A workstation and warehousing system

Abstract

The embodiment of the present disclosure provides a workstation and a warehouse system, comprising: a picking device, one side of which is provided with a reserved position configured to place an inventory container, the inventory container carrying target articles, the picking device being configured to pick the target articles from the inventory container and sort the target articles into an order container; a seeding wall configured to place the order container; a loading and unloading device arranged adjacent to the seeding wall and the picking device; the loading and unloading device being configured to take the order container from the seeding wall, and after the picking device sorts the target articles from the inventory container into the order container, transfer the order container to the seeding wall, and when the order container meets a turnover condition, transfer the order container meeting the turnover condition from the seeding wall to a target area by a first transportation device, and / or the seeding wall is configured to receive empty order containers transferred by a second transportation device.

Description

[0001] This disclosure claims priority to Chinese Patent No. 202510473682.6, filed with the State Intellectual Property Office of China on April 15, 2025; the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of warehousing and logistics technology, and in particular to a workstation and warehousing system. Background Technology

[0003] The warehousing process involves picking and sorting goods. Currently, picking and sorting tasks must be performed in two separate areas. For example, if picking is performed in the picking area, the goods will be transferred to the sorting area for sorting.

[0004] However, this warehousing and processing method results in a longer processing time and increased labor costs due to the turnover of goods between the picking and sorting areas, which are some distance apart. This, in turn, affects the efficiency of warehousing and processing. Utility Model Content

[0005] This disclosure provides a workstation and warehousing system that enables the picking and sorting of items within a single workstation area, saving processing time, reducing labor costs, and thereby improving the efficiency of warehousing operations.

[0006] On one hand, embodiments of this disclosure provide a workstation, including: The picking equipment has a reserved position on one side, which is configured to place an inventory container containing the target item. The picking equipment is configured to pick the target item from the inventory container and sort the target item into the order container. The seeding wall is configured to hold order containers; Loading and unloading equipment is installed adjacent to the seeding wall and sorting equipment; The loading and unloading equipment is configured to remove order containers from the seed wall, and after the picking equipment sorts the target items from the inventory containers to the order containers, transfer the order containers to the seed wall, and when the order containers meet the turnover conditions, transfer the order containers that meet the turnover conditions from the seed wall to the target area by a first transport device, and / or the seed wall is configured to receive empty order containers transferred by the first transport device.

[0007] On the other hand, embodiments of this disclosure provide a warehousing system, including: The workstations shown above; The storage area is configured to store inventory containers containing the target items; The second transport equipment is configured to transfer the inventory container loaded with the target item to the reserved position of the workstation, so that the picking equipment of the workstation can pick the target item into the order container, and the order container can be transferred to the seed wall by the loading and unloading equipment of the workstation. The first transport equipment is configured to move order containers that meet the turnover requirements in the seeding wall to the target area.

[0008] This embodiment of the disclosure sets up a seeding wall, loading and unloading equipment, and picking equipment at the workstation. The target items picked by the picking equipment can be directly sorted into order containers, and the order containers can be placed on the seeding wall in a timely manner by the loading and unloading equipment for subsequent packaging and warehousing, or the order containers can be transferred to the picking equipment side by the loading and unloading equipment for sorting. That is, the picking and sorting tasks of items are completed in one workstation area, avoiding the turnover of goods between the picking area and the sorting area, saving processing time, reducing labor consumption, and thus improving the efficiency of warehousing processing. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of this disclosure, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0010] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of a workstation provided in an embodiment of this disclosure. Figure 1 ; Figure 3 This is a schematic diagram of the structure of the loading and unloading equipment provided in the embodiments of this disclosure; Figure 4 This is a schematic diagram of the structure of the transport robot provided in the embodiments of this disclosure; Figure 5 This is a partial structural diagram of the workstation provided in the embodiments of this disclosure. Figure 1 ; Figure 6 This is a schematic diagram of the structure of the sorting platform provided in the embodiments of this disclosure; Figure 7 This is a top view of the sorting platform provided in the embodiments of this disclosure; Figure 8 This is a partial schematic diagram of the workstation provided in the embodiments of this disclosure. Figure 2 ; Figure 9a This is a schematic diagram of the assembly structure of the support frame and the first detection module provided in this embodiment. Figure 1 ; Figure 9bThis is a schematic diagram of the assembly structure of the support frame and the first detection module provided in this embodiment. Figure 2 ; Figure 10 This is a schematic diagram of the movement control of the detection module provided in the embodiments of this disclosure; Figure 11 This is a schematic diagram of a limiting structure provided in an embodiment of the present disclosure; Figure 12 This is a schematic diagram of another limiting structure provided in an embodiment of the present disclosure; Figure 13 This is a schematic diagram of the structure of a workstation provided in an embodiment of this disclosure. Figure 2 ; Figure 14 This is a schematic diagram of a safety fence provided in an embodiment of this disclosure; Figure 15 This is another structural schematic diagram of the safety fence provided in the embodiments of this disclosure; Figure 16 This is another structural schematic diagram of the safety fence provided in the embodiments of this disclosure; Figure 17 This is another structural schematic diagram of the safety fence provided in the embodiments of this disclosure; Figure 18 This is another structural schematic diagram of the safety fence provided in the embodiments of this disclosure; Figure 19 This is a top view of the workstation provided in the embodiments of this disclosure; Figure 20 This is a schematic diagram of the structure of the picking device provided in the embodiments of this disclosure; Figure 21 This is a schematic diagram of the structure of a workstation provided in an embodiment of this disclosure. Figure 3 ; Figure 22 This is a schematic diagram of the structure of a workstation provided in an embodiment of this disclosure. Figure 4 .

[0011] Illustration markings: 10-Storage area; 110-Carrier; 10a-Aisle; 120-Transporting robot; 20-Workstation area; 200-Workstation; 201-Reserved position; 201a-Dock position; 202-Workspace; 203-Picking equipment setting area; 204-Personnel activity area; 210-Picking equipment; 211-Base; 212-Robotic arm; 212a-Support arm; 213-Pick-up item; 220-Seed wall; 221-Storage position; 222-Buffer position; 230-Loading and unloading equipment; 231-Supporting structure; 232-Pick-and-place structure; 240-First detection equipment; 241-Detection module; 242-Drive module; 2 421-Driver; 2422-Transmission assembly; 243-Slider; 244-Slide rail; 250-Sorting platform; 251-Sorting station; 252-Abnormal station; 260-Bracket; 261-Vertical rod; 262-Support beam; 263-Limiting structure; 2631-Limiting pin; 2632-Limiting mark; 2633-Identification camera; 270-Safety fence; 271-Post; 271a-First post; 271b-Second post; 272-Baffle; 273-Safety door; 274-Avoidance section; 275-Connecting section; 276-Entrance; 277-Exit; 278-Display module; 280-Electrical cabinet; 290 - Heat dissipation outlet; 2910 - Anti-fall platform; 2911 - Picking port; 2912 - Sorting port; 2920 - Second inspection equipment; 2930 - Third inspection equipment; 2940 - Fourth inspection equipment; 2950 - Fifth inspection equipment; 2960 - Sixth inspection equipment; 30 - Second transport equipment; 310 - Mobile chassis; 320 - Load-bearing mechanism; 321 - Load-bearing component; 321a - Base plate; 321b - Support plate; 322 - Lifting component; 40 - First transport equipment; 50 - Inventory container; 60 - Order container. Detailed Implementation

[0012] The technical solutions of the embodiments of this disclosure 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 disclosure. Other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are all within the protection scope of this disclosure.

[0013] 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 disclosure, unless otherwise stated, "a plurality of" means two or more.

[0014] Furthermore, in this disclosure, 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.

[0015] In the field of warehousing and logistics technology, goods can be stored in storage areas. After receiving an order, the warehousing system needs to respond to the order in a timely manner and pick out the required items from the storage area according to the order requirements, thereby completing the order's outbound delivery.

[0016] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this disclosure. Figure 2 This is a schematic diagram of the structure of a workstation provided in an embodiment of this disclosure. Figure 1 Combining Figure 1 and Figure 2 As shown, the warehousing system may include a storage area 10 and a workstation area 20.

[0017] In some examples, storage area 10 is configured to store items. For example, storage area 10 may include multiple vehicles 110 to store items. In some examples, vehicles 110 may have multiple storage layers, each of which may include multiple storage locations, each capable of holding an item. This allows for efficient use of the space in storage area 10 to accommodate more items. In some examples, the storage locations of vehicles 110 may include storage locations and buffer locations, with buffer locations located below the storage locations and possibly at the bottom layer of vehicles 110.

[0018] In some examples, storage area 10 is also provided with a handling robot 120, which is configured to transfer items between storage locations and cache locations. For example, the handling robot 120 can take items from storage locations and place them on cache locations, or the handling robot 120 can take items from cache locations and transfer them to storage locations.

[0019] In some examples, the handling robot 120 can move along the aisle 10a between two adjacent carriers 110. In some examples, the handling robot 120 can be positioned on one side of the carrier 110 and can move along the carrier 110 to switch between different storage locations. In some examples, the handling robot 120 can also move along the aisle 10a, and when it is necessary to retrieve or return a box, the handling robot 120 can climb onto the carrier 110 to move between different storage locations on the carrier 110 to retrieve items from the target storage location or place items on the target storage location. It should be noted that items may include, but are not limited to, goods, containers containing goods (such as bins), pallets, packages containing goods, original packaging boxes containing goods, etc.

[0020] In some examples, the carrier 110 can be a fixed carrier or a mobile carrier. This improves the flexibility of item storage. For example, the carrier 110 can be a shelf, support frame, etc. In some examples, the workstation area 20 is used to perform picking or sorting operations. In some examples, picking or sorting operations can be inventory management, that is, selecting and categorizing items of the same type, and then placing them together on shelves so that multiple items of the same type can be quickly retrieved and sorted during the next outbound shipment.

[0021] In some examples, picking or sorting can be order fulfillment, that is, based on order requirements, items in the order can be selected and sorted to facilitate order delivery. It should be noted that picking or sorting can also include unpacking and replenishing items, etc., which are not specifically limited in this embodiment.

[0022] In some examples, workstation area 20 may include multiple workstations 200, each capable of independent picking or sorting operations. Multiple workstations 200 can effectively improve picking efficiency, respond promptly to order demands, and increase order delivery efficiency.

[0023] Reference Figure 2 As shown, in some examples, workstation 200 may include picking equipment 210. In some examples, a reserved space 201 is provided on one side of picking equipment 210, which is configured to place inventory container 50. Inventory container 50 contains target items, and picking equipment 210 is configured to pick the target items from inventory container 50 and sort them into order container 60.

[0024] In some examples, the inventory container 50 at the designated location 201 is loaded onto a second transport device 30. The second transport device 30 retrieves the inventory container 50 from the carrier 110 in the storage area 10 and transports it to the designated location 201. In some examples, the designated location 201 can also be a table or the ground of the workstation 200, used directly to place the inventory container 50. In some examples, the picking device 210 can use at least one of the following structures—suction cups, gripping forks, hooks, picking fingers, and magnetic structures—to pick up and place target items from the inventory container 50.

[0025] Compared to workstation 200 where picking and sorting are performed by operators, using picking equipment 210 for picking and sorting enables timely order response and improves picking and sorting efficiency.

[0026] In some examples, workstation 200 also includes seed wall 220, which is configured to place order container 60, which is configured to store target items picked from inventory container 50.

[0027] The seeding wall 220 can quickly place the selected target items into the corresponding order container 60, improving the convenience and efficiency of the operation. In addition, the seeding wall 220 can be flexibly adjusted according to actual needs to adapt to order containers 60 of different sizes and types, further enhancing the applicability and flexibility of the workstation 200.

[0028] In some examples, the order container 60 on the seeding wall 220 can be an empty order container 60 or an order container 60 carrying the target item. The order container 60 carrying the target item can be an order container 60 that meets the turnover conditions or an order container 60 that does not meet the turnover conditions.

[0029] It should be noted that the order container 60 that meets the turnover conditions can include order containers 60 where the order has been picked or the goods are full.

[0030] In some examples, the seeding wall 220 can be a fixed seeding wall or a movable seeding wall. For example, when all the order containers 60 on the seeding wall 220 are order containers 60 that meet the turnover conditions, the seeding wall 220 can be transferred to the target area by a transport device. As another example, when some of the order containers 60 on the seeding wall 220 meet the turnover conditions, the order containers 60 that meet the turnover conditions can be transferred to the target area by a transport device.

[0031] In some examples, the seed wall 220 may include multiple storage locations, each with multiple storage locations, to increase the storage density of the seed wall 220. In some examples, the workstation 200 also includes a loading and unloading device 230, which is arranged adjacent to the seed wall 220 and the picking device 210.

[0032] For example, a coordinate system is established with the height direction of the seeding wall 220 as the z-axis direction, the length direction of the seeding wall 220 as the x-axis direction, and the width direction of the seeding wall 220 as the y-axis direction for illustration.

[0033] In some examples, the seeding wall 220, the loading and unloading device 230, and the picking device 210 are arranged sequentially along the y-axis direction; in other words, the loading and unloading device 230 is located between the seeding wall 220 and the picking device 210.

[0034] In some examples, the seeding wall 220 and the picking device 210 are arranged sequentially along the y-axis, and the loading and unloading device 230 may be located on one side of the seeding wall 220 or the picking device 210 along the x-axis. This disclosure does not limit the seeding wall 220, the loading and unloading device 230, or the picking device 210.

[0035] In some examples, loading and unloading equipment 230 is configured to remove order container 60 from seed wall 220, and after picking equipment 210 sorts target items from inventory container 50 to order container 60, transfer order container 60 to seed wall 220, and when order container 60 meets turnover conditions, transfer order container 60 meeting turnover conditions from seed wall 220 to target area via first transport equipment 40.

[0036] In some examples, the seeding wall 220 may be configured to receive empty order containers 60 transferred from the first transport device 40.

[0037] In some examples, the target area can be the order destination or the order packaging area.

