A warehousing system

Abstract

The application relates to the technical field of warehouse logistics, and particularly relates to a warehouse system. The warehouse system comprises a carrier, the carrier comprising a storage position configured to store an article; a robot configured to carry the article; and a first weighing assembly arranged on the carrier. The robot is further configured to transfer the article to the first weighing assembly to measure the weight of the article. The first weighing assembly is arranged on the carrier in the warehouse area, so that the article on the carrier is transported to the first weighing assembly also on the carrier. The weighing and counting of the article can be completed by using the first weighing assembly on the carrier, the required transfer distance of the article is reduced, the time required for the weighing and counting of the article is reduced, and the article counting efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a warehousing system. Background Technology

[0002] Currently, automated storage and retrieval systems (AS / RS) are widely used to improve warehouse utilization. AS / RS can include multiple storage locations to achieve dense storage of goods.

[0003] To facilitate inventory checks of items stored in automated warehouses, four-way shuttles are used to move items (such as pallets or containers) through the aisles to transport them to manual workstations, where manual inventory checks are then conducted.

[0004] However, in the manual inventory method, due to the large space and numerous storage locations in the automated warehouse, it takes a long time to transport items to the workstations using a four-way shuttle, resulting in low inventory efficiency. Utility Model Content

[0005] To address the aforementioned issues, this application provides a warehousing system that reduces the excessive time spent handling items during inventory checks and improves inventory efficiency.

[0006] In a first aspect, a warehousing system is provided, comprising: a vehicle including storage compartments configured to store items; a robot configured to carry items on its movement; a first weighing assembly disposed on the vehicle; and the robot further configured to transfer items to the first weighing assembly to measure the weight of the items.

[0007] In one possible implementation, the vehicle includes multiple storage layers, each of which includes multiple storage bits; a first weighing component corresponds to at least one storage layer.

[0008] In one possible implementation, each storage layer includes an aisle; the aisle extends along a first direction and communicates with a storage location; the storage location is located on at least one side of the aisle along a second direction, which is different from the first direction; a robot is configured to move along the aisle; a first weighing component is disposed at the storage location; the first weighing component is configured to weigh the items located at the storage location.

[0009] In one possible implementation, the aisle includes: an aisle entrance configured to allow a robot to enter or leave the storage layer where the aisle is located; a first weighing component disposed at or adjacent to the aisle entrance; the first weighing component is configured to weigh an item located at the aisle entrance, or to weigh an item adjacent to the aisle entrance.

[0010] In one possible implementation, the storage system further includes a lifting mechanism and a second weighing component. The lifting mechanism includes: a lifting platform configured to carry items and / or robots and configured to move to a specified height of the vehicle; the second weighing component is disposed on the lifting platform; and the second weighing component is configured to weigh the items located on the lifting platform.

[0011] In one possible implementation, the warehousing system further includes a third weighing component disposed on the robot; the third weighing component is configured to weigh items located on the robot.

[0012] In one possible implementation, the robot includes a mobile chassis and a lifting assembly; the mobile chassis is configured to move within a carrier; the lifting assembly is disposed on the mobile chassis and configured to carry an item; a third weighing assembly is disposed on the lifting assembly; the third weighing assembly is configured to weigh the item located on the lifting assembly.

[0013] In one possible implementation, the lifting assembly includes a telescopic member and a lifting plate; the telescopic member includes a first connecting portion and a second connecting portion; the first connecting portion is connected to a mobile chassis; the second connecting portion is configured to move relative to the first connecting portion to adjust the distance between the first connecting portion and the second connecting portion; the lifting plate is disposed on the second connecting portion and is configured to carry an article; a third weighing assembly is disposed on the lifting plate.

[0014] In one possible implementation, the vehicle includes a support; the support is disposed in a storage location and configured to carry an article; a first weighing component is disposed on the support; the first weighing component is configured to weigh the article located on the support.

[0015] In one possible implementation, the support includes a support section and a track section; a first weighing component is disposed on the support section; the track section is disposed on the support section along the cargo passage direction of the carrier; and the robot is configured to walk on the track section to carry items into or out of the storage location.

[0016] In one possible implementation, the vehicle further includes: a first track arranged along the cargo path of the vehicle; the robot is configured to walk on the first track to carry items along the cargo path.

[0017] In one possible implementation, the vehicle further includes a second track, arranged along the aisle direction of the vehicle, the second track docking with the storage location and the first weighing component; the robot is configured to walk on the second track to carry items between the storage location and the first weighing component.

[0018] In one possible implementation, the robot is configured to move to its original storage location and carry the item to a first weighing component, so that the first weighing component weighs the robot and the item.

[0019] In one possible implementation, the robot is configured to: move to the original storage location and carry the item to the first weighing component, place the item on the first weighing component, so that the first weighing component weighs the item.

[0020] In one possible implementation, the robot is configured to: carry items to a workstation for inventory, and carry items back to their original storage location.

[0021] In the warehousing system provided in this application embodiment, by setting a first weighing component on the vehicle in the warehousing area, the items located on the vehicle are transported to the first weighing component also located on the vehicle. The weighing and inventory of the items can be completed using the first weighing component located on the vehicle, reducing the transfer distance required for the items, thereby reducing the time required for weighing and inventorying the items. Attached Figure Description

[0022] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of the lanes and cargo channels of the vehicle provided in the embodiments of this application;

[0025] Figure 3 This is another schematic diagram of the lanes and cargo channels of the vehicle provided in the embodiments of this application;

[0026] Figure 4 This is another schematic diagram of the tunnels and cargo channels of the vehicle provided in the embodiments of this application;

[0027] Figure 5 This is a side view of the storage area provided in an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of another warehousing system provided in an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of the structure of another warehousing system provided in the embodiments of this application;

[0030] Figure 8This is a schematic diagram of another warehousing system provided in the embodiments of this application;

[0031] Figure 9 This is a flowchart illustrating the process of a robot performing a weighing and inventory task, as provided in an embodiment of this application.

[0032] Figure 10 This is a flowchart illustrating the process of a robot performing a retrieval and return task, as provided in an embodiment of this application.

[0033] Figure 11 This is a schematic diagram of a robot provided in an embodiment of this application;

[0034] Figure 12 This is another schematic diagram of the robot provided in the embodiments of this application;

[0035] Figure 13 This is a schematic diagram of a robot, vehicle, and first weighing component provided in an embodiment of this application;

[0036] Figure 14 This is another structural schematic diagram of the robot, vehicle, and first weighing component provided in the embodiments of this application;

[0037] Figure 15 This is a schematic diagram showing the installation positions of the support and weighing components provided in the embodiments of this application on the carrier;

[0038] Figure 16 This is a schematic diagram of the inventory process provided in the embodiments of this application.

[0039] Figure label:

[0040] P - Item; 10 - Storage area; 20 - Workstation; 21 - Weighing point; 30 - Carrier; 30a - Horizontal beam; 30b - Vertical beam; 30c - Clearance opening; 31 - Storage location; 32 - Cargo aisle; 33 - Lane; 34 - Storage layer; 35 - First track; 36 - Second track; 37 - Overlapping support area; 38 - Support component; 38a - Support section; 38b - Track section; 40 - Lifting mechanism; 41 - Lifting platform; 42 - Drive component; 50 - Robot; 51 - Mobile chassis; 52 - Lifting component; 521 - Telescopic component; 522 - Lifting plate; 60a - First weighing component; 60b - Second weighing component; 60c - Third weighing component; 60d - Fourth weighing component; 61 - Sensor. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the protection scope of this application.

[0042] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0043] Furthermore, in this application, directional terms such as "upper," "lower," "inner," and "outer" are defined relative to the indicated placement of the components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the placement of the components in the accompanying drawings.

