device) arranged on the conveying line, an acquisition device (such as the second detection device) arranged on the handling device, and an acquisition device arranged on the shielding device.

[0139] In some examples, when the cargo information of the object to be handled meets a preset threshold range, the first acquisition device can be a plurality of reflection sensors arranged on the handling device 20; when the cargo information of the object to be handled does not meet the preset threshold range, the first acquisition device can be an image acquisition device arranged on the handling device, or an image acquisition device arranged on the conveying line, or an image acquisition device arranged on the shielding device, which are not limited in the embodiments of the present application.

[0140] Exemplarily, part of the area on the bearing surface of the pick-and-place mechanism 21 of the handling device 20 is divided into a preset area. For example, the preset area can be an area located in the middle part of the bearing surface of the pick-and-place mechanism 21. After receiving the object to be handled, the pick-and-place mechanism 21 determines the relationship between the position of the object to be handled on the pick-and-place mechanism 21 and the preset area.

[0141] For example, when the position of the object to be handled is located in the preset area, it indicates that the safety of the object to be handled during the movement of the handling device 20 is high, and the object to be handled will not usually fall off; when the position of the object to be handled is located outside the preset area, it indicates that there is a safety risk for the object to be handled during the movement of the handling device 20, and the object to be handled may fall off during the movement of the handling device 20.

[0142] Figure 6 A schematic diagram of the scenario of the object to be handled on the pick-and-place mechanism is provided in the embodiments of the present application. It should be noted that, Figure 6 The schematic diagram shown is a top view of the pick-and-place mechanism 21 of the handling device 20.

[0143] As Figure 6As shown, the carrying surface of the taking and placing mechanism 21 is provided with a preset area 210, and when the taking and placing mechanism 21 receives the object to be carried, it can be determined whether the position of the object to be carried is located in the preset area 210.

[0144] For example, if it is determined that the object to be carried is located in the preset area 210 on the taking and placing mechanism 21, the carrying device 20 carries the object to be carried away from the receiving area. If it is determined that the object to be carried is located outside the preset area 210, the taking and placing mechanism 21 of the carrying device 20 rotates in the second direction by a second preset number of turns to move the object to be carried into the preset area 210, and the carrying device 20 carries the object to be carried away from the receiving area.

[0145] In some examples, when it is determined that the position of the object to be carried on the taking and placing mechanism 21 is located in the preset area 210, it indicates that the object to be carried can be safely carried by the carrying device 20, and therefore the carrying device 20 can be controlled to carry the object to be carried away from the receiving area and to a delivery destination, such as a target container.

[0146] Continuing to refer to Figure 6 When the taking and placing mechanism 21 receives the object to be carried A, the object to be carried A is located in the preset area 210, and therefore the position of the object to be carried A does not need to be adjusted, and the carrying device 20 carries the object to be carried away from the receiving area.

[0147] It should be noted that for a larger object to be carried, the size of the object to be carried may be larger than the size of the preset area 210, and in this case, when the center position of the object to be carried is located in the preset area 210, it can also be referred to as the object to be carried being located in the preset area 210.

[0148] In some examples, when it is determined that the position of the object to be carried on the taking and placing mechanism 21 is located outside the preset area 210, it indicates that there is a safety risk in the carrying process of the object to be carried by the carrying device 20, and in order to further improve the safety of the carrying process, the position of the object to be carried on the taking and placing mechanism 21 can be adjusted.

[0149] For example, the position adjustment process of the object to be carried can be performed simultaneously with the carrying device 20 leaving the receiving area, that is, the position of the object to be carried on the taking and placing mechanism 21 can be adjusted during the process of the carrying device 20 leaving the receiving area; or the position of the object to be carried on the taking and placing mechanism 21 can be adjusted first, and then the carrying device 20 is controlled to leave the receiving area after adjustment, and the embodiments of the present application are not limited thereto.