[0038] For example, the order container 60 can be used directly as a shipping box for the target item and transferred to the order destination.

[0039] For example, each target item in the order container 60 can be packaged according to the order type or the order transportation method, and the packaged target items can then be transported to the order destination. Therefore, the order container 60 that meets the turnover conditions can be transferred from the seeding wall 220 to the order packaging area for packaging through the first transportation equipment 40.

[0040] Figure 3 This is a schematic diagram of the loading and unloading equipment provided in an embodiment of this disclosure. (Refer to...) Figure 3As shown, in some examples, the loading / unloading device 230 may include a support structure 231 and a pick-and-place structure 232. The pick-and-place structure 232 is disposed on the support structure 231, and the pick-and-place structure 232 can move relative to the support structure 231 along a first direction and a second direction. The first direction and the second direction are different directions.

[0041] For example, the first direction can be the z-axis direction, and the second direction can be the x-axis direction of the seeding wall 220. In this way, the pick-and-place structure 232 can perform lifting and translating movements relative to the support structure 231, so as to move to the position corresponding to the target storage location on the seeding wall 220, thereby enabling the order container 60 to be placed in the target storage location or the order container 60 to be taken out from the target storage location.

[0042] For example, the pick-and-place structure 232 can pick up and place the order container 60 through at least one of the following structures: suction cup, gripping fork, hook, finger, and magnetic structure. This embodiment of the disclosure does not limit the pick-and-place structure 232, as long as it can realize the transfer of the order container 60.

[0043] In one example, the hook can grab the edge, top edge, bottom edge, protrusions or handles on the side of the order container 60, and can also grab the grooves, protrusions or handles on the bottom of the order container 60.

[0044] In another example, the fork can grip the order container 60 from both sides, insert it from below, or hook it from above.

[0045] In another example, there can be one or more dials, and the dials can be set at intervals. The order container 60 can be moved by turning the dial.

[0046] In another example, the suction cup can maintain a vacuum between itself and the order container 60, allowing the order container 60 to be removed from its storage location for retrieval. When placing the order container 60, the suction cup can push it to its designated location within the seeding wall 220. At this point, the suction cup can directly contact the order container 60 while maintaining a vacuum between them. This allows the suction cup to leave the order container 60 directly after pushing it to its designated location. The vacuum between the suction cup and the order container 60 prevents the suction cup from squeezing out the air during the pushing process, creating a certain degree of vacuum pressure. This vacuum pressure, when the suction cup leaves the order container 60, may cause it to drag, resulting in misalignment and affecting the accuracy of its placement.

[0047] This embodiment of the disclosure simultaneously sets up a seeding wall 220, a loading and unloading device 230, and a picking device 210 in the workstation 200. The target items picked by the picking device 210 can be directly sorted into the order container 60, and the order container 60 can be placed on the seeding wall 220 in a timely manner by the loading and unloading device 230 for subsequent packaging and warehousing, or the order container 60 can be transferred to the picking device 210 for sorting by the loading and unloading device 230. That is, the picking and sorting tasks of items are realized in one workstation area 20, avoiding the turnover of goods between the picking area and the sorting area, saving processing time, reducing labor consumption, and thus improving the efficiency of warehousing processing.

[0048] In some examples, the second transport device 30 may include a second transport robot, the reserved position 201 may be a docking position 201a for docking the second transport robot, and the picking device 210 is configured to dock with the inventory container 50 on the second transport robot to pick the target item from the inventory container 50.

[0049] For example, the second transport robot can take out the inventory container 50 containing the target item from the storage area 10 and move to the docking position 201a of the workstation 200, whereby the picking device 210 picks the target item from the inventory container 50 and sorts it into the order container 60.

[0050] In some examples, there can be multiple docking stations 201a, which can be arranged along the y-direction on one side of the picking device 210. Each docking station 201a can have a first handling robot 120 docked on it, and the picking device 210 can sequentially pick the target items on each first handling robot 120.

[0051] In some examples, multiple queue positions can be set behind dock 201a along the y-direction. When the picking device 210 is picking the inventory container 50 on dock 201a, other first handling robots 120 loaded with items to be picked can wait in the queue positions so that after the first handling robot 120 on dock 201a completes picking and moves out, the other first handling robots 120 move to the dock 201a so that the picking device 210 can pick the target items on the first handling robot 120.

[0052] In some examples, the second transport device 30 includes a conveyor line, with a reserved position 201 being a picking position on the conveyor line for docking with a picking device 210, which is configured to dock with an inventory container 50 at the picking position to pick the target item from the inventory container 50.

[0053] For example, after the first position of the conveyor line receives the inventory container 50, during the movement of the conveyor line, the first position will carry the inventory container 50 to the picking position that is connected to the picking equipment 210, so that the picking equipment 210 can pick the inventory container 50 at the picking position.

[0054] In some examples, one end of the conveyor line extends to one side of the picking device 210 and the other end extends to the storage area 10. In this way, the conveyor line can directly receive the inventory containers 50 transferred out of the storage area 10 and transport them to the picking position on one side of the picking device 210 so that the picking device 210 can pick the goods from the inventory containers 50 on the conveyor line.

[0055] In some examples, one end of the conveyor line extends to one side of the picking device 210, while the other end does not extend to the storage area 10. For example, the conveyor line is located at workstation 200. In this example, the second transport device 30 also includes a second transport robot, the conveyor line is configured to dock with the second transport robot to receive the inventory container 50 on the second transport robot, and the picking device 210 is configured to dock with the inventory container 50 on the conveyor line to pick the target item from the inventory container 50.

[0056] For example, a conveyor line is set up on the reserved position 201. When the second transport robot takes the target item from the storage area 10 and moves to the workstation 200, it can directly dock with the conveyor line to transfer the inventory container 50 to the conveyor line. The conveyor line then transfers the inventory container 50 to the picking position so that the picking equipment 210 can pick the target item from the inventory container 50 at the picking position.

[0057] By configuring the second transport device 30 to include a second transport robot and a conveyor line, after the second transport robot carries the inventory container 50 to the workstation 200, it can directly transfer the inventory container 50 to the conveyor line without waiting for the picking device 210, and then perform other tasks. The conveyor line transfers the inventory container 50 to the picking position that is connected to the picking device 210, so that the picking device 210 can pick the target item from the inventory container 50.

[0058] In some examples, in storage area 10, a second transport device 30 (e.g., a second transport robot) can dock with a cache location of vehicle 110 to retrieve an inventory container 50 containing the target item located at cache location 222. Alternatively, the second transport robot can directly dock with a storage location of vehicle 110 to retrieve the inventory container 50 located at that storage location.

[0059] In some examples, the second transport robot can also directly dock with the handling robot 120 of storage area 10 to receive the inventory container 50 on the handling robot 120, wherein the inventory container 50 of the handling robot 120 is taken out by the handling robot 120 from the carrier 110 of storage area 10.

[0060] In some examples, the first transport device 40 may be configured in the same way as the second transport device 30. For example, the first transport device 40 may be a first transport robot that docks with the storage location of the seeding wall 220 to retrieve the order containers 60 that meet the turnover conditions on the seeding wall 220 and transfer them to the target area.

[0061] For example, the first transport device 40 may include a conveyor line for transferring order containers that meet turnover conditions to a target area, or for transferring empty order containers to a seed wall.

[0062] In some examples, one end of the conveyor line connects to the seeding wall, while the other end connects directly to the target area to transfer order containers between the seeding wall and the target area.

[0063] In other examples, one end of the conveyor line is connected to the seeding wall, while the other end does not extend to the target area. For example, the conveyor line is set up at workstation 200. In this example, the first transport device 40 also includes a first transport robot. One end of the conveyor line can be connected to the seeding wall 220, and the other end of the conveyor line is connected to the first transport robot. In this way, the operator or loading and unloading equipment 230 can temporarily store the order containers 60 that meet the turnover conditions on the seeding wall 220 on the conveyor line, and then the conveyor line will transfer them one by one to the first transport robot, and then the first transport robot will transfer the order containers 60 to the target area. In this way, the conveyor line can provide a temporary storage space for the order containers 60 that meet the turnover conditions.

[0064] In some examples, one end of the conveyor line does not extend to the seeding wall, while the other end extends to the target area. In this example, the first transport robot docks with the end of the conveyor line closest to workstation 200. Thus, the first transport robot can dock with the seeding wall 220 to remove order containers 60 that meet the turnover requirements from the seeding wall 220 and transfer them to the conveyor line for transport to the target area. This shortens the movement path of the first transport robot, facilitating the rapid removal of order containers 60 from the seeding wall 220, improving the outbound efficiency of order containers 60 that meet the turnover requirements, and also improving the efficiency of empty / full container switching at the storage locations on the seeding wall 220.

[0065] Figure 4 This is a schematic diagram of the structure of the transport robot provided in an embodiment of this disclosure. (Refer to...) Figure 4As shown, a transport robot, such as a second transport robot, may include a mobile chassis 310 and a carrying mechanism 320.

[0066] In some examples, the mobile chassis 310 can move the support mechanism 320 between the storage area 10 and the workstation area 20.

[0067] For example, the mobile chassis 310 can be a chassis capable of four-way movement or a chassis capable of omnidirectional movement; this embodiment is not limited to any particular type.

[0068] In some examples, the carrying mechanism 320 includes a carrying component 321 and a lifting component 322. One end of the lifting component 322 is connected to the mobile chassis 310, and the other end is connected to the carrying component 321. The lifting component 322 can move the carrying component 321 up and down relative to the mobile chassis 310. The carrying component 321 can carry the inventory container 50 containing the target item. Thus, when the second transport robot is transporting the inventory container 50, the lifting component 322 can lower the inventory container 50 to reduce the center of gravity and improve stability. After the second transport robot transports the inventory container 50 to the workstation 200, the lifting component 322 can raise the inventory container 50 relative to the mobile chassis 310, raising it to facilitate docking with the picking equipment 210 and completing the picking operation.

[0069] For example, the lifting assembly 322 may include a lifting rod assembly, a scissor fork assembly, and a lifting gantry assembly, etc., which are not limited in this embodiment.

[0070] For example, the carrier component 321 can be a comb structure, so that the carrier component 321 docks with the buffer storage location with the tooth structure on the carrier 110 of the storage area 10 to retrieve the inventory container 50 on the buffer storage location, or docks with the storage location with the tooth structure on the seed wall 220 to retrieve the order container 60.

[0071] Taking the second transport robot as an example, the carrying component 321 includes a base plate 321a and multiple support plates 321b, which can be arranged at intervals to support the storage container 50. The multiple support plates 321b form a comb-like structure of the carrying component 321. The toothed structure on the buffer position 222 of the carrier 110 has multiple inserts, and a socket is formed between two adjacent inserts.

[0072] When the second transport robot needs to retrieve the inventory container 50 from the buffer storage location, the lifting component 322 drives the carrying component 321 to descend to a height lower than the buffer storage location. Then, the second transport robot moves to the bottom of the buffer storage location, and the lifting component 322 drives the carrying component 321 to rise, so that the support plate 321b is inserted from the socket of the buffer storage location and lifts the inventory container 50, so that the inventory container 50 is switched from being supported by the buffer storage location to being supported by the carrying component 321. Then, the moving chassis 310 drives the carrying component 321 to move out of the buffer storage location along the socket.

[0073] When the second transport robot needs to place the inventory container 50 on the buffer storage location, the lifting component 322 drives the carrying component 321 to rise until the comb structure and the insert structure are aligned. Then, the moving chassis 310 drives the support plate 321b of the carrying component 321 to extend into the insertion hole. Next, the lifting component drives the carrying component 321 to descend until the carrying component 321 descends to the bottom of the buffer storage location, and the inventory container 50 is transferred to the buffer storage location. The moving chassis 310 then drives the carrying component 321 to move out of the carrier 110.

[0074] In some examples, the carrier assembly 321 may be equipped with a horizontal retrieval and placement mechanism for the container. This mechanism may include a telescopic section and a placement section. The telescopic section may be a telescopic cylinder or a scissor fork, while the placement section may be a suction cup, a hook, or a magnetic component. When retrieving a container, the telescopic section extends the placement section horizontally until it reaches the target storage location, such as the buffer storage location of the carrier 110. The placement section picks up the container, such as the storage container 50, and then retracts back to the carrier assembly 321 under the action of the telescopic section, thus retrieving the container. When returning a container, the telescopic section extends the placement section horizontally outward to push the container, such as the storage container 50, towards the buffer storage location until the container is placed on the buffer storage location.

[0075] This disclosure does not limit the structure or method of the pick-up and return box of the transport robot, as long as it can transfer items, such as containers, between the robot and the cargo location.

[0076] In some examples, the first transport device 40, such as the first transport robot, can dock with any location on the seeding wall 220 to retrieve an order container 60 that meets the turnover requirements, or to place an empty container in any available location on the seeding wall 220.

[0077] Reference Figure 2As shown, in some examples, the seeding wall 220 may include storage location 221 and buffer location 222. In some examples, buffer location 222 is located at a fixed location at the bottom of the seeding wall 220. In other examples, buffer location 222 may also be a conveyor line or other temporary storage location located at the bottom of the seeding wall 200, which may be located at the bottom of the seeding wall 200 or on one side of the seeding wall 200 in the horizontal direction. Storage location 221 is configured at least to hold order containers 60 that do not meet turnover conditions; buffer location 222 is configured at least to hold order containers 60 that meet turnover conditions.

[0078] In some examples, loading and unloading equipment 230 is configured to transfer order container 60 that meets the turnover conditions to buffer position 222 when order container 60 meets the turnover conditions, so that first transport equipment 40 docks with buffer position 222 to transfer order container 60 located on buffer position 222 and meeting the turnover conditions to the target area.

[0079] By placing the order container 60 that meets the turnover conditions in the cache position 222 below the storage position 221, so that the first transportation device 40, such as the first transportation robot, can dock with the underlying cache position 222, the height of the first transportation device 40 for picking up and returning boxes can be reduced, thereby making the picking up and returning process between the first transportation device 40 and the cache position 222 more stable and with lower power consumption.