[0044] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this application.

[0045] like Figure 1 As shown, the warehousing system may include a storage area 10 and a workstation 20. Both the storage area 10 and the workstation 20 include a carrier 30. The storage position 31 of the carrier 30 in the storage area 10 is connected to the storage position 31 of the carrier 30 in the workstation 20.

[0046] In some examples, storage area 10 is used to store item P. For example, each vehicle 30 in storage area 10 has multiple storage slots 31 formed for storing item P.

[0047] For ease of explanation, a coordinate system is established below with the height direction of vehicle 30 as the z-axis, the width direction of vehicle 30 as the x-axis, and the length direction of vehicle 30 as the y-axis.

[0048] Within the warehousing system, there can be one or more vehicles 30.

[0049] In some examples, when there are multiple carriers 30, the multiple carriers 30 can be spaced apart along the width direction of the carriers 30, and a passageway 33 arranged along the length direction of the carriers 30 can be formed between two adjacent carriers 30 for the robot 50 or operators to pass through. Of course, the multiple carriers 30 can be spaced apart along the length direction of the carriers 30, and a passageway 33 arranged along the width direction of the carriers 30 can be formed between two adjacent carriers 30; this application does not limit this.

[0050] For example, in combination Figure 1 As shown, Figure 1 Within the storage area 10, two vehicles 30 are respectively arranged along the y-axis, and a passageway 33 arranged along the x-axis is formed between the two vehicles 30.

[0051] In some examples, when multiple vehicles 30 are formed into a single vehicle 30, the passageway 33 can be part of the vehicle 30. Alternatively, if multiple vehicles 30 are spaced apart, the passageway 33 can be set up independently of the vehicles 30.

[0052] In some examples, if there is only one vehicle 30 and it is large in size, a tunnel 33 may also be formed inside the vehicle 30.

[0053] For example, a storage compartment 31 is formed on the carrier 30 for storing an article P. For example, the article P may include, but is not limited to, goods, containers containing goods, and empty containers, wherein the container may be a bin, box, carton, or pallet, etc. In this embodiment, the article P placed in the storage compartment 31 is not limited.

[0054] In other embodiments, storage location 31 may include a storage location, a temporary storage location, or a cache storage location.

[0055] In some examples, vehicle 30 can be a stationary vehicle or a mobile vehicle.

[0056] For example, the storage area 10 may include a storage area, a cache area, a temporary storage area, etc. In this way, the carrier 30 of the storage area 10 can be configured with storage locations, cache locations, and temporary storage locations, etc.

[0057] Optionally, the carrier 30 can be a shelf, support frame, etc., wherein the shelf or support frame can have storage positions, cache storage positions and temporary storage positions.

[0058] For example, the vehicle 30 also includes a cargo channel 32, which is connected to an aisle 33. Storage positions 31 are arranged on at least one side of the aisle 33, and the cargo channel 32 is arranged along the direction of entry and exit of the storage positions 31. In this way, an item P can be transferred through the aisle 33 to the vicinity of a target storage position 31A for storing the item P, and then transferred to the target storage position 31A via the cargo channel 32 corresponding to the target storage position 31A.

[0059] In some examples, the passageway 33 is arranged along the x-axis, and storage positions 31 are arranged on at least one side of the passageway 33 along the x-axis direction. Of course, if the vehicle 30 is long, the passageway 33 can also be arranged along the y-axis to improve the transfer speed of item P.

[0060] Figure 2This is a schematic diagram of the aisle and cargo passage of the vehicle provided in an embodiment of this application. Figure 3 This is another schematic diagram of the aisle and cargo passage of the vehicle provided in the embodiments of this application. Figure 4 This is another schematic diagram of the lanes and cargo channels of the vehicle provided in the embodiments of this application.

[0061] in, Figure 2 The width direction of the vehicle 30 (e.g.) Figure 2 A storage bit 31 is set on the x-axis direction shown in the figure. Figure 3 The width direction of the vehicle 30 (e.g.) Figure 3 Two storage bits 31 are set on the x-axis direction shown in the figure. Figure 4 The width direction of the vehicle 30 (e.g.) Figure 4 Four storage bits 31 are set on the x-axis direction shown in the figure.

[0062] The following combination Figures 2 to 4 The number of adjacent storage positions 31 and the arrangement of aisles 33 and cargo channels 32 are explained.

[0063] In one example, combining Figure 2 As shown, when the width direction of vehicle 30 (e.g.) Figure 2 When only one storage location 31 is set on the x-axis direction shown in the figure, the tunnel 33 can be along the length direction of the carrier 30 (e.g., Figure 2 The y-axis direction shown in the figure is set on one side of the storage position 31, and the cargo channel 32 is set below the storage position 31 along the width direction of the carrier 30 and corresponding to the storage position 31.

[0064] In another example, when the width direction of vehicle 30 (e.g.) Figure 3 When two storage bits 31 are set on the x-axis direction (as shown), such as Figure 3 As shown in (a), the tunnel 33 can run along the length of the vehicle 30 (e.g., Figure 3 The y-axis direction shown in the diagram is set on one side of the storage position 31, and the cargo channel 32 is set below the storage position 31 along the width direction of the carrier 30 and corresponding to the storage position 31. At this time, the item P on the storage position 31 corresponding to this cargo channel 32 can be picked up and put down through the cargo channel 32.

[0065] Or, such as Figure 3 As shown in (b), the tunnel 33 can also be along the length of the vehicle 30 (e.g., Figure 3 The y-axis direction shown in the figure is set on both sides of the storage position 31. At this time, the aisles 33 located on both sides of the storage position 31 can respectively pick up and put in the item P located on the storage position 31 near that side.

[0066] In another example, when the width direction of vehicle 30 (e.g.) Figure 4When four storage bits 31 are set on the x-axis direction (as shown), as Figure 4 As shown in (a), the tunnel 33 can run along the length of the vehicle 30 (e.g., Figure 4 The y-axis direction shown in the diagram is set on one side of the storage position 31, and the cargo channel 32 is set below the storage position 31 along the width direction of the carrier 30 and corresponding to the storage position 31. At this time, the item P on the storage position 31 corresponding to this cargo channel 32 can be picked up and put down through the cargo channel 32.

[0067] Or, such as Figure 4 As shown in (b), the tunnel 33 can also be along the length of the vehicle 30 (e.g., Figure 4 The y-axis direction shown in the figure is set on both sides of the storage position 31. At this time, the aisles 33 located on both sides of the storage position 31 can respectively pick up and put in the item P located on the storage position 31 near that side.

[0068] It is worth noting that regardless of whether the carrier 30 has one, two, or multiple storage positions 31 along its width, the aisle 33 can be located on one or both sides of the storage position 31. The cargo channel 32 is located along the width of the carrier 30 and below the storage position 31, corresponding to the storage position 31, to facilitate the use of the cargo channel 32 to retrieve and place items P from the storage position 31. In this embodiment, the position of the aisle 33 relative to the storage position 31 is not limited.

[0069] Figure 5 This is a side view of the storage area provided in the embodiments of this application.

[0070] In some examples, combined Figure 1 and Figure 5 As shown, the carrier 30 is a shelf, which includes a horizontal beam 30a, a vertical beam 30b, and a support member 38. The horizontal beam 30a and the vertical beam 30b are cross-connected to form a storage position 31 of the carrier 30, and the support member 38 is disposed on the storage position 31, and the support member 38 can store items P.

[0071] For example, the carrier 30 can be a rack with multiple storage layers 34, each storage layer 34 including multiple storage positions 31. For example, the rack can be a four-way mobile warehouse rack, which is densely arranged in the storage space.