[0150] In some examples, if it is determined that the object to be carried is located outside the preset area 210, the taking and placing mechanism 21 of the carrying device 20 is controlled to rotate in the second direction by a second preset number of turns to move the object to be carried into the preset area 210. The second direction is the same as the first direction, or the second direction is opposite to the first direction. The second preset number of turns can be preset, or can also be determined according to the position of the object to be carried on the taking and placing mechanism.

[0151] With reference to Figure 6 , the object to be carried B and the object to be carried C are both located outside the preset area 210. In order to ensure the safety of the moving process, the positions of the object to be carried B and the object to be carried C on the taking and placing mechanism 210 need to be adjusted.

[0152] In some embodiments, if the object to be carried is located outside the preset area 210 and has not reached the preset area 210, the taking and placing mechanism 21 is rotated in the second direction by a second preset number of turns. The second direction is the same as the first direction.

[0153] In some examples, if the object to be carried has not reached the preset area 210 in the first direction, the taking and placing mechanism 21 is further rotated in the first direction by a second preset number of turns to move the object to be carried into the preset area 210.

[0154] As shown in Figure 6 , the object to be carried B has not reached the preset area 210 in the first direction, so the taking and placing mechanism 21 can be further rotated in the first direction (such as direction a) by a second preset number of turns, such as 0.3 turns, to rotate the object to be carried B into the preset area 210.

[0155] In some embodiments, if the object to be carried is located outside the preset area 210 and beyond the preset area 210, the taking and placing mechanism is controlled to rotate in the second direction by a second preset number of turns. The second direction is opposite to the first direction.

[0156] In some examples, if the object to be carried is beyond the preset area in the first direction, the taking and placing mechanism 21 needs to be rotated in the opposite direction of the first direction, also known as a back turn, to move the object to be carried into the preset area 210.

[0157] As shown in Figure 6 , the object to be carried C is beyond the preset area 210 in the first direction, so the taking and placing mechanism 21 can be controlled to rotate in the opposite direction of the first direction (such as direction b) by a second preset number of turns, such as a back turn of 0.3 turns, to rotate the object to be carried C into the preset area 210.

[0158] The warehouse system 100 provided by the embodiments of the present application can further adjust the position of the to-be-transported object based on the relationship between the position of the to-be-transported object on the taking and placing mechanism 21 and the preset region on the taking and placing mechanism 21, so as to move the to-be-transported object to the preset region on the taking and placing mechanism 21, thereby further improving the safety of the transport process of the transport device 20.

[0159] In some embodiments, the warehouse system 100 further comprises a second acquisition device; when the transport device 20 moves to the position of the target container corresponding to the to-be-transported object after receiving the to-be-transported object and delivers the to-be-transported object, the second acquisition device is configured to acquire second detection information corresponding to the to-be-transported object; wherein the second detection information is used to indicate the delivery result of the to-be-transported object; and the output device is configured to output abnormal information when the delivery result indicates that the to-be-transported object is not delivered to the target container.

[0160] For example, after the taking and placing mechanism 21 of the transport device 20 receives the to-be-transported object transported by the conveying line 30, or the taking and placing mechanism 21 of the transport device 20 receives the to-be-transported object put by the sorting object, the to-be-transported object can be transported to the position of the target container and delivered.

[0161] In some examples, the warehouse system 100 includes a plurality of delivery containers, each delivery container is used to receive the object (such as goods or containers) delivered by the transport device, and the delivery container corresponding to each to-be-transported object can be determined according to the order corresponding to each to-be-transported object. The target container is one container corresponding to the to-be-transported object in the plurality of delivery containers.

[0162] In some examples, the second acquisition device can be an acquisition device (such as the second detection device described above) arranged on the transport device 20, or an acquisition device arranged on the target container, or also an acquisition device arranged on the shielding device 50, which is not limited in the embodiments of the present application. The second acquisition device can acquire the delivery condition of the to-be-transported object by the transport device, thereby determining the delivery result of the to-be-transported object, which includes delivery success and delivery failure.