[0080] For example, the buffer position 222 of the seeding wall 220 can be set as a toothed structure, and the bearing component 321 of the first transport device 40 can be set as a comb structure. The order container 60 can be transferred by the docking of the comb structure and the toothed structure.

[0081] For example, when the buffer position 222 is a conveyor line and the first transport device 40 is also a conveyor line, the two conveyor lines can be connected to transfer the order container 60 on the buffer position 222 to the first transport device 40, thereby transferring the order container 60 to the target area.

[0082] In some examples, when the loading and unloading equipment 230 receives the sorted order container 60 and the order container 60 just meets the turnover conditions, it can directly transfer the order container 60 to the cache position 222, or it can first transfer it to the storage position 221 and then transfer it to the cache position 222 later.

[0083] For example, after the picking device 210 sorts the target item into the order container 60, if the order container 60 meets the turnover conditions and there is space in the buffer position 222, the loading and unloading device 230 is configured to transfer the order container 60 that meets the turnover conditions from the picking device 210 side to the buffer position 222, so that the first transport device 40 can transfer it to the target area. This improves the outbound efficiency of the order container 60 that meets the turnover conditions. As another example, the storage position 221 is configured to temporarily store the order container 60 that meets the turnover conditions.

[0084] For example, after the picking device 210 sorts the target item into the order container 60, if the order container 60 meets the turnover condition and the buffer position 222 is not empty, the loading and unloading device 230 transfers the order container 60 that meets the turnover condition to the storage position 221. If the buffer position 222 is empty, the loading and unloading device 230 transfers the order container 60 that meets the turnover condition from the storage position 221 to the buffer position 222, so that the first transport device 40 can transfer it to the target area. Thus, when the buffer position 222 is not currently empty, the order container 60 that meets the turnover condition can be temporarily stored in the storage position 221, thereby releasing the pick-and-place structure 232 of the loading and unloading device 230. This allows the pick-and-place structure 232 of the loading and unloading device 230 to continue transferring the order container 60 between the picking device 210 and the seeding wall 220, ensuring sorting efficiency.

[0085] In addition, when there is a free space in the cache position 222, the order boxes that meet the turnover conditions on the storage position 221 can be transferred to the free cache position 222 by the loading and unloading equipment 230, so that the first transport equipment 40 can transport them out. This eliminates the need for other equipment to transfer order boxes between the storage position 221 and the cache position 222, thus saving the number of equipment, space and cost of the workstation 200.

[0086] In some examples, cache bit 222 is also configured to place an empty order container 60 transferred by the first transport device 40; The loading and unloading equipment 230 is configured to remove the empty order container 60 from the buffer position 222 and transfer it to the storage position 221, or transfer it to the picking equipment 210 side when a picking task is received, to receive the target item picked by the picking equipment 210 from the inventory container 50.

[0087] For example, loading and unloading equipment 230 can directly remove an empty order container 60 from the buffer position 222 and transfer it to the picking equipment 210 side to receive the target item picked by the picking equipment 210 from the inventory container 50.

[0088] For example, when an empty order container 60 is not in use for the time being, it can be moved from the cache position 222 to the storage position 221 by the loading and unloading equipment 230, so as to free up the cache position 222, thereby facilitating the placement of order containers 60 that meet the turnover conditions and ensuring that order containers 60 that meet the turnover conditions are dispatched in a timely manner.

[0089] In some examples, after picking the target item from the inventory container 50, the picking device 210 can directly transfer it to the order container 60 on the loading and unloading device 230. For example, after the picking mechanism of the loading and unloading device 230 removes the order container 60 from the seed wall 220, it does not need to unload the order container 60 on the picking device 210 side, and directly receives the target item on the picking device 210. In other words, after the picking device 210 picks the target item, it directly sorts it to the order container 60 located on the loading and unloading device 230.

[0090] Figure 5 This is a partial structural diagram of the workstation provided in the embodiments of this disclosure. Figure 1 , Figure 6 This is a schematic diagram of the sorting platform provided in an embodiment of this disclosure. (Refer to...) Figure 5 and Figure 6 As shown, in some examples, workstation 200 may include sorting station 251, which is configured to carry order containers 60. Loading and unloading equipment 230 is configured to transfer order containers 60 between sorting station 251 and seed wall 220, and picking equipment 210 is configured to sort target items from inventory container 50 into order containers 60 at sorting station 251.

[0091] In some examples, the sorting station 251 can be located in the carrying space of the pick-and-place structure of the loading and unloading equipment 230 or in the temporary storage location on the loading and unloading equipment 230. After the picking equipment 210 picks the target items from the inventory container 50, it can directly sort them into the order container on the pick-and-place structure of the loading and unloading equipment 230, or into the order container 60 placed in the temporary storage location of the loading and unloading equipment 230.

[0092] In other examples, workstation 200 may also include sorting platform 250, with sorting station 251 set on sorting platform 250. The following description uses the example of sorting station 251 set on sorting platform 250 as an example.

[0093] Specifically, the sorting platform 250 can be a flat area for placing and moving order containers 60. The sorting platform 250 is designed to allow the picking equipment 210 and loading / unloading equipment 230 to easily operate on the order containers 60. For example, the sorting platform 250 can be a sliding rail type, a roller type, or other structure that facilitates the movement of the order containers 60. On the sorting platform 250, the order containers 60 can be precisely positioned and moved to ensure that the picking equipment 210 can accurately sort the target items into the correct order containers 60.

[0094] In some examples, the sorting platform 250 can be positioned between the picking device 210 and the loading / unloading device 230. For instance, along the y-axis, the loading / unloading device 230, the sorting platform 250, and the picking device 210 are arranged sequentially. This facilitates the docking of the picking device 210 and the loading / unloading device 230 with the sorting platform 250. For example, one side of the sorting platform 250 can perform sorting operations via the picking device 210, while the other side can perform the transfer of the order container 60 via the loading / unloading device 230. The layout of each structure is reasonable, saves space, and improves sorting efficiency, allowing each step to be completed via a shorter path.

[0095] In addition, the picking equipment 210 is arranged adjacent to the sorting platform 250, so that the working range of the picking equipment 210 can cover the sorting platform 250.

[0096] Figure 7 This is a top view of the sorting platform provided in the embodiments of this disclosure. Figure 8 This is a partial schematic diagram of the workstation provided in the embodiments of this disclosure. Figure 2 . Reference Figure 7 and Figure 8 As shown, the workstation 200 may also include a first detection device 240, which is configured to detect the remaining space in the order container 60. The picking device 210 is configured to sort the target items in the inventory container 50 into the order container 60 if the remaining space meets preset conditions.

[0097] Once the picking device 210 has located the target item in the inventory container 50, it can remove the target item from the inventory container 50 and place it in the order container 60. However, if there is insufficient space remaining in the order container 60, the item placed by the picking device 210 may slip, causing it to randomly fall to other locations in the workstation 200. This situation not only leads to missing items but may also affect the normal operation of other equipment within the workstation 200, impacting sorting efficiency.

[0098] By installing a first detection device 240 in workstation 200, the first detection device 240 can be used to detect the remaining space in order container 60. In this way, when picking equipment 210 places items into order container 60, it can be determined whether there is space in order container 60, so as to determine whether order container 60 needs to be replaced, thereby preventing situations where items are missing or other equipment is affected.

[0099] In some examples, the first detection device 240 can determine the remaining space in the order container 60 by detecting the storage status of the items inside the order container 60.

[0100] In some examples, the first detection device 240 may be an infrared sensor, which can determine whether there is remaining space in the order container 60 by scanning the depth of the items inside the order container 60.

[0101] For example, when the order container 60 is empty, the infrared sensor can determine the bottom depth of the order container 60 as the first depth and the edge depth of the order container 60 as the second depth, wherein the first depth is greater than the second depth, and the difference between the first depth and the second depth is the depth of the order container 60. When there are items in the order container 60, the infrared sensor can detect the current item's depth as the third depth. If the third depth is between the first depth and the second depth and is greater than a preset depth value, it indicates that there is remaining space in the order container 60, and items can be placed there. If the third depth is between the first depth and the second depth and is less than or equal to the preset depth value, or if the third depth is less than the second depth, it indicates that there is no remaining space in the order container 60, and items cannot be placed there.

[0102] In some examples, the first detection device 240 may also include a camera module to capture images of the storage status of items within the order container 60, thereby determining whether there is remaining space within the order container 60 through image analysis technology.

[0103] Understandably, the preset condition refers to a spatial dimension that is greater than or equal to that of the target item.

[0104] It should be noted that the preset conditions can be adjusted based on the data types that the first detection device 240 can detect. For example, if the data type that the first detection device 240 can detect is a depth value, the preset conditions can be related to the depth value; if the data type that the first detection device 240 can detect is a volume value, the preset conditions can be related to the volume value. This embodiment does not impose any limitations. Furthermore, when comparing the remaining space detected by the first detection device 240 with the preset conditions, the data detected by the first detection device 240 can be processed according to the preset conditions to facilitate comparison.

[0105] In some examples, the sorting platform 250 may include a sorting station 251 and an exception station 252, with the sorting station 251 configured to place the order container 60. If the first detection device 240 detects that the remaining space in the order container 60 does not meet the preset conditions, the picking device 210 is configured to place the target item picked from the inventory container 50 in the abnormal station 252. Thus, when the next order container 60 that meets the preset conditions is transferred to the sorting station 251, the picking device 210 can transfer the target item from the abnormal station 252 to the order container 60. Therefore, when the remaining space in the order container 60 does not meet the preset conditions, the picking device 210 does not need to return the target item to the inventory container 50, facilitating subsequent sorting of the target item, and the target item does not affect the sorting of other items at the sorting station 251.

[0106] In some examples, the abnormal sorting station 252 can be transformed into a normal sorting station 251. For instance, if the container at the abnormal sorting station 252 contains abnormal goods from the previous sorting, in the next order sorting process, goods belonging to the same order as the previous abnormal goods can be sorted into that container, making that container a normal order container. In this example, any other station can be designated as an abnormal sorting station.

[0107] Reference Figure 7 and Figure 8 As shown, in some examples, in order to improve sorting efficiency, workstation 200 may include multiple sorting stations 251. For example, multiple sorting stations 251 may be set on sorting platform 250, and each sorting station 251 may hold order container 60. Picking equipment 210 may sort target items of different orders at the same time and transfer them to different order containers 60, or break down the target items of the same order into different order containers 60.

[0108] Combination Figure 7 As shown, for example, in order to facilitate accurate detection of the remaining space of the order containers 60 at each sorting station 251, a first detection device 240 is configured to detect the order containers 60 at a sorting station 251.

[0109] For example, when the first detection device 240 includes a camera module, to facilitate subsequent image analysis, one camera module can capture the storage status of items inside one first container. In other words, the imaging range of the camera module can precisely cover the opening of the order container 60. This allows for capturing the storage status of items inside the order container 60 while avoiding capturing items in other order containers 60, thus facilitating image processing.

[0110] In some examples, each sorting station 251 needs to correspond to a first inspection device 240 in order to inspect the order container at that sorting station 251.

[0111] For example, when there are two sorting stations 251, two first inspection devices 240 can be set up, and each first inspection device 240 corresponds to one sorting station 251, so that different first inspection devices 240 can inspect the order containers 60 on different sorting stations 251.

[0112] In some examples, workstation 200 may be equipped with a first detection device 240, which is movable relative to sorting platform 250. In other words, the first detection device 240 can reciprocate relative to sorting platform 250. Thus, the first detection device 240 can move back and forth between sorting stations 251 relative to sorting platform 250. When order containers 60 are located at different sorting stations 251, the first detection device 240 can move to different positions to capture images of the order containers 60 at each sorting station 251. In this way, regardless of the number of sorting stations 251 on sorting platform 250, the remaining space of order containers 60 at each location can be detected using a single first detection device 240.

[0113] Furthermore, when the sorting platform 250 also includes an abnormal workstation 252, the first detection device 240 can be moved to the position corresponding to the abnormal workstation 252, thereby detecting the status of the abnormal workstation 252. This expands the detection function of the first detection device 240 and improves its operational flexibility. Compared to setting up multiple first detection devices 240, setting up a single movable first detection device 240 facilitates control, simplifies the control system, reduces production costs, and improves the versatility of the workstation 200.

[0114] Reference Figure 7 and Figure 8As shown, in some examples, the first detection device 240 may include: a detection module 241 configured to detect whether the remaining space of the order container 60 meets preset conditions; and a drive module 242 connected to the detection module 241 and configured to drive the detection module 241 to move relative to the sorting platform 250 to switch between sorting stations 251, thereby detecting whether the remaining space of the order container 60 at each sorting station 251 meets preset conditions. Taking the detection module 241 as a camera module as an example, the camera module is set in the drive module 242, and the drive module 242 can drive the camera module to move relative to the sorting platform 250, so that the imaging range of the camera module can cover the order container 60 at each sorting station 251, so as to collect images of the storage status of items in the order container 60 at each sorting station 251.

[0115] Taking the detection module 241 as an infrared sensor as an example, the drive module 242 can drive the infrared sensor to move relative to the sorting platform 250 so that the scanning range of the infrared sensor covers the order containers 60 on each sorting station 251, thereby determining the storage status of the items in each sorting station 251. It is understood that in other examples, the detection module 241 may also include laser sensors, etc., but this embodiment is not limited.

[0116] In some examples, when the detection module 241 is a camera module, the camera module may include a supplementary light and an imaging lens. The imaging lens is used to capture images of the storage state of the items within the order container 60. For example, there may be multiple imaging lenses, which work together to capture images, thereby obtaining a stereoscopic image of the order container 60a to calculate the remaining space within the order container 60a. Alternatively, the imaging lens may be a D-lens, allowing a single imaging lens to capture a stereoscopic image of the order container 60 for calculating the remaining space within the order container 60.