[0072] For example, the shelf may include multiple horizontal beams 30a and multiple vertical beams 30b, the multiple horizontal beams 30a being along the height direction of the carrier 30 (e.g., Figure 5 The vertical beams 30b and the horizontal beams 30a are spaced apart in the z-axis direction shown. Multiple vertical beams 30b and multiple horizontal beams 30a enclose multiple storage layers 34 of the carrier 30. Each storage layer 34 has multiple storage slots 31 to store items P.

[0073] In some examples, partitions may also be provided on each horizontal beam 30a, with the partitions extending along the width direction of the carrier 30 (e.g., Figure 1 The partition extends along the y-axis. Both ends of the partition are connected to two horizontal beams 30a, thus using the partition to divide one layer of horizontal beams 30a into multiple storage locations. It is understood that when the horizontal beams 30a are not equipped with partitions, one layer of horizontal beams 30a can also have multiple storage locations; this is not limited in this embodiment.

[0074] In some examples, each shelf level has aisles 32, which are located below storage locations 31. The aisles 32 can run along a first direction of the shelf (e.g., ...). Figure 1 The shelf extends along the direction of the x-axis (as shown in the diagram). It can be understood that each shelf level extends along the second direction (e.g., the direction along the x-axis). Figure 1 Multiple aisles 32 can be arranged at intervals along the y-axis, and multiple storage positions 31 can be set at intervals on each aisle 32, thereby increasing the storage density of each layer of the shelf.

[0075] In some examples, each shelf level may have an aisle 33 extending in a second direction to communicate with a plurality of aisles 32 arranged in a first direction to communicate with each storage location 31. Exemplarily, each shelf level may be provided with a plurality of aisles 33 spaced apart along the first direction. Each storage location 31 has at least one aisle 33 on one side, allowing an item P removed from any storage location 31 to be moved out through the aisle 33 on one side.

[0076] In some examples, the aisle 33 has an entrance for the robot 50 to enter or exit the storage layer 34 where the aisle 33 is located. Thus, when it is necessary to store the target item P into the target storage location 31A, the robot 50 carries the target item P to the aisle entrance, enters the storage layer 34 where the aisle 33 is located through the aisle entrance, and then carries the item P through the aisle 33 to the vicinity of the target storage location 31A. Finally, the robot 50 enters the target storage location 31A through the corresponding cargo channel 32 to place the item P on the target storage location 31A.

[0077] For example, the warehousing system may also include a robot 50, which can operate in aisles 33 and driveways 32. In this way, the robot 50 can store items P into target storage location 31A along aisles 33 and driveways 32, or retrieve items P from target storage location 31A.

[0078] It should be noted that robot 50 is a device with transportation functions, and the specific structure of robot 50 is not limited in this embodiment. Furthermore, the item P transported by robot 50 may include, but is not limited to, goods, containers containing goods, and empty containers, wherein the container may be a bin, box, carton, or pallet, etc. In this embodiment, the item P transported by robot 50 is not limited.

[0079] In some examples, robot 50 can be a four-way shuttle, meaning the shuttle can move back and forth in a first direction or in a second direction.

[0080] In some examples, robot 50 includes a mobile chassis 51. The mobile chassis 51 may include a first set of drive wheels and a second set of drive wheels, and is capable of being raised and lowered relative to the mobile chassis 51.

[0081] In some examples, when robot 50 reciprocates in a first direction, it can move by moving the first set of drive wheels on the movable chassis 51. When robot 50 reciprocates in a second direction, it can move by moving the second set of drive wheels on the movable chassis 51. The two sets of drive wheels of robot 50 can move in different directions to achieve four-way movement of robot 50.

[0082] In some examples, omnidirectional wheels can also be installed on the bottom of the robot 50 to enable the robot 50 to turn, thereby facilitating four-way movement of the robot 50.

[0083] In some examples, robot 50 can transfer item P between various storage locations 31, and can also transfer item P between weighing station 21 and storage location 31.

[0084] In some examples, such as Figure 1 and Figure 5 As shown, in order for the robot 50 to move stably in the cargo channel 32, the carrier 30 also includes a first track 35. The first track 35 is arranged below the storage position 31 along the cargo channel 32 of the carrier 30 (i.e., the direction of entry and exit of the storage position 31). The robot 50 can carry the item P along the first track 35 and the second track 36 to store or retrieve the item P.

[0085] In one example, a first track 35 is set along the cargo channel 32 of the vehicle 30, and a robot 50 walks along the first track 35 in the cargo channel 32 to carry item P along the cargo channel 32. In some examples, the first track 35 is set on the cargo channel 32 of the vehicle 30 to allow the robot 50 to move within the cargo channel 32. For example, the robot 50 moves along the first track 35 using a second set of drive wheels to reach a storage position 31 in the cargo channel 32 and docks with that storage position 31 to retrieve item P.

[0086] In some examples, each cargo lane 32 has two first tracks 35, which are spaced apart along the width direction (e.g., the second direction) of the cargo lane 32. Thus, the second set of drive wheels on opposite sides of the robot 50 along the first direction can be supported on the corresponding first tracks 35 and travel along the first tracks 35 in the first direction. For ease of description, the two first tracks 35 on a cargo lane 32 that cooperate with the same robot 50 can be referred to as a first track group.

[0087] It should be noted that in some examples, the first track 35 can be installed on the frame of each shelf layer. For example, the first track 35 can be detachably installed on the frame of each shelf layer to improve the assembly stability of the first track 35 on the shelf and to facilitate the assembly and disassembly of the first track 35.

[0088] In some examples, such as Figure 1 and Figure 5 As shown, in order for the robot 50 to move stably in the aisle 33, the vehicle 30 also includes a second track 36. The second track 36 is arranged along the aisle 33 and connects the aisle entrance and the storage position 31. The robot 50 can carry the item P along the second track 36.

[0089] In one example, a second track 36 is set along the aisle 33 of the vehicle 30, and the robot 50 walks along the second track 36 in the aisle 33 of the vehicle 30 to carry the item P along the aisle 33.

[0090] In this way, robot 50 travels along the second track 36 in each aisle of the shelf to be able to transfer item P to the vicinity of storage location 31 in storage layer 34.

[0091] It should be noted that in some examples, the second track 36 can be installed on the frame of each shelf layer (such as the horizontal beam 30a). For example, the second track 36 can be detachably installed on the frame of each shelf layer to improve the assembly stability of the second track 36 on the shelf and to facilitate the assembly and disassembly of the second track 36.

[0092] In some examples, each aisle 33 has two second tracks 36, spaced apart along the width direction (e.g., a first direction) of the aisle 33. The two second tracks 36 are configured to allow two opposing first sets of drive wheels of the robot 50 to travel. For example, the first sets of drive wheels on opposite sides of the robot 50 along the first direction can both be supported on the corresponding second tracks 36 and travel along the second tracks 36 in the second direction. For ease of description, the two second tracks 36 on an aisle 33 that cooperate with the same robot 50 can be referred to as a second track group.

[0093] In some examples, refer to Figure 1 As shown, the second track 36 and the first track 35 are arranged to cross each other, that is, the second track 36 and the first track 35 have an overlapping support area 37, which allows the robot 50 to switch between the lane 33 and the cargo lane 32.

[0094] The first set of drive wheels of robot 50 can roll along the second track 36 to enable robot 50 to move along the second track 36. The second set of drive wheels of robot 50 can roll along the first track 35 to enable robot 50 to move along the first track 35.

[0095] In this way, the robot 50 travels along the first track 35 and the second track 36 on each shelf to place the item P on the storage position 31 in the storage layer 34.

[0096] In some examples, robot 50 carries item P via second track 36 to the vicinity of target storage location 31A, and then moves along first track 35 corresponding to target storage location 31A to move item P into target storage location 31A.