[0163] In some examples, when the delivery result indicates that the to-be-transported object has been delivered to the target container, i.e., the delivery result is delivery success, the transport device 20 can leave the delivery position of the target container and continue to execute the next transport task, i.e., the transport device can receive the next transport task assigned by the management system.

[0164] In some examples, when the delivery result indicates that the to-be-transported object is not delivered to the target container, i.e., the delivery result is a delivery failure, the to-be-transported object can still be located on the taking and placing mechanism 21 of the transport device 20. In this case, since the to-be-transported object is not successfully delivered and can be stuck on the taking and placing mechanism 21 of the transport device 20, the output device can output abnormal information to prompt the operator to perform abnormal processing on the transport device 20.

[0165] In some examples, when it is determined that the to-be-transported object is not delivered to the target container and is stuck on the taking and placing mechanism 21, the management system can suspend the allocation of the transport task to the transport device 20 until the abnormality is resolved, and then continue to allocate the next transport task to the transport device 20.

[0166] The warehouse system 100 provided by the embodiments of the present application determines whether to continue to allocate the next transport task to the transport device 20 by determining the delivery result of whether the to-be-transported object is delivered to the target container during the delivery process of the to-be-transported object by the transport device 20. When the to-be-transported object is not successfully delivered, abnormal information needs to be output to instruct the operator to perform abnormal processing in a timely manner, thereby improving the working efficiency of the warehouse system 100.

[0167] It should be noted that the above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application. Based on the several embodiments provided by the present application, those skilled in the art can combine, split, recombine, etc. to obtain other embodiments, which do not exceed the protection scope of the present application.

[0168] The above detailed description of the specific embodiments of the present application further describes the purposes, technical solutions, and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific implementation of the embodiments of the present application and does not limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A warehousing system, characterized in that, include: The management system is configured to send handling instructions to the handling equipment; The handling device includes a controller, a drive mechanism, and a pick-and-place mechanism. The controller is electrically connected to the drive mechanism, and the drive mechanism is drivenly connected to the pick-and-place mechanism. The controller is configured to receive the handling instruction and send target motion parameters to the drive mechanism based on the handling instruction. The drive mechanism is configured to drive the pick-and-place mechanism to receive or place the object to be handled according to the target motion parameters. The target motion parameters are related to the cargo information of the object to be transported; the cargo information of the object to be transported includes at least one of the size information, weight information and shape information of the object to be transported; and the target motion parameters include at least one of the motion state of the pick-and-place mechanism, the motion direction of the pick-and-place mechanism and the number of rotations of the pick-and-place mechanism.

2. The warehousing system according to claim 1, characterized in that, If the cargo information of the object to be transported meets the preset threshold range, then the movement state of the picking and placing mechanism of the transport equipment is movement, and the picking and placing mechanism rotates a first preset number of times in the first direction. or, If the cargo information of the object to be transported does not meet the preset threshold range, then the movement state of the picking and placing mechanism of the transport equipment is not moving.

3. The warehousing system according to claim 1, characterized in that, The warehousing system also includes at least one shielding device; The location of the shielding device is related to the docking position of the conveying device when it receives or delivers the object to be moved; the shielding device is used to shield the object to be moved that is placed on the conveying device to prevent the object to be moved from falling.

4. The warehousing system according to claim 1, characterized in that, The warehousing system also includes at least one conveying device; The conveying device is configured to receive the object to be transported and transport the object to be transported to the pick-and-place mechanism of the transport equipment parked in the receiving area corresponding to the conveying device; The pick-and-place mechanism is configured to rotate a first preset number of revolutions in a first direction to receive the object to be transported conveyed by the conveying device; or, it may remain stationary to receive the object to be transported conveyed by the conveying device.