[0117] For example, the imaging lens has an autofocus function, which facilitates the capture of a clearer image, thereby improving the accuracy of subsequent image processing and the calculation of remaining space. For example, the imaging lens may include a wide-angle lens and a telephoto lens, etc., and is not limited in this embodiment.

[0118] In some examples, the supplementary light and the imaging lens can be positioned adjacent to each other. This allows the supplementary light to illuminate the imaging lens while it is capturing the order container 60, improving image quality and thus enhancing the accuracy of remaining space calculations during image processing.

[0119] Understandably, fill lights can be turned on in low-light shooting environments and turned off in bright-light environments. This allows for the rational allocation of resources and saves energy.

[0120] In some examples, the fill light and the imaging lens can be an integrated structure, meaning the imaging lens can have a built-in fill light. Alternatively, the fill light and the imaging lens can be separate components. In this case, the drive module 242 can simultaneously drive the imaging lens and the fill light to move when driving the camera module. In this embodiment, the specific configuration of the imaging lens and the fill light is not limited.

[0121] Figure 9a This is a schematic diagram of the assembly structure of the support frame and the first detection module provided in this embodiment. Figure 1 , Figure 9b This is a schematic diagram of the assembly structure of the support frame and the first detection module provided in this embodiment. Figure 2 , Figure 10 This is a schematic diagram of the movement control of the detection module provided in an embodiment of this disclosure. (Refer to...) Figures 9a to 10 As shown, in some examples, the drive module 242 may include a drive element 2421 and a transmission assembly 2422. The power output end of the drive element 2421 is connected to the transmission assembly 2422, and the transmission assembly 2422 is connected to the detection module 241. In this way, the transmission assembly 2422 can drive the detection module 241 to move relative to the sorting platform 250 under the drive of the drive element 2421.

[0122] For example, the drive component 2421 can be a drive motor, and the transmission assembly 2422 can include a lead screw and nut transmission assembly (Figure 1). Figure 10 As shown), gear and rack drive assembly, sprocket and chain drive assembly, and pulley drive assembly (such as...). Figure 9a As shown in the figure, the embodiments of this disclosure do not limit the arrangement of the transmission component 2422, as long as it can drive the detection module to move relative to the sorting platform 250 in the x-direction under the drive of the drive component 2421. (Refer to...) Figure 9a As shown, in some examples, the transmission assembly 2422 may include a driving wheel d1, a driven wheel d2, and a transmission element d3.

[0123] For example, the driving wheel d1 and the driven wheel d2 can be arranged alternately. A transmission member d3 is positioned between the driving wheel d1 and the driven wheel d2. The power output end of the driving member 2421 is connected to the driving wheel d1 to drive its rotation. Thus, the driving member 3621 can drive the driven wheel d2 and the transmission member d3 to rotate. At this time, the transmission member d3 can move along the arrangement direction of the driving wheel d1 and the driven wheel d2. For example, the driving member 2421 can be a drive motor, such as a servo motor, a synchronous motor, or a stepper motor. For example, the detection module 241 can be connected to the transmission member d3. Thus, the transmission member d3 can drive the detection module 241 to move.

[0124] In one example, the transmission component d3 can be a transmission belt, in which case the driving pulley d1 and the driven pulley d2 can be pulleys. In another example, the transmission component d3 can be a transmission chain, in which case the driving pulley d1 and the driven pulley d2 can be sprockets. In yet another example, the transmission component d3 can be a rack and pinion, in which case the driving pulley d1 and the driven pulley d2 can be gears. It should be noted that the specific structural forms of the transmission component d3, the driving pulley d1, and the driven pulley d2 are not limited in the embodiments of this disclosure.

[0125] Reference Figure 10 As shown, in some examples, the transmission assembly 2422 includes a lead screw c1 and a nut c2.

[0126] For example, nut c2 is movably mounted on lead screw c1, and the power output end of drive member 2421 is connected to lead screw c1. Thus, lead screw c1 can rotate under the drive of drive member 2421, and nut c2 can move along the extension direction of lead screw c1. Simultaneously, detection module 241 is connected to nut c2, so nut c2 can drive detection module 241 to move relative to lead screw c1.

[0127] Reference Figure 8 As shown, in some examples, in order to facilitate the fixing of the first detection device 240, the workstation 200 may also include a bracket 260, a drive module 242 is mounted on the bracket 260, and a detection module 241 is mounted on the drive module 242. In this way, the detection module 241 can be positioned above the sorting station 251, and the detection module moves along the bracket 260 under the drive of the drive module 242.

[0128] In some examples, the bracket 260 may include a column 271 and a support beam 262. The support beam 262 may be positioned above the column 271, and the drive module 242 may be positioned on the support beam 262, so that the column 271 can support the support beam 262 at a specified height position, so that the camera module can capture images of the order container 60.

[0129] In some examples, the drive wheel, driven wheel, and drive component of the drive module 242 can be mounted on the support beam 262, or the lead screw and drive component of the drive module 242 can be mounted on the support beam 262. For example, there can be at least two columns 271, which can be spaced apart along the x-axis to improve the support stability of the support beam 262, thereby facilitating the detection of the movement of the module 241 along the x-axis to correspond to each sorting station 251.

[0130] The support beam 262 can be positioned above the sorting platform 250. In this case, the detection module 241, such as the camera module, is positioned above the sorting platform 250, which facilitates the shooting of the order container 60.

[0131] For example, when the support beam 262 is above the sorting platform 250, the imaging center axis of the camera module can be set parallel to the z-axis direction so that the imaging range of the camera module can cover the order container 60 on the sorting platform 250. Compared to the example where the imaging center axis of the camera module is set at an angle to the z-axis direction, setting the imaging center axis of the camera module parallel to the z-axis direction allows the camera module to have no blind spots in the area within the order container 60, making it easier to capture the storage status of the items in the order container 60, thereby achieving more accurate detection of remaining space.

[0132] In some examples, the column 271 and the support beam 262 can be columnar, tubular, or plate-shaped components made of steel, aluminum, or other alloy materials. In this embodiment, the specific form of the column 271 and the support beam 262 is not limited.

[0133] Reference Figure 9b As shown, in some examples, a slider 243 is provided on one of the bracket 260 and the detection module 241, and a slide rail 244 is provided on the other of the bracket 260 and the detection module 241. When the detection module 241 moves along the bracket 260, the slider 243 slides along the slide rail 244.

[0134] For example, the slider 243 is disposed on the detection module 241, and the slide rail 244 is disposed on the bracket 260 (e.g., support beam 262). When the drive module 242 drives the detection module 241 to move, the slider 243 slides along the slide rail 244 on the bracket 260, thereby guiding the detection module 241 so that the detection module 241 can move stably along the x-axis direction. It can also reduce the friction between the detection module 241 and the bracket 260, and ensure the stability of the movement of the detection module 241.

[0135] Reference Figure 10 As shown, in one example, the driving module 242 can drive the detection module 241 to move to the target position based on the distance H between the current position of the detection module 241 and the target position. The target position corresponds to the target order container 60a.

[0136] For example, since the positions of each sorting station 251 on the sorting platform 250 are fixed, when the detection module 241 moves from its current position to the target position, it can obtain in advance the positions of the current sorting station 251 corresponding to the current position and the target sorting station 251 corresponding to the target position. Therefore, it can determine the distance H between the current position and the target position based on the distance H between the current sorting station 251 and the target sorting station 251. At this time, the drive module 242 can drive the detection module 241 based on this distance, thereby enabling the detection module 241 to move above the target order container 60a to capture images of the order container 60.

[0137] For example, the distance between the driving module 242 and the driving detection module 241 can be determined based on the driving speed and time of the driving module 242, and is not limited in this embodiment.

[0138] Figure 11 This is a schematic diagram of a limiting structure provided in an embodiment of this disclosure. (In conjunction with...) Figure 11 As shown, in another example, the bracket 260 is provided with multiple limiting structures 263, which are corresponding to multiple sorting stations 251. The limiting structures 263 are configured to restrict the movement position of the detection module 241 so that the detection module 241 moves to the position corresponding to the target sorting station 251.

[0139] For example, multiple limiting structures 263 can be disposed on the support beam 262 of the bracket 260, with each limiting structure 263 corresponding to a sorting station 251. Thus, when the detection module 241 moves relative to the support beam 262, the limiting structures 263 can restrict the movement of the detection module 241, causing it to move to a position corresponding to the order container 60. For example, the limiting structures 263 can be disposed on the side of the support beam 262 facing the detection module 241, thereby facilitating position control of the detection module 241.

[0140] It should be noted that the limiting structure 263 can be set on any side of the support beam 262, as long as it can restrict the movement of the detection module 241. The figure only uses the lead screw c and nut c as an example of the transmission assembly 2422 for illustration.

[0141] like Figure 11 As shown, in one example, the limiting structure 263 may include a limiting pin 2631, which is movably disposed on the support beam 262. The limiting pin 2631 can extend relative to the support beam 262 to a blocking position, where it can engage with the nut c2, thereby limiting the continued movement of the nut c2 and controlling the movement of the detection module 241. Simultaneously, the limiting pin 2631 can extend relative to the support beam 262 to a clearance position, where it will not affect the movement of the nut c2, allowing the detection module 241 to pass smoothly. For example, each sorting station 251 may correspond to two limiting pins 2631. Thus, when the nut c2 drives the detection module 241 in a reciprocating motion, the two limiting pins 2631 can respectively block different sides of the nut c2 to accommodate its reciprocating motion.

[0142] Figure 12 This is a schematic diagram of another limiting structure provided in an embodiment of this disclosure. For example... Figure 12As shown, in another example, the limiting structure 263 may include a limiting mark 2632. The limiting mark 2632 may be located on the side of the support beam 262 facing the lead screw c1. When the detection module 241 moves relative to the support beam 262, it can identify each limiting mark 2632, and stop moving when the detection module 241 identifies a target limiting mark 2632.

[0143] For example, the detection module 241 can identify the limit mark 2632 by means of a recognition camera 2633 set on the nut c2. During the movement of the detection module 241 relative to the support beam 262, the recognition camera 2633 opposite to the detection module 241 can identify the limit mark 2632 on the support beam 262, thereby facilitating the control of the movement position of the detection module 241.

[0144] For example, the limit identifier 2632 may include at least one of a QR code identifier, a barcode identifier, a pattern identifier, and a text identifier. In other words, the limit identifier 2632 may be a single type of identifier or a combination of multiple identifiers, and this embodiment is not limited thereto.

[0145] It should be noted that the limit mark 2632 in the figure is a raised structure. In actual application, the limit mark 2632 can be on the same surface as the support beam 262 and does not have a raised structure.

[0146] Figure 13 This is a schematic diagram of the workstation structure provided in the embodiments of this disclosure. Figure 2 . Reference Figure 13 As shown, workstation 200 may also include safety fence 270, which encloses workspace 202. Picking equipment 210 is located within workspace 202. Safety fence 270 is provided with safety door 273, which is configured to allow workers to enter workspace 202.

[0147] The work area of ​​the picking equipment 210 within the workstation 200 is enclosed by a safety fence 270 to indicate the activity area of ​​the picking equipment 210 within the safety fence 270. In addition, a safety door 273 is opened on the safety fence 270 to allow workers to enter and exit the work area of ​​the picking equipment 210, thereby reducing the problem of workers directly entering the work area of ​​the picking equipment 210 without any warning, which could cause injury to workers.

[0148] Figure 14 This is a schematic diagram of a safety fence provided in an embodiment of this disclosure. Figure 15 This is another structural schematic diagram of the safety fence provided in this embodiment of the disclosure. Figure 16 This is another structural schematic diagram of the safety fence provided in the embodiments of this disclosure. Figure 17This is another structural schematic diagram of the safety fence provided in the embodiments of this disclosure. Figure 18 This is another structural schematic diagram of the safety fence provided in the embodiments of this disclosure.

[0149] Reference Figures 14 to 18 As shown, in some examples, the safety fence 270 includes a plurality of posts 271 and a plurality of barriers 272. The plurality of posts 271 are spaced apart on the ground to enclose and form a workspace 202. The barriers 272 are disposed between two adjacent posts 271 to close off the workspace 202 enclosed by the posts 271.

[0150] In some examples, when a worker needs to enter the working area of ​​the picking equipment 210, the picking equipment 210 inside the safety fence 270 is first stopped, and the worker then enters the working area of ​​the picking equipment 210 through the safety door 273. This can reduce the problem of the picking equipment 210 continuing to work and causing injury to the worker.

[0151] In one example, the picking device 210 inside the safety fence 270 can be paused by a control panel located outside the safety door 273, thus enabling the picking device 210 to stop automatically.

[0152] For example, the control panel may include physical buttons or touch screen buttons so that operators can control the picking equipment 210 to pause operation via buttons.

[0153] Reference Figure 13 As shown, in another example, workstation 200 also includes a second detection device 2920, which is configured to detect whether a worker has entered workspace 202; if the second detection device 2920 detects that a worker has entered workspace 202, it controls picking device 210 and second transport device 30 to suspend operation.

[0154] For example, a second detection device 2920 is installed on the safety door 273 to detect whether a worker has passed through the safety door 273. When a worker passes through the safety door 273, it indicates that the worker has entered the workspace 202 of the picking equipment 210. At this time, it is necessary to passively control the picking equipment 210 to stop its operation. This achieves a passive emergency stop of the picking equipment 210, thereby realizing the safety protection mechanism of the workstation 200.

[0155] For example, the pillar 271 may include a first pillar 271a and a second pillar 271b, which are spaced apart to form a door frame. A security door 273 is disposed between the first pillar 271a and the second pillar 271b.

[0156] In some examples, the safety door 273 is rotatably mounted on the door frame to allow the safety door 273 to be opened or closed. In some examples, the safety door 273 is slidably mounted on the door frame to allow the safety door 273 to be opened or closed.