[0097] In one example, the first track 35 and the second track 36 are disposed on the horizontal beam 30a and are located in the same plane as the horizontal beam 30a. There are two support members 38, which are respectively disposed at two opposite junctions of the horizontal beam 30a and the vertical beam 30b. Thus, the two support members 38 form a raised section of the storage position 31, which is configured to support the item P.

[0098] In another example, such as Figure 5 As shown, each horizontal beam 30a corresponds to a storage layer 34, and the corresponding cargo channel 32 of the storage layer 34 is located below the horizontal beam 30a. The horizontal beam 30a at the entrance of each storage position 31 has a clearance opening 30c, which corresponds to the first track 35, allowing the item P and the robot 50 to enter the storage position 31 through the clearance opening 30c. The horizontal beams 30a on both sides of the clearance opening 30c form support members 38.

[0099] like Figure 1 As shown, in some examples, the storage system also includes a lifting mechanism 40. This allows the lifting mechanism 40 to be used to transfer items P and robots 50 between different storage layers 34.

[0100] Robot 50 can move along the height of the shelf under the drive of lifting mechanism 40, switching between different shelves and the ground. For example, after robot 50 retrieves item P from target storage layer 34, it can descend to the ground under the drive of lifting mechanism 40 and hand it over to other robots 50, which will then transfer the target item P to workstation 20 or other locations for weighing or other operations. Alternatively, after descending to the ground, robot 50 can directly carry the target item P to workstation 20 for weighing.

[0101] In some examples, an item P, such as goods, can move along the height of the shelf under the action of the lifting mechanism 40 to switch between different shelves and the ground. For example, after a robot 50 retrieves a target item P from a target shelf, it can move to the lifting mechanism 40, transfer the target item P onto the lifting mechanism 40, and then move out of the lifting mechanism 40. The lifting mechanism 40 then lowers the target item P to the ground and hands it over to other robots 50, which then transfer the target item P to a location such as a workstation 20 for picking operations. As another example, when a target item P to be stored arrives at one side of the shelf, it can first be transferred to the lifting mechanism 40, and then lifted to the target shelf. A robot 50 located on the target shelf moves through aisle 33 to the lifting mechanism 40, retrieves the target item P, and moves along aisle 33 and aisle 32 of the target shelf to the target storage location to place the target item P in the target storage location.

[0102] In some examples, the lifting mechanism 40 is located at the front end of the warehouse, such as a automated storage and retrieval system (AS / RS). Additionally, buffer areas, such as inbound and outbound buffer areas, are located near the truck platform at the front end of the warehouse, such as the AS / RS. Items P awaiting inbound or outbound will circulate within these buffer areas. Upon inbound, an employee manually places item P on the inbound conveyor line. The conveyor line automatically moves forward, transporting the item into the lifting mechanism 40. The lifting mechanism 40 lifts item P to a designated shelf level and then transports item P out of the lifting mechanism 40 to the inbound conveyor line connection point. Finally, a robot 50 transports item P to the target storage location.

[0103] When the item is being shipped out, robot 50 lifts and moves the item P to the connecting conveyor line in front of the outbound lifting mechanism 40. The conveyor line transports item P into the lifting mechanism 40, which lifts item P to the first floor of the shelf. The conveyor line then automatically moves forward, transporting the goods to the outbound exit, where they await manual shipment.

[0104] In some examples, the lifting mechanism 40 may also be located inside the vehicle 30, and the columns of the vehicle 30 may be enclosed to form a receiving space for the lifting mechanism 40.

[0105] Continue to refer to Figure 1As shown, in some examples, workstation 20 may have a weighing station 21. The weighing station 21 is used by staff to weigh items P. For example, staff move items P to the weighing station 21 for weighing and inventory.

[0106] For example, a carrier 30 may also be provided in the workstation 20. The carrier 30 is located on one side of the weighing area 21 and forms a storage position 31. The carrier 30 can store items P that the robot 50 transfers from the storage area 10, or store items P that the robot 50 needs to store in the storage area 10.

[0107] For example, the storage location 31 of the vehicle 30 within workstation 20 can be a cache storage location or a temporary storage location. The vehicle 30 within workstation 20 can be a stationary vehicle or a mobile vehicle.

[0108] In one example, the storage position 31 of the carrier 30 of workstation 20 is docked with the storage position 31 of the carrier 30 of storage area 10. In this way, robot 50 can transfer item P from the storage position 31 of the carrier 30 of workstation 20 to the storage position 31 of the carrier 30 of storage area 10, or transfer item P from the storage position 31 of the carrier 30 of storage area 10 to the storage position 31 of the carrier 30 of workstation 20, so that robot 50 can transfer item P between the storage position 31 of the carrier 30 of workstation 20 and the storage position 31 of the carrier 30 of storage area 10.

[0109] In some examples, item P is stored in storage area 10. When an inventory check of item P is required, robot 50 removes item P from its original storage location 31 and transfers it to carrier 30 in workstation 20. Workers then place item P at weighing station 21 for weighing and inventory. After the inventory check is completed, workers place item P back onto carrier 30 in workstation 20, and robot 50 transfers item P to its original cargo location.

[0110] It is understood that in other embodiments, the item P transferred by robot 50 may come from a location such as workstation 20, and this embodiment is not limited to that.

[0111] The vehicles 30 in the storage area 10 are often far away from the vehicles 30 in the workstation 20. During the inventory of the target item P, the journey to transfer the target item P to the workstation 20 is long and time-consuming, resulting in slow inventory efficiency. In addition, manual inventory of item P is also time-consuming and labor-intensive.

[0112] like Figure 1As shown, item P is stored in target storage location 31A of carrier 30 in storage area 10. If item P needs to be weighed, robot 50 needs to remove item P from target storage location 31A and transfer item P along route F to storage location 31 of carrier 30 in workstation 20. Then, staff will transfer item P to weighing station 21 for weighing. After weighing, robot 50 needs to transfer item P back to target storage location 31A along the reverse route F. It is evident that the journey of transporting item P during weighing is long and time-consuming. Furthermore, inventory counting requires staff participation, resulting in low efficiency.

[0113] Figure 6 This is a schematic diagram of another warehousing system provided in an embodiment of this application. Figure 7 This is a schematic diagram of another warehousing system provided in the embodiments of this application. Figure 8 This is a schematic diagram of another warehousing system provided in an embodiment of this application. Wherein, Figure 6 , Figure 7 and Figure 8 The number of storage spaces 31 connected to the cargo channel 32 of the medium vehicle 30 is different.

[0114] Combination Figure 6 As shown, in order to solve the above problem, a first weighing component 60a can be set in the vehicle 30 of the storage area 10, so that the item P located in the vehicle 30 can be transported to the first weighing component 60a located in the vehicle 30. The weighing and inventory of item P can be completed by using the first weighing component 60a located in the vehicle 30, reducing the transfer distance required for item P, thereby reducing the time required for weighing and inventorying item P.

[0115] Combination Figure 6 , Figure 7 and Figure 8 As shown, the warehousing system provided in this application embodiment includes a carrier 30, a robot 50, and a first weighing component 60a.

[0116] It is understandable that the relevant structure of vehicle 30 can be referenced as described above. Figure 1 The description of vehicle 30 shown will not be repeated here.

[0117] For example, the first weighing component 60a can be installed on the carrier 30, such as on the aisle 33, cargo aisle 32 or storage position 31 of the carrier 30. In this way, the robot 50 can transfer the item P located on the carrier 30 to the first weighing component 60a located on the carrier 30, thereby reducing the distance required to weigh the carrier 30.