5. The warehousing system according to claim 1, characterized in that, The warehousing system also includes at least one conveying device and at least one shielding device; The shielding device is disposed on one side of the output end of the conveying device, and a receiving area for docking and transporting equipment is provided between the shielding device and the output end of the conveying device; the shielding device is used to shield the object to be transported conveyed by the output end of the conveying device to prevent the object to be transported from falling.

6. The warehousing system according to claim 5, characterized in that, The shielding device includes a support part and a shielding part; The shielding part is disposed on the support part and at a preset height above the ground; the shielding part is used to shield the object to be transported conveyed by the output end of the conveying device. The preset height is either a fixed height or an adjustable height; the preset height is related to at least one of the following: the height of the output end of the conveying device, the height of the picking and placing mechanism of the handling equipment, and the cargo information of the object to be handled.

7. The warehousing system according to claim 5, characterized in that, The warehousing system further includes at least one first collection device; the at least one first collection device includes at least one of the collection device disposed on the handling equipment, the collection device disposed on the conveying device, and the collection device disposed on the shielding device. The first acquisition device is configured to acquire first detection information corresponding to the object to be transported after the pick-and-place mechanism of the transport equipment receives the object to be transported; wherein, the first detection information is used to indicate the position of the object to be transported on the pick-and-place mechanism; If the object to be transported is located within a preset area on the pick-and-place mechanism, the transport device moves the object to be transported away from the receiving area; or, if the object to be transported is located outside the preset area, the pick-and-place mechanism rotates a second preset number of times in a second direction to move the object to be transported into the preset area.

8. The warehousing system according to any one of claims 1-7, characterized in that, The warehousing system also includes a conveying device and multiple conveying devices, the conveying device including conveyor lines, and the multiple conveyor lines including at least one first conveyor line and at least one second conveyor line; The conveying device is configured to convey a first object to be transported from a plurality of objects to be transported to the first conveyor line, and to convey a second object to be transported from a plurality of objects to be transported to the second conveyor line, based on the cargo information of the first object to be transported; wherein the cargo information of the first object to be transported meets a preset threshold range, and the cargo information of the second object to be transported does not meet the preset threshold range. The first conveyor line is configured to transport the received first object to be transported to the pick-and-place mechanism of the first transport device located in the first receiving area corresponding to the first conveyor line; The first handling device is configured to control the movement of the picking and placing mechanism of the first handling device and rotate it a first preset number of times in a first direction; The second conveyor line is configured to transport the received second object to be transported to the pick-and-place mechanism of the second transport device located in the second receiving area corresponding to the second conveyor line; wherein, a shielding device is provided on the side of the second receiving area away from the output end of the second conveyor line; The second handling device is configured to prevent the pick-and-place mechanism of the second handling device from moving.

9. The warehousing system according to claim 1, characterized in that, The warehousing system further includes a second data acquisition device and an output device; when the handling equipment receives the object to be handled, moves to the location of the target container corresponding to the object to be handled, and delivers the object to be handled, the second data acquisition device is configured as follows: Collect second detection information corresponding to the object to be transported; wherein, the second detection information is used to indicate the delivery result of the object to be transported; The output device is configured to output an error message when the delivery result indicates that the object to be transported has not been delivered to the target container.

10. A handling device, characterized in that, It includes a controller, a drive mechanism, and a pick-and-place mechanism; the controller is electrically connected to the drive mechanism, and the drive mechanism is drivenly connected to the pick-and-place mechanism; The controller is configured to receive a transport instruction and send target motion parameters to the drive mechanism based on the transport instruction; The drive mechanism is configured to drive the pick-and-place mechanism to receive or deliver the object to be transported according to the target motion parameters; The picking and placing mechanism is configured to receive or deliver the object to be transported according to the target motion parameters; The target motion parameters are related to the cargo information of the object to be transported; the cargo information of the object to be transported includes at least one of the size information, weight information and shape information of the object to be transported; and the target motion parameters include at least one of the motion state of the pick-and-place mechanism, the motion direction of the pick-and-place mechanism and the number of rotations of the pick-and-place mechanism.

Images