[0157] like Figure 14 As shown, in some examples, the cross-sectional shape of the workspace 202 is polygonal along the height direction perpendicular to the column 271. This allows for flexible placement of the column 271 according to the arrangement of equipment within the workspace 202, minimizing the space occupied by the workspace 202 and reducing the impact of the safety fence 270 on the storage system space.

[0158] like Figure 18 As shown, in some examples, the side wall of the safety fence 270 with the safety door 273 is inclined toward the workspace 202.

[0159] For example, along the y-axis, the first column 271a is located to the left of the second column 271b. Along the x-axis, the first column 271a is located behind the second column 271b. In this case, a chamfer can be formed between the first column 271a and the second column 271b. Compared to a conventional quadrilateral, this chamfer arrangement reduces the space occupied by the picking area in the workspace 202, thereby facilitating the setup of other structures outside the workstation 200 and the operation of equipment.

[0160] In some examples, baffle 272 includes a visible baffle. The visible baffle is configured to display the interior of workspace 202. This improves the visibility of the interior of workspace 202, making it easier to observe whether any abnormalities occur within workspace 202.

[0161] For example, visible baffles include, but are not limited to, transparent PC (Polycarbonate) baffles, iron mesh baffles, etc.

[0162] In some examples, baffle 272 includes a non-visual baffle. The non-visual baffle is configured to obscure the interior of workspace 202. This improves the aesthetics of workstation 200.

[0163] For example, invisible baffles include, but are not limited to, dark PC (Polycarbonate) baffles, diamond abrasive baffles, etc. For example, dark PC baffles include black PC baffles or gray PC baffles.

[0164] It should be noted that the materials of the various baffles 272 included in the safety fence 270 may be the same or different. For example, some baffles 272 may be visible baffles, while others may be invisible baffles. The arrangement of the baffles 272 can be adjusted according to actual needs, and this disclosure does not impose any restrictions on this.

[0165] Reference Figures 14 to 18 As shown, the reserved position 201 can be located outside or inside the workspace 202.

[0166] Reference Figure 15 , Figure 17 and Figure 18 As shown, in some examples, the reserved space 201 is located outside the workspace 202. This reduces the size of the second transport device 30 at the reserved space 201 that occupies the activity area of ​​the picking device 210. In addition, it also avoids the problem of the inventory container 50 on the second transport device 30 affecting the operation of the picking device 210 during the movement of the second transport device 30 or the movement of the second transport device 30.

[0167] For example, the reserved space 201 is located outside the safety fence 270 so that the reserved space 201 is located outside the workspace 202.

[0168] Reference Figure 15 As shown, when the reserved space 201 is located outside the workspace 202, the safety fence 270 includes a clearance portion 274 and a connecting portion 275. A reserved space is formed between the avoidance part 274 and the ground. The reserved space is configured to allow the second transport equipment 30 to operate. The reserved position 201 is located within the reserved space. The connecting section 275 separates the workspace 202 and the reserved space, and the picking device 210 is configured to pick the target item from the inventory container 50 on the second transport device 30 through the connecting section 275.

[0169] Taking the second transport device 30 as the second transport robot and the reserved position 201 as the docking position 201a of the second transport robot as an example, a moving space is formed between the clearance part 274 and the ground. The moving space is configured for the second transport robot to move, and the connecting part 275 connects the workspace 202 and the moving space. In this way, the picking device 2104 located in the workspace 202 can pick the target items in the inventory container 50 carried by the second transport robot in the moving space through the connecting part 275.

[0170] Specifically, the second transport robot carries the inventory container 50 from the carrier 110 in the storage area 10 and moves it into the mobile space, where it reaches the docking position 201a. When the second transport robot enters the docking position 201a, the inventory container 50 is positioned relative to the connecting part 275. The picking device 210 picks the target items from the inventory container 50 through the connecting part 275 and transfers them to the order container 60 located on the sorting platform 250, thus realizing the sorting of items.

[0171] Reference Figure 14 and Figure 16 As shown, when the reserved position 201 is located inside the workspace 202, the safety fence 270 also has an entrance 276 and an exit 277; the reserved position 201 is located between the entrance 276 and the exit 277; the entrance 276 is configured to allow the inventory container 50 to enter the workspace 202; the exit 277 is configured to allow the inventory container 50 to leave the workspace 202.

[0172] For example, when the reserved position 201 is the docking position 201a of the second transport robot, the entrance 276 is configured to allow the second transport robot loaded with the inventory container 50 to enter the workspace 202, and the exit 277 is configured to allow the second transport robot loaded with the inventory container 50 to leave the workspace 202.

[0173] By placing the reserved position 201 within the workspace 202, the distance between the docking position 201a and the picking device 210 can be reduced. Furthermore, if the target item picked by the picking device 210 falls, the target item will fall into the workspace 202 without affecting the operation of the equipment outside the workspace 202.

[0174] For example, the reserved space 201 is located within the safety fence 270 so that the reserved space 201 is located within the workspace 202.

[0175] The following explanation uses the reserved position 201 as the docking position 201a of the second transport robot as an example.

[0176] In some examples, the safety fence 270 also has an entrance 276 and an exit 277. A docking station 201a is located between the entrance 276 and the exit 277. Thus, the second transport device 30 can enter the safety fence 270 through the entrance 276, i.e., into the working area of ​​the picking device 210, and can also leave the working area of ​​the picking device 210 through the exit 277, enabling the transport device to enter or leave the docking station 201a.

[0177] The following explanation, taking the first state of the transport equipment 30 as the carrier mechanism 320 not being raised relative to the moving chassis 310, and the second state of the transport equipment as the carrier mechanism 320 being raised relative to the moving chassis 310, will be used to illustrate the operation of the transport equipment in conjunction with the setting of the safety fence 270.

[0178] In some examples, the second transport device 30 may enter the workspace 202 in a first state via entrance 276 or in a second state.

[0179] In some examples, the second transport device 30 may exit the workspace 202 via exit 277 in a first state or in a second state.

[0180] The following describes the workflow of the second transport device 30 when it passes through the entrance 276 and exit 277 of the safety fence 270 in the first state.

[0181] In some examples, after the second transport device 30 enters the entrance 276 of the safety fence 270 in a first state, the second transport device 30 changes from the first state to a second state to raise the inventory container 50 to the same height as the order container 60 on the sorting platform 250. The picking device 210 sorts the target items from the inventory container 50 into the order container 60, and after the second transport device 30 changes from the second state to the first state, it passes through the exit 277 of the safety fence 270 to lower the center of gravity of the inventory container 50 and improve transport stability.

[0182] The following describes the workflow of the second transport device 30 by taking as an example the second transport device 30 passing through the entrance 276 of the safety fence 270 in the second state and the exit 277 of the safety fence 270 in the first state.

[0183] In some examples, the second transport device 30 transitions from a first state to a second state before entering the safety fence 270. The transport device enters the entrance 276 of the safety fence 270 in the second state, and the height of the inventory container 50 is the same as the height of the order container 60 on the sorting platform 250. The picking device 210 sorts the target items from the inventory container 50 into the order container 60. After the second transport device 30 transitions from the second state to the first state, it passes through the exit 277 of the safety fence 270 to lower the center of gravity of the inventory container 50 and improve transport stability.

[0184] The following describes the workflow of the transport equipment when it passes through the entrance 276 and exit 277 of the safety fence 270 in the second state.

[0185] In some examples, before entering the safety fence 270, the transport equipment transitions from a first state to a second state. The transport equipment enters the entrance 276 of the safety fence 270 in the second state, with the height of the inventory container 50 being the same as the height of the first container a on the sorting platform 250. The picking device 210 sorts the target items from the inventory container 50 into the first container a. After the transport equipment carrying the inventory container 50 passes through the exit 277 of the safety fence 270, it transitions back from the second state to the first state to lower the center of gravity of the inventory container 50 and improve transport stability.

[0186] In one example, entrance 276 and exit 277 are respectively opened on the side wall of safety fence 270 along a second direction.

[0187] In another example, entrance 276 and exit 277 are respectively opened at the safety fence 270 along a third direction (e.g., Figure 16 The sidewall of the y-axis (as shown).

[0188] It should be noted that the positions of the entrance 276 and the exit 277 can be set according to the moving direction of the picking equipment 210, the position of the sorting platform 250, and the position of the docking station 201a. As long as the second transport equipment 30 does not affect the operation of the picking equipment 210 when entering the workspace 202 through the entrance 276 of the safety fence 270, moving within the workspace 202, or leaving the workspace 202 through the exit 277 of the safety fence 270, this disclosure does not restrict the specific positions of the entrance 276 and the exit 277.

[0189] Figure 19 This is a top view of the workstation provided in an embodiment of this disclosure. (Refer to...) Figure 19 As shown, in some examples, a picking equipment setting area 203 and a personnel activity area 204 are formed on one side of the sorting station 251 (e.g., sorting platform 250) of workstation 200. The picking equipment setting area 203 and the personnel activity area 204 are arranged along the length of the sorting platform 250. The personnel activity area 204 is equipped with the control components of the loading and unloading equipment 230 and the picking equipment 210. The safety door 273 is opened on one side of the personnel activity area 204 and communicates with the personnel activity area 204.

[0190] By arranging the personnel activity area 204 and the picking equipment setting area 203 sequentially along the length direction (i.e., the x-axis direction) of the sorting platform 250, the influence of the picking equipment 210 on the personnel activity area 204 is reduced, providing a specific activity space for the personnel activity area 204. Furthermore, by opening a safety door 273 on one side of the personnel activity area 204, workers can directly reach the personnel activity area 204 when entering the work space 202 through the safety door 273, thereby improving the safety of the workers.

[0191] In addition, after entering the personnel activity area 204 through the safety gate 273, when it is necessary to operate the picking equipment 210 and the loading and unloading equipment 230 according to abnormal situations, the staff can operate the control components in the personnel activity area 204 without having to go to other areas, such as the picking equipment setting area 203, thereby further ensuring the safety of the staff.

[0192] Reference Figure 13 As shown, in some examples, workstation 200 may also include a display module 278 mounted on safety fence 270. The display module 278 is configured to display the working status within workspace 202. For example, display module 278 can be used to display whether picking equipment 210 within workspace 202 is in a working or non-working state, thus reminding workers and reducing the likelihood of workers entering workspace 202 when picking equipment 210 is in a working state.

[0193] For example, the display module 278 may include indicator lights, display screens, etc. The configuration of the display module 278 is not limited here, as long as it can display the working status of each device in the workspace 202.

[0194] Taking display module 278 as an example, the indicator light is green when the picking device 210 is in an emergency stop state. It is red when the picking device 210 is in operation. It is yellow when the picking device 210 has received an emergency stop command and is completing its last sorting action.

[0195] In some examples, workstation 200 also includes a control panel. Located outside the workspace 202, the control panel is configured to be operated by a worker to issue emergency stop commands to the picking device 210 and the second transport device 30 located at the designated stop 201. In some examples, the control panel is also configured to separately control the emergency stop of the picking device 210 within each workstation 200 and the second transport device 30 docked at stop 201a.

[0196] The warehousing system provided in this embodiment treats each workstation 200 as an independent emergency stop unit, enabling separate control of each emergency stop unit's emergency stop. In the event of an abnormal situation at workstation 200 requiring manual intervention, only the picking equipment 210 and the second transport equipment 30 docked at the corresponding workstation 201a need to be controlled to stop, reducing the efficiency reduction caused by controlling the emergency stop of all equipment in the warehousing system.

[0197] In some examples, the specific steps for controlling an emergency stop include: the control system can send an emergency stop command to the loading / unloading equipment 230, the second transport equipment 30, and the picking equipment 210. After the workstation 200 completes the emergency stop, the picking end of the picking equipment 210 completes the previous task (i.e., there is no goods on the actuator of the picking equipment 210), the second transport equipment 30 at the docking position 201a completes the emergency stop, and the air circuit is closed, the safety door 273 opens after a preset delay.

[0198] For example, the preset time can be 3-10 seconds. Setting a preset time is to ensure that all equipment completes an emergency stop, reducing the risk of injury to workers if they enter the workspace 202 before the equipment has stopped.

[0199] Reference Figure 8 As shown, in some examples, workstation 200 may include heat dissipation equipment and electrical cabinet 280 located within safety fence 270, the electrical cabinet 280 being configured to provide electrical and control signals to picking equipment 210 so that picking equipment 210 can function properly.

[0200] The heat dissipation equipment is configured to dissipate heat from the electrical cabinet 280 to ensure that the components in the electrical cabinet 280 can operate normally, thereby ensuring the normal operation of the picking equipment 210.

[0201] For example, the heat dissipation outlet 290 of the heat dissipation device faces outwards from the safety fence 270 and is located on different sides of the safety fence 270 from the safety door 273. For instance, along the x-axis, the heat dissipation outlet 290 faces to the left and the safety door 273 faces to the right. This ensures that the heat emitted by the heat dissipation device will not directly affect personnel entering the workspace 202 through the safety door 273, thus improving system safety. Furthermore, the heat dissipation outlet 290 faces outwards from the safety fence 270 to ensure that the heat dissipation process does not interfere with the normal operation of components inside the electrical cabinet 280, and also facilitates maintenance and cleaning of the heat dissipation device, extending its service life.

[0202] Reference Figure 19 As shown, the workstation 200 of this embodiment may include a drop protection platform 2910. The drop protection platform 2910 is at least disposed in the activity area of ​​the picking device 210 between the reserved position 201 and the sorting platform 250. The drop protection platform 2910 is configured to catch target items falling from the picking device 210 at least during the process of the picking device 210 sorting target items from the inventory container 50 to the order container 60.

[0203] For example, the reserved position 201 can be set at one end of the sorting platform 250 along the x-axis and arranged perpendicular to the sorting platform 250. In addition, there is a gap between the reserved position 201 and the sorting platform 250. The anti-fall platform 2910 can be set in the gap between the reserved position 201 and the sorting platform 250. In this way, when the picking equipment 210 picks the target item from the inventory container 50 on the reserved position 201 and transfers it to the order container 60 on the sorting platform 250, if the target item accidentally falls from the picking equipment 210 due to insufficient picking force, it can fall directly to the anti-fall platform 2910 instead of falling to the ground. This ensures that the fallen target item will not interfere with the operation of the second transport equipment 30 or other equipment, and also makes it easier for staff to pick up the target item from the anti-fall platform 2910 and transfer it to a safe area such as the abnormal workstation 252.