[0118] Figure 9 This is a flowchart illustrating the process of a robot performing a weighing and inventory task, as provided in an embodiment of this application.

[0119] In some examples, when performing tasks such as inventory counting, warehousing, outbound, picking, replenishment, or splitting of item P, the weight of item P can be determined by weighing it, thereby determining the quantity of item P, and thus completing the inventory counting, warehousing, outbound, picking, replenishment, or splitting of item P.

[0120] For example, picking, replenishment or splitting can be performed at workstation 20, which is also equipped with a fourth weighing component 60d to weigh the item P directly at workstation 20.

[0121] In one example, when weighing item P, robot 50 needs to perform the following steps S1 and S2:

[0122] Step S1: Move to the original storage position 31 and carry item P to the first weighing component 60a to weigh item P.

[0123] Step S2: Move item P to the original storage location 31.

[0124] In this way, the robot 50 can transfer item P to the first weighing component 60a, weigh item P, and realize the inventory of item P. After the inventory of item P is completed, item P also needs to be transferred to its original storage location 31 to complete the inventory process of item P.

[0125] For example, when the first weighing component 60a is set on the carrier 30, the robot 50 can transfer the target item P located on the carrier 30 to the first weighing component 60a located on the carrier 30, thereby completing the weighing and inventory of the target item P. This reduces the problem of long distances and long time consumption caused by transferring the target item P to the workstation 20 and then weighing the target item P, thus improving the efficiency of weighing and inventory.

[0126] For example, the warehousing system also includes a computing device that is communicatively connected to the first weighing component 60a and the robot 50. The computing device is configured to receive the weight sent by the first weighing component 60a and to control the operation of the robot 50.

[0127] In another example, after the first weighing component 60a weighs the item P, the weight is sent to the computing device.

[0128] In one example, after receiving the weight, the computing device compares the weight with a weight threshold. If the weight is less than the threshold, it displays a first confirmation message indicating whether a recount should be performed. Thus, if the weight is less than the threshold, it indicates a problem with the quantity of goods in item P, requiring manual confirmation for a recount.

[0129] In some examples, the weight threshold W is calculated based on the weight Wi of item P pre-stored in the item P calculation device. For example, the calculation formula is: W = Wi × (1 - a%), where a% is the error threshold parameter. The value of the error threshold parameter can be determined according to actual needs; for example, the range of the error threshold parameter is 1%-5%.

[0130] For example, if the error threshold parameter a% = 3%, the weight obtained by the first weighing component 60a on item P is 479 kg. The weight Wi = 500 kg of item P is pre-stored in the computing device recorded in the system. W = 500 kg × (1-3%) = 485 kg. The weight is less than the weight threshold, indicating that there is a problem with the quantity of goods in item P. It is necessary to manually confirm whether to recount.

[0131] For example, if we take the error threshold parameter a% = 2%, and the first weighing component 60a weighs item P and the weight obtained is 495kg, and the weight Wi = 500kg is pre-stored in the computing device of the system, then W = 500kg × (1-2%) = 490kg. Since the weight is greater than the weight threshold, it indicates that there is no problem with the quantity of goods in item P and no recount is needed.

[0132] In another example, after receiving the weight, the computing device calculates the quantity of goods in item P based on the weight, compares the quantity with the quantity pre-stored in the computing device, and if the quantity is less than the pre-stored quantity, displays a first confirmation message indicating whether a recount should be performed. Thus, if the quantity is less than the pre-stored quantity, it indicates a problem with the quantity of goods in item P, requiring manual confirmation for a recount.

[0133] For example, if the quantity stored in the computing device is 50 and the weight of a single item is 5kg, and the first weighing component 60a weighs item P and obtains a weight of 241kg, then the quantity of items in item P is S = 241kg / 5kg ≈ 48 items. The calculated quantity is less than the quantity stored in the computing device, indicating that there is a problem with the quantity of items in item P and manual confirmation is required to recount the inventory.

[0134] For example, if the quantity stored in the computing device is 30 and the weight of a single item is 10kg, and the first weighing component 60a weighs item P and obtains a weight of 300kg, then the quantity of items in item P is S = 300kg / 10kg = 30 items. The calculated quantity is equal to the quantity stored in the computing device, indicating that there is no problem with the quantity of items in item P and no recount is needed.

[0135] In another example, the weight threshold W can be a range of values.

[0136] For example, if the weight of a single item in an item is 10 kg and the quantity of items is 10, then the total weight of the item should be 100 kg. In this case, the weight threshold W can be 90 kg - 100 kg. If the weight of the item measured by the first weighing component 60a is within the weight threshold range (i.e., within the 90 kg - 100 kg range), it indicates that there is no problem with the quantity of goods in the current item P, and no recount is needed. If the weight of the item measured by the first weighing component 60a is outside the weight threshold range (i.e., outside the 90 kg - 100 kg range), it indicates that there is a problem with the quantity of goods in the current item P, and manual confirmation is required for a recount.

[0137] For example, when it is necessary to review item P, robot 50 needs to perform the following steps S31 or S32.

[0138] Step S31: Move item P to workstation 20 for manual inventory counting. This allows for the recount of item P.

[0139] It is worth noting that the manual recounting method includes, but is not limited to, manual counting, and manually moving the item P to the fourth weighing component 60d located at workstation 20 for a second weighing and inventory count, etc., which are not limited in this embodiment.

[0140] In another example, step S32 is included before step S31.

[0141] Step S32: The item P is moved to the recount weighing component, which is configured to weigh item P. The recount weighing component can be any weighing component other than the currently used one. It can be located on the vehicle 30 (e.g., the first weighing component 60a) or on the workstation 20 (e.g., the fourth weighing component 60d), and this application does not impose any restrictions on this.

[0142] Thus, when a second inventory count (i.e., a recount) is required, the computing device controls the robot 50 to perform a second inventory count on item P. If the weight result of the second inventory count is still less than the weight threshold, the robot 50 is controlled to move item P to workstation 20 for a third inventory count.

[0143] For example, the vehicle 30 includes multiple storage layers 34, with one first weighing component 60a corresponding to at least one storage layer 34. This reduces the space occupied by the first weighing component 60a in the vehicle and increases the storage capacity of the vehicle 30.

[0144] In one example, each storage layer 34 is equipped with at least one first weighing component 60a. Thus, when weighing and inventorying a target item P within the target storage layer 34, the robot 50 only needs to transfer the target item P to the first weighing component 60a, which is also located in the target storage layer 34, to achieve the weighing of the target item P. This reduces the time required to move the item P up and down to other storage layers 34 for weighing, thereby improving weighing efficiency.

[0145] For example, the first weighing component 60a is disposed on the storage position 31. In this way, the first weighing component 60a can be used to weigh the item P located in the storage position 31, so as to realize the inventory, storage and release of item P.

[0146] With the first weighing component 60a installed in storage position 31, the robot 50 transfers the item P from its original storage position 31 on the carrier 30 to the storage position 31 on the carrier 30 equipped with the first weighing component 60a, thereby weighing the target item P. After weighing, the robot 50 carries the item P back to its original storage position 31 on the carrier 30.

[0147] Furthermore, after weighing, a debriefing is required. Robot 50 carries item P to workstation 20 for debriefing of item P. After the debriefing, robot 50 carries item P to its original storage location 31 on carrier 30.

[0148] For example, the first weighing component 60a can also be installed on the cargo channel 32 of the carrier 30. In this way, when the robot 50 moves to the cargo channel 32 corresponding to the first weighing component 60a, the item P located on the robot 50 can be weighed directly, thus achieving a weighing and inventory of item P. After weighing, the robot 50 can carry item P to its original storage location 31 on the carrier 30, reducing the cumbersome operation of placing item P on the first weighing component 60a.