[0204] The anti-fall platform 2910 effectively prevents target items from accidentally falling from the picking equipment 210 during the picking process due to improper operation or equipment failure, thereby preventing damage to items or chaos in the work area, improving the safety of the workstation 200 and the efficiency of picking operations.

[0205] In some examples, the fall arrestor platform 2910 may be made of non-slip, cushioning, or other materials to enhance its ability to catch falling items, prevent target items from sliding on the platform, and further ensure the safety of the target items. It also reduces the impact on the falling items themselves and the surrounding environment. Furthermore, the fall arrestor platform 2910 can be coordinated with the movement trajectory of the picking equipment 210 to ensure effective catching and protection of falling items throughout the entire picking operation.

[0206] In some examples, part of the fall arrestor platform 2910 is located in the activity area of ​​the picking equipment 210 between the reserved position 201 and the sorting platform 250, while another part can be erected on the reserved position 201 and the sorting station 251.

[0207] For example, the fall arrestor platform 2910 has a picking port 2911 and a sorting port 2912. The picking port 2911 is located above the reserved position 201 and is configured to allow the picking end of the picking device 210 to pass through to pick the target item from the inventory container 50 at the reserved position 201. The sorting port 2912 is located above the sorting platform 250 and is configured to allow the picking end of the picking device 210 to pass through to sort the target item into the order container 60 of the sorting platform 250.

[0208] For example, refer to Figure 19As shown, an integrally molded anti-fall platform 2910 is provided. The anti-fall platform 2910 is erected above the reserved position 201 on the front side of the picking equipment 210, above the sorting platform 250 on the right side, and above the gap between the sorting platform 250 and the reserved position 201. In other words, the anti-fall platform is set in the activity area of ​​the picking equipment 210. In this way, when the picking equipment 210 carries the target item to any position and the target item falls, it can fall onto the anti-fall platform 2910.

[0209] For example, there can be one picking port 2911, which is set in correspondence with the reserved position 201, so that the Jianxu equipment can pick the target items below the anti-fall platform 2910 through the picking port 2911 and transfer them to the order container 60 below the sorting port 2912, so as to successfully complete the picking and sorting of the target items.

[0210] In some examples, the edges of the picking opening 2911 and sorting opening 2912 may be designed with a smooth transition to reduce the resistance of the target item as it passes through these openings, while avoiding damage to the picking end of the picking device 210.

[0211] In some examples, the drop protection platform 2910 can also be equipped with sensors to detect if a target item has fallen. When the sensor detects a target item falling, it can trigger an alarm system to promptly notify the operator for handling. This not only improves work efficiency but also effectively prevents target items from being damaged or lost due to prolonged neglect.

[0212] In addition, the height of the fall arrestor platform 2910 can be adjusted according to actual needs to accommodate target items of different sizes and weights. By adjusting the platform height, it is ensured that the picking equipment 210 maintains a stable operating state during the picking and sorting process, thereby improving the operating efficiency of the entire warehousing system.

[0213] For example, there can be multiple sorting ports 2912, and each sorting port 2912 is set up to correspond to each sorting station 251 and abnormal station 252.

[0214] The picking device 210 of this disclosure embodiment can have various structures. For example, the picking device 210 can adopt the following... Figure 3 The loading and unloading equipment 230 shown has a structure. For example, the picking equipment 210 can be a robotic arm structure.

[0215] The following description uses robotic arm 212 as an example to illustrate the structure of picking equipment 210.

[0216] Figure 20 This is a schematic diagram of the picking device provided in an embodiment of this disclosure. (Refer to...) Figure 20As shown, in some examples, the picking device 210 may include a robotic arm 212 and at least one picking element 213 disposed at the end of the robotic arm 212.

[0217] For example, the robotic arm 212 includes a plurality of arms 212a connected in sequence, with a multi-directional rotatable connection between adjacent arms 212a, and one end of the pickup 213 is rotatably connected to the tail arm 212a. The pickup 213 is configured to pick up the target item to select the target item from the inventory container 50, and the pickup 213 is also configured to release the target item to place the target item in the order container 60.

[0218] For example, two adjacent arms 212a can be rotatably connected via a universal ball joint, and the tail arm 212a and the pickup piece 213 can be rotatably connected via a universal ball joint. The multi-directional rotation connection design of the robotic arm 212 allows it to move flexibly in three-dimensional space, adapting to the needs of picking target items at different positions and angles.

[0219] For example, each support arm 212a and the picking component 213 can rotate in the xy plane, the xz plane, or the yz plane. Thus, the end of the picking component 213 can move to any position in the three-dimensional space within its own range of motion under the drive of each support arm 212a. This allows it to move flexibly to any position in the storage container 50 to pick up target items at any position in the storage container 50, reducing picking dead zones and improving the picking success rate.

[0220] In some examples, the robotic arm 212 may also include a base 211, which may be set on the ground or on the table set on the workstation 200. This embodiment of the disclosure does not limit the setting position of the robotic arm 212.

[0221] By setting the picking device 210 as a robotic arm structure, it is convenient to pick and sort target items. On the other hand, it simplifies the structure and horizontal size of the picking device 210, thereby saving the space occupied by the workstation 200 and increasing the storage density of the storage area 10.

[0222] In some examples, the design of the pickup component 213 also takes into account the diversity of target items. The pickup point and pickup force may differ for target items of different sizes, materials, or shapes. For example, for items with flat or curved surfaces, the pickup component 213 can use a suction cup design to pick up flat or curved objects through vacuum adsorption; for items with uneven structures such as grooves on the surface, a gripper design can be used to pick up such items through clamping action. As another example, for items made of flexible materials, magnetic components or grippers can be used to pick up such items.

[0223] To accommodate different types of target items, the robotic arm 212 can be equipped with multiple pickup components 213, which may have different, identical, or partially identical pickup structures. The pickup structure includes any of the dimensions and shapes of the pickup components 213.

[0224] For example, the robotic arm 212 includes three pickups 213. The pickup structures of the three pickups 213 can be exactly the same, or the pickup structures of the three pickups 213 can all be different, or two of the three pickups 213 have the same pickup structure and are different from the pickup structure of the other pickup.

[0225] For example, two of the multiple pickup components 213 are a first pickup component 213a and a second pickup component 213b. The first pickup component 213a can be a first suction cup, and the second pickup component 213b can be a second suction cup. The suction size of the first suction cup is larger than that of the second suction cup. Thus, when it is necessary to pick up a target item with a heavier weight, the first suction cup can be used to pick up the target item, and when it is necessary to pick up a target item with a relatively lighter weight, the second suction cup can be used to pick up the target item.

[0226] For example, the first pickup component 213a can be a suction cup, and the second pickup component 213b can be a gripper. In this way, when it is necessary to pick up a target item with a smooth surface, the first suction cup can be used to pick up the target item, and when it is necessary to pick up a target item with a rough surface or an irregular shape, the gripper can be used to pick up the target item.

[0227] During operation, the control system can control different pickup components 213 to pick up target items with different parameters according to the pre-stored correspondence between the pickup parameters of the pickup component 213 and the item parameters. The item parameters include item size, dimensions, weight, material, etc.

[0228] In some examples, the warehousing system may include multiple workstations 200, and the robotic arm 212 of the same workstation 200 may be equipped with a pickup 213 of the same shape to pick up items of the same structural shape. For example, in the first workstation 200, the pickup 213 of the robotic arm 212 may include multiple suction cups of different sizes to pick up target items with flat surfaces of different sizes (e.g., tablets, items with flat boxes, etc.). In the second workstation 200, the pickup 213 of the robotic arm 212 may include multiple grippers of different sizes to pick up target items with uneven surfaces or irregular shapes of different sizes (e.g., clothing, keys, etc.).

[0229] In this way, each workstation 200 can classify and pick different types of target items, and the control system can control different types of target items to go to different workstations 200 for picking and sorting, so as to improve the item picking and sorting efficiency of the entire warehousing system.

[0230] By using different pickup components 213 to pick up different types of target items, accurate pickup and release of different types of target items can be achieved.

[0231] Reference Figure 2 As shown, in some examples, workstation 200 may include a fourth detection device 2940 configured to detect and identify items in inventory container 50 located in reserved position 201 to determine the type and pick location of the target item, thereby determining the movement trajectory and pick parameters of picking device 210 based on the type and pick location of the target item.

[0232] For example, the fourth detection device 2940 can be a camera that uses image recognition technology to identify items in the inventory container 50. The camera can capture images of the inventory container 50 and analyze the characteristics of the items in the images, such as shape, color, and size, using a preset algorithm to determine the type of the target item.

[0233] For example, the fourth detection device 2940 can also be an RFID reader, which obtains item information by reading the RFID tags on the inventory container 50. The RFID tags store detailed data about the item type, quantity, location, etc. The RFID reader can quickly read this information and transmit it to the control system. Based on the read item information, the control system accurately calculates the movement trajectory and picking parameters of the picking device 210, ensuring that the robotic arm 212 can accurately pick up the target item. In this way, the workstation 200 can efficiently handle various types of inventory containers 50, improving the operational efficiency and accuracy of the entire warehousing system.

[0234] For example, once the type of the target item is determined, the control system can determine the picking parameters of the picking device 210 based on the type of the target item. For example, the picking parameters may include the shape, size and picking force of the picking item 213.

[0235] For example, when the fourth detection device 2940 detects and identifies the target item as a flat original box, the control system can control the suction cup in the picking device 210 to pick up the target item. In addition, the suction force of the suction cup can be preset according to the weight of the original box corresponding to the target order stored in advance, so as to control the suction force of the suction cup to reach the preset suction force when adsorbing the target item, so as to stably pick up the target item.

[0236] For example, the camera can also determine the specific location of the target item in the inventory container 50, i.e., the pick-up location. Once the pick-up location of the target item is determined, the control system can calculate the movement trajectory of the picking device 210 (such as the robotic arm 212) to ensure that the robotic arm 212 can accurately reach the pick-up location and pick up the target item in an appropriate manner.

[0237] For example, when the target item is located in the upper left corner of the storage container 50 and the picking surface of the target item faces the right side wall of the storage container 50, the control system can calculate and design the motion trajectory of the robotic arm 212 based on the initial position of the picking component 213 of the robotic arm 212 and the picking position of the target item. Based on the motion trajectory, the control system determines the driving parameters of the driving mechanism of each arm 212a and the picking component 213, so that the driving mechanism drives each arm 212a and the picking component 213 to move according to the motion parameters, so that the picking end of the picking component 213 moves to the position of the target item, and the picking end of the picking component 213, such as the suction surface of the suction cup, faces the picking surface of the target item, so as to ensure that the suction cup accurately attaches to the picking surface of the target item.

[0238] In some examples, when the fourth detection device 2940 detects that the position of the pickup surface of the target item is not convenient for the pickup part 213 of the robotic arm 212 to pick it up, the control system can first control the robotic arm 212 to move to the target item and collide with the target item to readjust the pickup surface of the target item so that the pickup part 213 can contact the pickup surface and successfully pick up the target item.

[0239] This embodiment of the disclosure uses a fourth detection device 2940 to detect information such as the size, weight, or material of the target item, thereby automatically adjusting the picking strategy and force to ensure the safety and accuracy of the picking process. This flexible and versatile picking component 213 design allows the workstation 200 to adapt to various types of storage containers 50 and target items, improving the versatility and flexibility of the warehousing system.

[0240] In addition, the fourth detection device 2940 can also detect the presence or absence of target items and their picking status, ensuring the accuracy and reliability of the picking process.

[0241] For example, the fourth detection device 2940 may be mounted on the robotic arm 212, or it may be mounted at other locations on the workstation 200, such as the safety fence 270 or additionally on the bracket 260 above the reserved position 201. This embodiment of the disclosure does not limit the location of the fourth detection device 2940.

[0242] In some examples, workstation 200 may include a third detection device 2930, which is configured to detect whether the second transport robot of the second transport device 30 enters or leaves the reserved position 201.

[0243] For example, the third detection device 2930 includes a safety light curtain. When the second transport device 30 passes through the safety fence 270, the second transport device 30 affects the light output and return of the safety light curtain, thereby enabling the detection of the second transport device 30. For example, the safety light curtain is an array of paired infrared beams.

[0244] In one example, the safety light curtain includes a transmitter and a receiver, with the transmitter and receiver positioned opposite each other on the beam of the entrance 276 of the safety fence 270. The transmitter is configured to output an array of infrared beams, and the receiver is configured to receive the array of infrared beams.

[0245] In this way, the infrared beam array forms a "light wall" between the transmitter and the receiver. When there is no obstruction between the transmitter and receiver (i.e., no transport equipment passes through the entrance 276 of the safety fence 270), the receiver can receive all the infrared beams emitted by the transmitter, thus determining that no transport equipment has entered the docking position 201a. When there is an obstruction between the transmitter and receiver (i.e., the second transport equipment 30 passes through the entrance 276 of the safety fence 270), the receiver cannot receive all the infrared beams emitted by the transmitter, thus determining that transport equipment has entered the docking position 201a.

[0246] In some examples, the third detection device 2930 may include a detection camera. The detection camera is configured to capture an image of the dock 201a and analyze whether the second transport device 30 is docked at the dock 201a in the image, or to analyze whether the reserved space 201 in the image has a storage container 50.

[0247] In one example, the detection camera is mounted on the safety fence 270, and the camera's shooting direction corresponds to the docking position 201a.

[0248] It is understandable that the method of setting a third detection device 2930 at the exit 277 of the safety fence 270 to detect whether the first output device has left the reserved position 201 is similar to the method of determining whether the second transport device 30 has entered the reserved position 201, and will not be described again here.