[0149] In some examples, the aisle 33 has an entrance for the robot 50 to enter or exit the storage layer 34 where the aisle 33 is located, and a first weighing component 60a is disposed at the entrance. This allows the robot 50 to weigh the item P directly at the entrance when carrying it into or out of the storage area, reducing the time required for weighing and handling the item P during entry or exit.

[0150] In some examples, the first weighing component 60a is located adjacent to the aisle entrance, so that the robot 50 can carry the item P to the first weighing component 60a adjacent to the aisle entrance for weighing, reducing the time required to weigh and move the item P when it enters or leaves the warehouse.

[0151] In one example, the first weighing component 60a is disposed adjacent to the tunnel entrance, including the first weighing component 60a being disposed on the tunnel 33 adjacent to the tunnel entrance.

[0152] In one example, the first weighing component 60a is disposed adjacent to the lane opening, including the first weighing component 60a being disposed on the cargo passage 32 adjacent to the lane opening.

[0153] In one example, the first weighing component 60a is disposed adjacent to the tunnel entrance, including the first weighing component 60a being disposed on the storage location 31 adjacent to the tunnel entrance.

[0154] In some examples, a second track 36 is positioned along the aisle 33 of the carrier 30, and the robot 50 moves along the second track 36 in the aisle 33 of the shelf. The second track 36 docks with the storage position 31 and the first weighing component 60a, thereby enabling the robot 50 to carry the item P between the storage position 31 and the first weighing component 60a.

[0155] Figure 10 This is a flowchart illustrating the process of a robot performing a retrieval and return task, as provided in an embodiment of this application.

[0156] Reference Figure 10 As shown, when the robot 50 of this application receives a task to retrieve and return items during an inventory check, it executes the following steps S41-S44.

[0157] In step S41, the first set of drive wheels of robot 50 moves along the second track 36 so that robot 50 moves in the alley 33 until it reaches the cargo channel 32 where the target item P is located.

[0158] In step S42, the first set of drive wheels of robot 50 rises relative to the second set of drive wheels until the second set of drive wheels contacts the first track 35, and the first set of drive wheels disengages from the second track 36.

[0159] In step S43, the second set of drive wheels moves along the first track 35 so that the robot 50 moves within the cargo channel 32 until it reaches the target storage position 31A.

[0160] In step S44, robot 50 performs the action of retrieving and returning the item.

[0161] It is understood that the second track 36 and the first track 35 can be set on the ground or in the storage layer 34 located at a higher level; this embodiment is not limited to either.

[0162] Please refer to it again. Figures 6 to 8In some examples, the storage system also includes a second weighing component 60b, which is disposed on the lifting mechanism 40 to weigh the item P located on the lifting mechanism 40. This allows the item P to be weighed while the lifting mechanism 40 transfers the item P and / or the robot 50 to other storage layers 34 or the ground.

[0163] For example, when item P has a task of transferring to storage layer 34, the second weighing component 60b on the lifting mechanism 40 can be used to weigh the target item P. Also, when item P has a task of transferring within storage layer 34 or a weighing and inventory task, the robot 50 transports the target item P to the first weighing component 60a located on the carrier 30 for weighing.

[0164] Combination Figure 8 As shown, in some examples, the lifting mechanism 40 includes a lifting platform 41 for carrying the item P and / or the robot 50, and is movable along the height direction of the carrier 30 to a specified height of the carrier 30. A second weighing component 60b is disposed on the lifting platform 41 to weigh the item P located on the lifting platform 41. In this way, when the lifting platform 41 is used to move the item P, or when the lifting platform 41 is used to move the item P and the robot 50, the item P or the item P and the robot 50 can be weighed directly, reducing the time required to transfer the item P to the first weighing component 60a on the carrier 30 for weighing when the storage layer 34 of the item P needs to be changed using the lifting mechanism 40.

[0165] For example, when the second weighing component 60b is disposed on the lifting platform 41 of the lifting mechanism 40, the second weighing component 60b includes a sheet-like weighing sensor, which is laid on the upper surface of the lifting platform 41, or at a position between the placement surface of the lifting platform 41 and the drive member, to weigh the item P and / or robot 50 located on the lifting platform 41.

[0166] In some examples, the lifting mechanism 40 also includes a drive assembly 42. The drive assembly 42 is capable of driving the lifting platform 41 to move to the storage layer 34 at a specified height. In this way, the lifting mechanism 40 can transfer the item P and the robot 50 between storage positions 31 on different layers, thereby improving the flexibility of storing the item P.

[0167] In some examples, the drive assembly 42 includes a drive element that is driveably connected to the lifting platform 41 to move the lifting platform 41 to the storage layer 34 at a specified height.

[0168] For example, the driving component can be a drive motor, drive motor, etc., and is not limited in this embodiment.

[0169] In some examples, the recount weighing component used in step S32 above may also include the second weighing component 60b described above.

[0170] Figure 11 This is a schematic diagram of a robot provided in an embodiment of this application. Figure 11 (a) is a schematic diagram of the lifting assembly 52 being raised. Figure 11 (b) is a schematic diagram of the lifting component 52 not being raised.

[0171] like Figure 11 As shown, in some examples, the warehousing system also includes a third weighing component 60c, which is disposed on the robot 50 to weigh the item P located on the robot 50. In this way, the item P can be weighed while the robot 50 is supporting it, reducing the time required for the third weighing component 60c to weigh the item P again after it has been moved to another location, thus improving the efficiency of weighing and inventorying the item P.

[0172] In some examples, the recount weighing component used in step S32 above may also include the third weighing component 60c mentioned above.

[0173] In some examples, robot 50 may include a mobile chassis 51 and a lifting assembly 52, which may be mounted on the mobile chassis 51 so that the mobile chassis 51 can drive the lifting assembly 52 to move. Simultaneously, the lifting assembly 52 can carry an item P, and a third weighing assembly 60c is mounted on the lifting assembly 52 to weigh the item P located on the lifting assembly 52.

[0174] For example, the lifting component 52 can also drive the item P to move up and down, thereby moving the item P to different heights as needed.

[0175] In some examples, when the lifting component 52 moves the item P up and down, it can place the item P on the storage position 31 or lift the item P away from the storage position 31.

[0176] For example, the third weighing component 60c is mounted on the lifting component 52 of the robot 50, which can be raised and lowered relative to the mobile chassis 51. When it is necessary to weigh the item P, the robot 50 moves to the cargo channel 32 below the storage position 31 where the item P is located, raises the lifting component 52 to lift the item P, and the third weighing component 60c located on the lifting component 52 can weigh the item P. After weighing, the lifting component 52 is lowered to place the item P back on the original storage position 31, thus completing the weighing of the target item P.

[0177] Figure 12This is another schematic diagram of the robot provided in the embodiments of this application. Figure 12 (a) is a schematic diagram of the lifting assembly 52 being raised. Figure 12 (b) is a schematic diagram of the lifting component 52 not being raised.

[0178] In some examples, combined Figure 11 and Figure 12 As shown, the lifting assembly 52 of the robot 50 includes a telescopic member 521 and a lifting plate 522. The telescopic member 521 includes a first connecting part and a second connecting part. The first connecting part is connected to the movable chassis 51, and the second connecting part is connected to the lifting plate 522. A third weighing assembly 60c is disposed on the lifting plate 522. In this way, the lifting plate 522 can move up and down under the action of the telescopic member 521, and the third weighing assembly 60c on the lifting plate 522 can weigh the item P located on the lifting plate 522.

[0179] For example, when the third weighing component 60c is disposed on the lifting plate 522 of the robot 50, the third weighing component 60c includes a sheet-like weighing sensor that is laid on the upper surface of the lifting plate 522 to weigh the item P located on the lifting plate 522.