[0249] In some examples, workstation 200 includes a fifth detection device 2950, ​​which is configured to detect abnormalities in picking device 210 picking up target items and to control picking device 210 to pick up target items again when picking device 210 picks up abnormally.

[0250] For example, the fifth inspection device 2950 can be installed on the picking device 210 or on the bracket of the workstation 200. This embodiment of the disclosure does not limit the installation location of the fifth inspection device 2950.

[0251] For example, when the picking device 210 fails to pick up the target item correctly, or when an abnormal situation occurs during the picking process such as an item being dropped, or when two items are picked up simultaneously (at least one of which may be from another order), the fifth detection device 2950 can quickly identify and trigger a re-picking instruction. This design ensures the accuracy and efficiency of the picking operation, reducing time wastage and efficiency reduction caused by operational errors.

[0252] Meanwhile, the fifth inspection device 2950 also has real-time monitoring and recording functions, which can record the process and results of each picking operation in detail, providing strong support for subsequent data analysis and optimization.

[0253] For example, the fifth detection device 2950 can be a camera, an infrared sensor, a weight sensor, or a combination of the above sensors. The camera can capture the operation of the picking device 210 and use image recognition technology to determine whether the picking device 210 has accurately picked up the target item. The infrared sensor can determine whether the item has been correctly picked up by detecting the reflection or obstruction of infrared light. The weight sensor can accurately measure the weight of the items carried by the picking device 210, thereby determining whether any items have fallen or whether multiple items have been picked up simultaneously. This diversified detection method further improves the accuracy and reliability of the picking operation.

[0254] Reference Figure 2 As shown, in some examples, workstation 200 includes a sixth detection device 2960, which is configured to detect whether there is an abnormality within workstation 200, and to control at least picking device 210 and second transport device 30 to stop working in the event of an abnormality in workstation 200.

[0255] For example, the sixth detection device 2960 includes a detection camera configured to capture images within the workspace 202 to analyze whether the conditions within the workspace 202 match pre-stored anomalies. If they match, an anomaly is determined in the workspace 202, and an emergency stop command is issued, for example, controlling the picking device 210 and the second transport device 30 to cease operation. This allows personnel to enter the workspace 202 to rectify the anomaly.

[0256] For example, the sixth detection device 2960 may be installed on the safety fence 270 or on an additional bracket. This embodiment of the disclosure does not limit the installation location of the sixth detection device 2960.

[0257] Figure 21 This is a schematic diagram of the structure of a workstation 200 provided in an embodiment of this disclosure. Figure 3 . Reference Figure 21As shown, multiple reserved positions 201 can be arranged on different sides of the outer periphery of the picking equipment 210, and the inventory containers 50 on the multiple reserved positions 201 are used to dock with one or more picking equipment 210.

[0258] For example, reserved positions 201 (e.g., docking positions 201a) can be set on both the left and right sides of the workstation 200 along the x-direction, and one or more picking devices 210 can be set between the reserved positions 201 on the left and right sides. When there is only one picking device 210, one picking device 210 can pick the target items on the left and right sides in sequence according to the order requirements.

[0259] When there are multiple picking devices 210, such as two, one picking device 210 is used to pick the target item on the left reserved position 201, and the other picking device 210 can pick the target item on the right reserved position 201. In this way, multiple picking devices 210 can simultaneously pick and sort the same order of goods or different order goods, thereby improving the picking and sorting efficiency of goods.

[0260] The above design not only improves the flexibility of the picking equipment 210 but also optimizes the utilization efficiency of storage space. During the picking process, the picking equipment 210 can automatically select the optimal reserved position 201 to dock with the inventory container 50 according to preset instructions or algorithms, thereby completing the picking of items. In addition, the design of multiple reserved positions 201 also enables the workstation 200 to handle multiple picking tasks simultaneously, further improving overall work efficiency.

[0261] Figure 22 This is a schematic diagram of the structure of a workstation provided in an embodiment of this disclosure. Figure 4 . Reference Figure 22 As shown, in some examples, multiple loading and unloading devices 230 are provided on different sides of the outer periphery of the picking device 210, and a corresponding seeding wall 220 is provided on one side of each loading and unloading device 230. The picking equipment 210 is configured to transfer the picked target items to the corresponding seeding wall 220 via different loading and unloading equipment 230.

[0262] For example, loading and unloading devices 230 can be installed on both one side of the picking device 210 along the y-direction and the other side along the x-direction. Simultaneously, a corresponding seeding wall 220 can be installed on the side of each loading and unloading device 230 facing away from the picking device 210, increasing the number of storage locations for order containers 60 in the workstation 200. This allows the target items picked by the picking device 210 to be sorted to the corresponding seeding wall 220 via either of the two loading and unloading devices 230. On the one hand, this enables rapid sorting of target items without waiting for one of the loading and unloading devices 230, improving the sorting efficiency of the workstation 200. On the other hand, it also increases the fault tolerance and flexibility of the warehousing system. If one loading and unloading device 230 fails, the picking device 210 can still continue operating using the other loading and unloading device 230, avoiding the risk of the entire workstation 200 shutting down due to a single device failure.

[0263] In addition, the design of this dual-sided loading and unloading equipment 230 enables the workstation 200 to adapt to the order processing needs of different sizes and types. By flexibly adjusting the use of the dual-sided loading and unloading equipment 230 and the seeding wall 220, the workflow is optimized and the overall operational efficiency is improved.

[0264] In addition, by setting up multiple loading and unloading devices 230 and corresponding seeding walls 220, the workstation 200 can flexibly handle orders of different sizes and types, further enhancing its adaptability and processing capacity.

[0265] The warehousing and processing method provided in this disclosure includes the following steps: S100: Obtain information for at least one order to be picked.

[0266] The execution entity of the method in this embodiment of the disclosure may be a server used to manage the warehouse processing flow, such as a server with a warehouse management system (WMS) or a warehouse execution system (WES) installed.

[0267] The order information to be picked can be the order information for which goods need to be picked. This order information may include: order number (used to identify the order for easy tracking and management), delivery address, and required goods information (such as goods name, goods specifications, and goods quantity).

[0268] S200, instructs the picking equipment 210 to sort at least one target item corresponding to order information into the order container 60; This disclosure embodiment can obtain a list of order information that needs to be picked, and then execute the order picking task according to the instructions of the order information list.

[0269] In some examples, a picking list (or order list, etc.) can be generated based on order information. This picking list may include information about the goods to be picked and the location of the goods in the storage area. The picking list is sent to the picking equipment 210 of the corresponding workstation 200, and the goods are scanned by the fourth detection equipment 2940 of the workstation 200 (e.g., a barcode scanner) to ensure that the picked goods are consistent with the order requirements, that is, the goods are the target items. According to the quantity requirements on the picking list, the target items are accurately retrieved by the picking equipment 210 and sorted into the order container 60.

[0270] In some examples, S200, which instructs the picking device 210 to sort at least one target item corresponding to an order message into the order container 60, may include: S210, instruct the second transport equipment 30 to transfer the target item corresponding to the order information or the inventory container 50 carrying the target item to the reserved position 201 of the workstation 200.

[0271] Based on the order information obtained by S100, the control system can instruct the second transport device 30 to move the target item or the inventory container 50 already loaded with the target item to the designated workstation 200. This handling method of the second transport device 30 ensures that the target item is safely and quickly transported from the storage area 10 to the workstation 200 for picking, thus improving the transfer efficiency of the target item from the storage area 10 to the workstation 200.

[0272] For example, a picking list (or order list, etc.) can be generated based on order information. This picking list may include information about the goods to be picked and the location of the goods in the storage area. According to the instructions of the picking list, the automated equipment in the warehouse area retrieves the corresponding ordered goods or the inventory container 50 containing the ordered goods, and then hands them over to the second transport equipment 30 to the reserved position 201 (i.e., the docking position 201a) of the designated workstation 200, and then the goods are picked by the picking equipment 210.

[0273] S220, the loading and unloading equipment 230 transfers the order container 60 corresponding to the order information on the seeding wall 220 to the picking equipment 210.

[0274] In some examples, the loading and unloading equipment 230 is also provided with a sorting platform 250 on the side facing the picking equipment 210.

[0275] For example, instructing the loading and unloading equipment 230 to transfer the order container 60 corresponding to the order information on the seeding wall 220 to the picking equipment 210 side includes: instructing the loading and unloading equipment 230 to transfer the order container 60 corresponding to the order information from the seeding wall 220 to the sorting station 251 of the sorting platform 250; Instructing the picking equipment 210 to sort target items into the order container 60 includes instructing the picking equipment 210 to sort target items in the inventory container 50 into the order container 60 located at the sorting station 251.

[0276] The loading and unloading equipment 230 transfers the order container 60 from the seed wall 220 to the sorting station 251 of the sorting platform 250. The picking equipment 210 sorts the target items in the inventory container 50 into the order container 60 located at the sorting station 251. This allows the loading and unloading equipment 230 to continue transferring other order containers 60 after unloading the order container 60, without waiting for the picking equipment 210, thus improving the working efficiency of the loading and unloading equipment 230. In addition, it also facilitates the docking of the picking equipment 210 with the order container 60 to smoothly deliver the target items into the order container 60.

[0277] In some examples, after the loading / unloading device 230 removes the order container 60 from the seed wall 220, it moves to the side closer to the picking device 210, but there is no need to unload the order container 60. The picking device 210 can directly sort the target items from the inventory container 50 into the order container 60 located on the loading / unloading device 230. S230, instruct the picking device 210 to sort the target items into the order container 60.

[0278] For example, multiple order containers 60 can be placed in the seeding wall 220. Each order container 60 corresponds to an order information. For instance, if an order container 60 is bound to order information, it can be used to store the goods corresponding to the order information. The loading / unloading equipment 230, positioned at the corresponding location on the seeding wall 220, can transfer the target order container 60 to the picking equipment 210, receive the target item delivered by the picking equipment 210, and record the corresponding data. Alternatively, based on prompts from the control system (such as voice, video, or light prompts), the loading / unloading equipment 230 locates the corresponding order container 60 in the seeding wall 220 and transfers it to the picking equipment 210. Furthermore, before receiving the target item, the order container 60 can scan the goods and the order container 60 again to confirm correct delivery and ensure that each item is placed in the correct order container 60.

[0279] In some embodiments, the control system can determine which goods are still needed to meet the packaging conditions based on the order information corresponding to the order container 60. When these goods are delivered by the second transport equipment 30, the loading and unloading equipment 230 is used to move the order container 60 from the seeding wall 220 to the picking equipment 210 side, and then the picking equipment 210 delivers the target item to the order container 60.

[0280] For example, check the current goods in the order container 60 and compare them with the order requirements to determine which goods are still needed. If some or all of these goods are transported from the warehouse to the workstation 200 by the second transport equipment 30, then use the loading and unloading equipment 230 to move the order container 60 from the seeding wall 220 to the picking equipment 210 side, where the target items are delivered to the corresponding order container 60.

[0281] Of course, in some examples, the control system can determine the order container 60 corresponding to the target item based on the order information corresponding to the order container 60, and then the loading and unloading equipment 230 transfers the order container 60 to the picking equipment 210, and the picking equipment 210 sorts the target item in the inventory container 50 into the order container 60.

[0282] In some examples, workstation 200 may also include a fourth detection device 2940; Instructing picking equipment 210 to pick target items from inventory container 50 to order container 60 includes: S231. The fourth detection device 2940 detects and identifies the target item on the second transport device 30 to determine the type and pick-up location of the target item, and determines the movement trajectory and pick-up parameters of the picking device 210 based on the type and pick-up location of the target item.

[0283] S232, Picking equipment 210 sorts target items from inventory container 50 to order container 60 based on movement trajectory and pick parameters.

[0284] For example, the fourth detection device 2940 can be a camera that uses image recognition technology to identify items in the inventory container 50. The camera can capture images of the inventory container 50 and analyze the characteristics of the items in the images, such as shape, color, and size, using a preset algorithm to determine the type of the target item.

[0285] For example, the fourth detection device 2940 can also be an RFID reader, which obtains item information by reading the RFID tags on the inventory container 50. The RFID tags store detailed data about the item type, quantity, location, etc. The RFID reader can quickly read this information and transmit it to the control system. Based on the read item information, the control system accurately calculates the movement trajectory and picking parameters of the picking device 210, ensuring that the robotic arm 212 can accurately pick up the target item. In this way, the workstation 200 can efficiently handle various types of inventory containers 50, improving the operational efficiency and accuracy of the entire warehousing system.

[0286] For example, once the type of the target item is determined, the control system can determine the picking parameters of the picking device 210 based on the type of the target item. For example, the picking parameters may include the shape, size and picking force of the picking item 213.

[0287] For example, when the fourth detection device 2940 detects and identifies the target item as a flat original box, the control system can control the suction cup in the picking device 210 to pick up the target item. In addition, the suction force of the suction cup can be preset according to the weight of the original box corresponding to the target order stored in advance, so as to control the suction force of the suction cup to reach the preset suction force when adsorbing the target item, so as to stably pick up the target item.

[0288] For example, the camera can also determine the specific location of the target item in the inventory container 50, i.e., the pick-up location. Once the pick-up location of the target item is determined, the control system can calculate the movement trajectory of the picking device 210 (such as the robotic arm 212) to ensure that the robotic arm 212 can accurately reach the pick-up location and pick up the target item in an appropriate manner.

[0289] For example, when the target item is located in the upper left corner of the storage container 50 and the picking surface of the target item faces the right side wall of the storage container 50, the control system can calculate and design the motion trajectory of the robotic arm 212 based on the initial position of the picking component 213 of the robotic arm 212 and the picking position of the target item. Based on the motion trajectory, the control system determines the driving parameters of the driving mechanism of each arm 212a and the picking component 213, so that the driving mechanism drives each arm 212a and the picking component 213 to move according to the motion parameters, so that the picking end of the picking component 213 moves to the position of the target item, and the picking end of the picking component 213, such as the suction surface of the suction cup, faces the picking surface of the target item, so as to ensure that the suction cup accurately attaches to the picking surface of the target item.