[0180] For example, when it is necessary to weigh item P, robot 50 moves to the cargo channel 32 below the storage position 31 where item P is located, raises the lifting plate 522 to lift the target item P, and the third weighing component 60c located on the lifting plate 522 can weigh item P. After weighing, the lifting plate 522 is lowered to place item P on the storage position 31, thus completing the weighing of item P.

[0181] In some examples, the telescopic member 521 can be a scissor fork telescopic member 521 (e.g.) Figure 12 (as shown), or the telescopic component 521 can also be a guide rail telescopic component 521 (as shown). Figure 11 Structures capable of lifting and transmission, such as those shown, are not limited in this embodiment.

[0182] In some examples, the drive source for the telescopic member 521 can be located on the mobile chassis 51 to provide power for the lifting and lowering movement of the telescopic member 521.

[0183] In some examples, the lifting plate 522 can be a plate-like structure or a frame structure, and this embodiment is not limited to any particular type. A plate-like structure, in particular, saves more space and reduces the overall volume of the robot 50.

[0184] In some examples, when robot 50 transfers item P between storage locations 31, the movable chassis 51 can move the lifting assembly 52 to a position below item P in the first storage location 31. Then, the telescopic member 521 of the lifting assembly 52 can raise the lifting plate 522 to contact item P and lift it (e.g., ...). Figure 11 (a) and Figure 12 As shown in (a), the robot 50 can carry the item P away from the storage position 31. After the robot 50 carries the item P away from the storage position 31, the telescopic component 521 of the lifting assembly 52 can drive the lifting plate 522 to descend, so that the item P is close to the mobile chassis 51 (as shown in (a)). Figure 11 (b) and Figure 12 As shown in (b), the center of gravity is lowered, which improves the movement stability of robot 50.

[0185] It should be noted that when robot 50 needs to place the carried item P in the second storage position 31, the specific process is the reverse of retrieving item P from the first storage position 31, and will not be described in detail here.

[0186] In some examples, the process of robot 50 placing item P on or taking item P from the first weighing component 60a can be referred to as the process of transferring item P between different storage locations 31, which will not be described in detail here.

[0187] It is understood that the robot 50 can transfer the item P between different storage positions 31, transfer the item P between storage position 31 and the first weighing component 60a, and transfer the item P between different weighing components (such as between the first weighing component 60a, the second weighing component 60b, or the third weighing component 60c). In this embodiment, the specific path of the robot 50 when transferring the item P is not limited.

[0188] Figure 13 This is a schematic diagram of a robot, vehicle, and first weighing component provided in an embodiment of this application. Figure 14 This is another structural schematic diagram of the robot, vehicle, and first weighing component provided in an embodiment of this application. Wherein, Figure 13 The first weighing component 60a is integrated into one unit. Figure 14 The first weighing component 60a is a separate unit. Figure 13 (a) and Figure 14 (a) is a schematic diagram of the lifting assembly 52 of robot 50 being raised. Figure 13 (b) and Figure 14 (b) is a schematic diagram of the lifting assembly 52 of robot 50 not raised.

[0189] In some examples, combined Figure 13 and Figure 14As shown, the first weighing assembly 60a includes a sensor 61, which is disposed on the carrier 30. A support member 38 is pressed against the sensor 61 and is used to support the item P.

[0190] For example, when the item P is placed on the support 38, the change in weight measured by the sensor 61 is the weight of the item P.

[0191] For example, the support member 38 is fixedly connected to the horizontal beam 30a and / or the vertical beam 30b of the carrier 30. The fixed connection method includes, but is not limited to, threaded connection, bonding, welding, etc., and is not limited in this embodiment.

[0192] For example, sensor 61 is disposed on the horizontal beam 30a and / or vertical beam 30b of carrier 30.

[0193] Figure 15 This is a schematic diagram showing the installation positions of the support and weighing components provided in the embodiments of this application on the carrier.

[0194] In one example, such as Figure 15 As shown in (a), in order to improve the support stability of the support member 38 for the item P, support members 38 are respectively set at the opposite ends of the storage position 31, that is, two support members 38 are set on the storage position 31 to support the item P and reduce the problem of inaccurate weighing results of the item P due to the unstable center of gravity of the item P.

[0195] In another example, such as Figure 15 As shown in (b), in order to improve the support stability of the support member 38 for the item P, support members 38 are set at the four corners of the storage position 31, that is, four support members 38 are set on the storage position 31 to support the item P and reduce the problem of inaccurate weighing results of the item P due to the unstable center of gravity of the item P.

[0196] See again Figure 13 In some examples, the support 38 includes a support 38a configured to carry an article P so that the article P located on the support 38a can be weighed by a sensor 61.

[0197] In one example, the support 38a is a plane, which stabilizes the center of gravity of the item P and reduces the problem of relative movement between the item P and the support 38a caused by the instability of the center of gravity of the item P.

[0198] In another example, the support 38a includes a baffle configured to block movement of the article P relative to the support 38a.

[0199] In some examples, there are multiple sensors 61, which are spaced apart under the support 38. These sensors 61 include weight sensors or pressure sensors.

[0200] In one example, the support member 38 is a strip structure, with support members 38 respectively provided at both ends of the storage position 31. A sensor 61 is pressed at both ends of each support member 38 to weigh the support member 38 and the item P placed on the support member 38.

[0201] In another example, the support 38 is a columnar structure, and the four corners of the storage position 31 are respectively provided with support 38. Each support 38 is pressed with a sensor 61 to weigh the support 38 and the item P placed on the support 38.

[0202] In some examples, continue to refer to Figure 13 As shown, the support member 38 also includes a track section 38b, which is arranged on the support member 38 along the cargo channel 32 of the carrier 30. In this way, when the robot 50 moves along the track section 38b, it can drive the item P into or out of the storage position 31 where the first weighing component 60a is located.

[0203] For example, the track portion 38b includes a groove formed in the support member 38, so that the track portion 38b and the support portion 38a are integrally formed, reducing the complexity of assembly.

[0204] When the support member 38 includes the track section 38b, when the sensor 61 of the first weighing component 60a weighs the item P, since both the item P and the robot 50 are located on the support member 38, the weight measured by the sensor 61 is the weight of the item P and the robot 50. After receiving the weight, the calculation device also needs to calculate the difference between the weight and the known weight of the robot 50 to obtain the net weight of the item P.

[0205] Continue to refer to Figure 14 As shown, in some examples, the first track 35 and the support 38 are designed separately. In this way, when the sensor 61 of the first weighing component 60a weighs the item P, only the item P is located on the support 38. The weight measured by the sensor 61 is the net weight of the item P. After receiving the weight, the computing device can directly compare the weight with the weight threshold, reducing the amount of calculation and improving the inventory speed of the item P.

[0206] Figure 16 This is a schematic diagram of the inventory process provided in the embodiments of this application.

[0207] The following combination Figure 16The workflow of the warehouse system when inventorying item P is described, and the specific workflow includes the following steps S1601-S1610.

[0208] Step S1601: Create and start the inventory task.

[0209] In this step, when an inventory count of item P is required, staff or computing devices create an inventory count task to enable the warehousing system to perform the task.

[0210] Step S1602: According to the inventory task, call the corresponding robot 50 to carry item P to the weighing component.

[0211] For example, the weighing component may be a first weighing component 60a located on the cargo channel 32, aisle 33 or storage position 31 of the carrier 30, or a third weighing component on the robot 50, or a second weighing component 60b on the lifting mechanism 40. The specific process of transferring the item P will not be described in detail here, but can be referred to the process given in the above embodiments.

[0212] In step S1603, robot 50 places item P on the weighing assembly.

[0213] For example, the specific location of the weighing component leads to different ways of placing the item P on the weighing component. It can be that the robot 50 and the item P move together to the first weighing component 60a, or the robot 50 places the item P alone on the first weighing component 60a, or the robot 50 lifts the item P to leave the storage position 31 so that the item P is placed on the third weighing component 60c located on the lifting component 52 of the robot 50, etc. This application will not elaborate on each one here, but you can refer to the process given in the above embodiments.

[0214] Step S1604: The weighing component weighs the item P to obtain the actual weight of the item P, and records the actual weight into the computing device.

[0215] In this step, the actual weight of item P can be either the net weight of item P or the sum of the weights of item P and robot 50, depending on the configuration of the weighing component. This application does not impose any restrictions on this. As long as the actual weight of item P is the sum of the weights of item P and robot 50, the computing device calculates the net weight of item P based on the actual weight of item P and the pre-stored weight of robot 50 in the computing device, and then replaces the previously measured actual weight of item P with the net weight of item P in the computing device.

[0216] Step S1605: Compare the actual weight of item P with the weight of goods pre-stored in the calculation device. Based on the actual weight of item P and the weight of goods pre-stored in the calculation device, determine whether a second inventory count is required.

[0217] Specifically, the specific implementation of step S1605 can be referred to step S1 in the above embodiment, and will not be repeated here.

[0218] For example, in this step, it is determined whether a second inventory count is needed based on the actual weight of item P and the weight of the goods pre-stored in the calculation device. If a second inventory count is not needed, step S1606 is executed; if a second inventory count is needed, step S1607 is executed.

[0219] Step S1606: Robot 50 carries item P to the original storage location 31.

[0220] In step S1607, the computing device displays a first request message, which indicates a request for manual confirmation of whether a second inventory count is needed.

[0221] If it is manually determined that a second inventory count is necessary, proceed to step S1608. If it is manually determined that a second inventory count is not necessary, proceed to step S1610.

[0222] For example, before step S1607, the item P can be weighed and inventoried by reviewing the weighing component to rule out the problem of inventory errors caused by weighing component failure.

[0223] In step S1608, robot 50 carries item P to workstation 20 for a second inventory check of item P.

[0224] The specific implementation method of this step can be referred to steps S31 and S32 in the above embodiment, and will not be repeated here.

[0225] Step S1609: Manually count the items P and record the results on the computing device.

[0226] Step S1610: The results of the second inventory count are manually confirmed on the computing device.

[0227] After manual confirmation is completed, proceed to step S1606.

[0228] The method provided by steps S1601-S1610 above can improve the efficiency and accuracy of inventory counting for item P.

[0229] It should be noted that those skilled in the art, upon considering the specification and practicing the application disclosed herein, will readily conceive of other embodiments of this application. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope of this application is indicated by the claims.

[0230] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A warehousing system, characterized in that, include: The vehicle (30) includes a storage compartment (31) configured to store items; A robot (50) configured to carry the item. A first weighing component (60a) is disposed on the vehicle (30); The robot (50) is also configured to transfer the item to the first weighing assembly (60a) to measure the weight of the item.

2. The warehousing system according to claim 1, characterized in that, The vehicle (30) includes multiple storage layers (34), each of the storage layers (34) including a plurality of the storage bits (31); Each of the first weighing components (60a) corresponds to at least one of the storage layers (34).

3. The warehousing system according to claim 2, characterized in that, Each of the storage layers (34) includes aisles (33); The tunnel (33) extends along a first direction and is connected to the storage location (31); Along the second direction, the storage position (31) is located on at least one side of the tunnel (33), and the second direction is different from the first direction; The robot (50) is configured to move along the alleyway (33); The first weighing component (60a) is disposed in the storage position (31); The first weighing component (60a) is configured to weigh the item located in the storage compartment (31).

4. The warehousing system according to claim 3, characterized in that, The tunnel (33) includes: The alleyway entrance is configured to allow the robot (50) to enter or exit the storage layer (34) where the alleyway (33) is located; The first weighing component (60a) is disposed at the entrance of the tunnel, or is disposed adjacent to the entrance of the tunnel; The first weighing component (60a) is configured to weigh the article located at the entrance of the alley or to weigh the article adjacent to the entrance of the alley.

5. The warehousing system according to any one of claims 1-4, characterized in that, It also includes a lifting mechanism (40) and a second weighing assembly (60b), the lifting mechanism (40) comprising: The lifting platform (41) is configured to carry the items and / or the robot (50) and is configured to be movable to a specified height of the vehicle (30); The second weighing component (60b) is disposed on the lifting platform (41); The second weighing component (60b) is configured to weigh the item located on the lifting platform (41).

6. The warehousing system according to any one of claims 1-4, characterized in that, It also includes a third weighing component (60c); The third weighing component (60c) is disposed on the robot (50); The third weighing component (60c) is configured to weigh the item located on the robot (50).

7. The warehousing system according to claim 6, characterized in that, The robot (50) includes a mobile chassis (51) and a lifting assembly (52); The mobile chassis (51) is configured to move within the vehicle (30); The lifting assembly (52) is disposed on the mobile chassis (51), and the lifting assembly (52) is configured to carry the article; The third weighing component (60c) is disposed on the lifting component (52); The third weighing component (60c) is configured to weigh the article located on the lifting component (52).

8. The warehousing system according to claim 7, characterized in that, The lifting assembly (52) includes a telescopic member (521) and a lifting plate (522); the telescopic member (521) includes a first connecting part and a second connecting part; The first connecting part is connected to the mobile chassis (51); The second connecting portion is configured to move relative to the first connecting portion to adjust the distance between the first connecting portion and the second connecting portion; The lifting plate (522) is disposed at the second connecting portion, and the lifting plate (522) is configured to carry the article; The third weighing component (60c) is disposed on the lifting plate (522).

9. The warehousing system according to any one of claims 1-4, characterized in that, The vehicle (30) includes a support member (38); The support (38) is disposed in the storage position (31), and the support (38) is configured to support the article; The first weighing component (60a) is disposed on the support member (38); The first weighing component (60a) is configured to weigh the article located on the support (38).

10. The warehousing system according to claim 9, characterized in that, The support member (38) includes a support portion (38a) and a track portion (38b); The first weighing component (60a) is disposed on the support portion (38a); The track section (38b) is disposed on the support section (38a) along the cargo channel (32) of the carrier (30); The robot (50) is configured to walk on the track (38b) to carry the item into or out of the storage compartment (31).

11. The warehousing system according to claim 9, characterized in that, The vehicle (30) also includes: The first track (35) is arranged along the cargo channel (32) of the vehicle (30); The robot (50) is configured to walk on the first track (35) to carry the item along the cargo channel (32).

12. The warehousing system according to any one of claims 1-4, characterized in that, The vehicle (30) also includes: A second track (36) is provided along the direction of the lane (33) of the vehicle (30), and the second track (36) is connected to the storage position (31) and the first weighing component (60a); The robot (50) is configured to walk on the second track (36) to carry the item between the storage location (31) and the first weighing component (60a).

13. The warehousing system according to any one of claims 1-4, characterized in that, The robot (50) is configured to move to the original storage location (31) and carry the item to the first weighing component (60a) so that the first weighing component (60a) weighs the robot (50) and the item.

14. The warehousing system according to any one of claims 1-4, characterized in that, The robot (50) is configured to move to the original storage location (31) and carry the item to the first weighing component (60a), place the item on the first weighing component (60a) so that the first weighing component (60a) weighs the item.

15. The warehousing system according to any one of claims 1-4, characterized in that, The robot (50) is configured to: carry the item to the workstation (20) for inventory of the item, and carry the item to the original storage location (31).

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