[0290] In other examples, S200, which instructs the picking device 210 to sort at least one target item corresponding to an order information into the order container 60, may include: If the target item is present in the target carrier 110 in the workstation 200, the picking equipment 210 is instructed to pick the target item from the target carrier 110 to the order container 60.

[0291] For example, it can be determined first whether there are target goods corresponding to the order information in the target vehicle 110 set by the workstation 200.

[0292] The target vehicle 110 can be a shelf or container, etc. The target vehicle 110 can be configured near the workstation 200, and the target goods are pre-placed in the target vehicle 110.

[0293] In some embodiments, a target vehicle 110 containing target items that appear more frequently than a preset threshold in historical or predicted orders, and / or are related to the current season, and / or are fragile, may be placed in advance at a workstation 200.

[0294] For example, it is possible to pre-instruct the delivery of goods that appear more frequently than a preset threshold in historical or predicted orders (i.e., orders predicted in advance based on historical data), and / or goods that are related to the current season, and / or fragile, to the target vehicle 110. For instance, the target vehicle 110 may contain various goods pre-delivered based on historical order frequency (which can be used to identify popular order items), seasonal demand (such as goods related to the current season), or fragility characteristics (such as easily damaged goods, which can be stored near workstation 200 to reduce the risk of damage during temporary handling). Alternatively, the target vehicle 110, containing goods that appear more frequently than a preset threshold in historical or predicted orders, and / or goods that are related to the current season, and / or fragile, may be pre-placed at workstation 200, etc.

[0295] In this embodiment, it can first determine whether there is a target product matching the current order information in the target carrier 110 (such as a shelf, pallet, etc.) set at the corresponding position of the workstation 200. If the target product exists, the required product can be picked from the target carrier 110 nearby, thereby realizing a rapid response to order requirements.

[0296] If the target vehicle 110 contains the target goods corresponding to the order information, then instruct the target goods in the target vehicle 110 to be used to perform goods picking at workstation 200.

[0297] For example, if there are indeed target goods in the target vehicle 110 that match the current order information, the control system will instruct the picking equipment 210 to use these goods for picking operations. The picking equipment 210 will pick the goods according to the order information and sort them into the order container 60 of the sorting platform 250.

[0298] This embodiment of the disclosure allows for the pre-delivery of high-frequency, seasonal, and fragile goods to target carriers 110 near workstation 200. During order picking, it can first be determined whether the target carrier 110 contains the target goods corresponding to the order information. If the target carrier 110 does indeed contain target goods matching the current order information, it can be instructed to use the target goods in the target carrier 110 to perform goods picking at workstation 200 and complete the picking process. This significantly improves picking efficiency, reduces the travel distance and time of the second transport equipment 30, and enables rapid response to order demands.

[0299] S300, the instruction loading and unloading equipment 230 transfers the order container 60 to the empty space of the seeding wall 220 of the workstation 200. Multiple order containers 60 can be placed in the seeding wall 220, and the order container 60 corresponds to the order information.

[0300] For example, the empty space in the seeding wall 220 can be the initial position of the order container 60 or a rearranged empty space. For instance, after the workstation 200 receives the order information, the loading and unloading equipment 230 transfers the order container 60 from the seeding wall 220 to the picking equipment 210 side. After the seeding wall 220 becomes empty at the position where the order container 60 is located, when an empty order container 60 is placed in the empty space, after the order container 60 on the picking equipment 210 side completes the delivery of the target item, the control system can rearrange the seeding position of the order container 60. Based on the rearranged seeding position, the loading and unloading equipment 230 transfers the order container 60 to the new seeding position and feeds back the seeding position to the control system so that the next sorting operation can proceed smoothly.

[0301] S400: When there is an order container 60 in the seeding wall 220 that meets the turnover conditions, instruct the first transport device 40 to transport the order container 60 that meets the turnover conditions from the seeding wall 220 to the target area.

[0302] Among them, the order container 60 that meets the turnover conditions can be an order container 60 where the order has been picked (such as the container containing all the goods of the order), or an order container 60 that has been filled, or an order container 60 where the picking has been completed in stages, etc.

[0303] The target area can be a goods packaging area or a conveyor line receiving end that connects to the goods packaging area. For example, the first transport equipment 40 places the order container 60 that meets the turnover conditions at the conveyor line receiving end, and the order container 60 can be transported to the goods packaging area through the conveyor line.

[0304] In some examples, the presence of order containers 60 that have been picked or are full of goods in the seeding wall 220 can be monitored. If such order containers are found, they are considered as fulfilling turnover conditions, and the first transport device 40 can be instructed to transport them from the seeding wall 220 to the target area. This method accurately identifies goods requiring packaging and promptly transports the fulfilling order containers 60 to the target area for packaging and shipping, preventing these containers from occupying the seeding wall 220's space for extended periods.

[0305] In some embodiments, instructing the first transport device 40 to transport the order containers 60 that meet the turnover conditions placed on the seeding wall 220 to the target area may specifically include: firstly, determining the order destination (such as the final destination of the ordered goods) and / or the order type (such as a regular order, an expedited order, or a member order) and / or the order transportation method (such as land transportation, sea transportation, or air transportation) based on the order information corresponding to the order containers 60 that meet the turnover conditions; then determining the target packaging area corresponding to the order destination, and / or the order type, and / or the order transportation method; and then instructing the first transport device 40 to transport the order containers 60 that meet the turnover conditions placed on the seeding wall 220 to the target packaging area.

[0306] For example, different packing areas are equipped with different equipment and materials to meet specific needs. If the destination of an order is location A, type a packaging material is used; while if the destination is location B, due to the longer distance, a more robust packaging material than type a can be used. Different packing areas correspond to these two types of packaging materials and corresponding processing equipment. Alternatively, if it is land transport, packing area 1 can be designated as the target packing area; if it is air transport, packing area 2 can be designated as the target packing area. After determining the target packing area, the first transport equipment 40 can be instructed to transport the order containers 60, which meet the turnover requirements and are placed on the seeding wall 220, to their corresponding target packing area, thus achieving targeted packing and shipping operations to meet the corresponding needs.

[0307] Compared with the current related technologies that require the picking and sorting of goods to be performed in two separate areas, the embodiments of this disclosure can perform the picking and sorting of goods in one area, avoiding the turnover of goods between the picking area and the sorting area, saving processing time, reducing labor consumption, and thus improving the efficiency of warehousing processing.

[0308] In some examples, the seeding wall 220 includes a storage location 221 and a cache location 222, with the cache location 222 located below the storage location 221. The storage location 221 is configured at least to hold order containers 60 that do not meet the turnover conditions; the cache location 222 is configured at least to hold order containers 60 that meet the turnover conditions.

[0309] For example, S400, that is, when there is an order container 60 in the seeding wall 220 that meets the turnover conditions, instructing the first transport device 40 to transport the order container 60 that meets the turnover conditions from the seeding wall 220 to the target area, may include: The loading and unloading equipment 230 is instructed to transfer the order container 60 that meets the turnover conditions to the buffer position 222, and the first transport equipment 40 is instructed to transfer the order container 60 that is located in the buffer position 222 and meets the turnover conditions to the target area.

[0310] For example, a buffer position 222 is set at the bottom of the seeding wall 220. When it is detected that there is a turnover container 110 in the seeding wall 220 that meets the turnover conditions, the order container 60 that meets the turnover conditions in the seeding wall 220 is moved from the storage position 221 to the buffer position 222 by the loading and unloading equipment 230. The first transportation equipment 40 can receive the order container 60 that meets the turnover conditions in the buffer position 222, and then move the order container 60 to the target area for packaging and delivery, thereby realizing the sorting of goods in the workstation 200.

[0311] In some examples, workstation 200 also includes a first detection device 240; S200, which instructs the picking equipment 210 to sort at least one target item corresponding to order information into the order container 60, may include: S201. The remaining space in the order container 60 is detected by the first detection device 240.

[0312] For example, when the position of the first detection device 240 corresponds to the target order container 60, the first detection device 240 can detect the remaining space in the target order container 60 in order to determine whether the target item can still be placed.

[0313] In some examples, when the first detection device 240 detects the remaining space in the target order container 60, it can determine the remaining depth, remaining volume, etc. of the target order container 60.

[0314] In one example, taking the calculation of remaining depth as an example, if the first detection device 240 is an infrared sensor, the infrared sensor can detect a first distance between the surface of the item currently stored in the target order container 60 and the infrared sensor, and a second distance between the edge of the target order container 60 and the infrared sensor. By calculating the difference between the first distance and the second distance, the remaining depth of the target order container 60 can be obtained, thereby determining the remaining space in the target order container 60.

[0315] In another example, taking the calculation of remaining volume as an example, if the first detection device 240 is a camera module, the camera module can collect images of the storage status of items in the target order container 60, and calculate the current remaining volume in the target order container 60 through image processing to determine the remaining space in the target order container 60.

[0316] S202, when the remaining space meets the preset conditions, the picking equipment 210 sorts the target items into the order container 60.

[0317] For example, if the remaining space in the target order container 60 is detected to meet the preset conditions, the picking device 210, such as the robotic arm 212, can sort the target items into the target order container 60.

[0318] In one example, if the first detection device 240 detects the remaining space by detecting the remaining depth, then if the detected remaining depth is greater than the depth threshold, it means that the remaining space in the target order container 60 meets the preset conditions, and the target item can be placed in the target order container 60.

[0319] For example, if the remaining depth of the target order container 60 detected by the first detection device 240 is 15cm, the remaining depth of 15cm is greater than the depth threshold, indicating that the remaining space in the target order container 60 meets the preset conditions.

[0320] In another example, if the first detection device 240 detects the remaining space by detecting the remaining depth, then if the detected remaining depth ratio is greater than the depth ratio threshold, it means that the remaining space in the target order container 60 meets the preset conditions, and the target item can be placed in the target order container 60.

[0321] For example, if the remaining depth of the target order container 60 detected by the first detection device 240 is 15cm, and the initial depth of the target order container 60 is 50cm, then the remaining depth ratio is: remaining depth 15cm / initial depth 50cm = 0.3. The remaining depth ratio of 0.3 is greater than the depth ratio threshold of 0.1, indicating that the remaining space in the target order container 60 meets the preset conditions.

[0322] In another example, if the first detection device 240 detects the remaining space by detecting the remaining volume, then if the detected remaining volume is greater than the volume threshold, it means that the remaining space in the target order container 60 meets the preset conditions, and the target item can be placed in the target order container 60.

[0323] For example, if the remaining volume of the target order container 60 detected by the first detection device 240 is 1000cm3, the remaining volume of 1000cm3 is greater than the volume threshold of 500cm3, indicating that the remaining space in the target order container 60 meets the preset conditions.

[0324] In another example, if the first detection device 240 detects the remaining space by detecting the remaining volume, then if the detected remaining volume ratio is greater than the volume ratio threshold, it means that the remaining space in the target order container 60 meets the preset conditions, and the target item can be placed in the target order container 60.

[0325] For example, if the remaining volume of the target order container 60 detected by the first detection device 240 is 1000 cm3, and the volume of the target order container 60 is 4000 cm3, then the remaining volume ratio is: remaining volume 1000 cm3 / volume 4000 cm3 = 0.25. The remaining volume ratio of 0.25 is greater than the volume ratio threshold of 0.2, indicating that the remaining space in the target order container 60 meets the preset conditions.

[0326] It should be noted that the preset conditions can be adjusted based on the data types that the first detection device 240 can detect. For example, if the data type that the first detection device 240 can detect is a depth value, the preset conditions can be related to the depth value; if the data type that the first detection device 240 can detect is a volume value, the preset conditions can be related to the volume value. This embodiment does not impose any limitations. Furthermore, when comparing the remaining space detected by the first detection device 240 with the preset conditions, the data detected by the first detection device 240 can be processed according to the preset conditions to facilitate comparison. In this embodiment, the specific data processing method is not limited; only relevant examples are provided.

[0327] In some examples, if the remaining space in the target order container 60 is detected to be insufficient to meet the preset conditions, the robotic arm 212 can place the target item in the abnormal workstation 252.

[0328] In one example, if the first detection device 240 detects the remaining space by detecting the remaining depth, then if the detected remaining depth is less than or equal to the depth threshold, it means that the remaining space in the target order container 60 does not meet the preset conditions, and the target item can be placed in the abnormal workstation 252.

[0329] For example, if the remaining depth of the target order container 60 detected by the first detection device 240 is 3cm, the remaining depth of 3cm is less than the depth threshold of 5cm, indicating that the remaining space in the target order container 60 does not meet the preset conditions.

[0330] In some examples, items placed at abnormal workstation 252 can wait for the next round of sorting or wait for staff to process them.

[0331] In addition to the abnormal workstation 252, if the remaining space in the target order container 60 does not meet the preset conditions, the robotic arm 212 can also place the target item in the inventory container 50 or other locations in the workstation 200, which is not limited in this embodiment.

[0332] In other examples, if the remaining space in the target order container 60 does not meet the preset conditions, the robotic arm 212 can also pause its work and wait for the target order container 60 at the sorting station 251 to be replaced, and then place the target item into the updated target order container 60 after the replacement is completed.

[0333] In some examples, when the robotic arm 212 places the target item into the target order container 60, the robotic arm 212 can place the target item into the target order container 60 according to a preset stacking rule.

[0334] In one example, the preset stacking rules include placing the target item directly into the target order container 60. In this case, the robotic arm 212 can place the target item at any position within the target order container 60.

[0335] In another example, the preset stacking rules include placing the target item in a relatively empty position within the target order container 60. For instance, if the items in the target order container 60 are currently all placed on one side of the container, leaving the other side relatively empty, then the robotic arm 212 can place the target item on the relatively empty side to achieve efficient use of the space within the target order container 60.

[0336] In another example, the preset rules include stacking the target items according to the existing stacking pattern. For example, if all the items in the target order container 60 are stacked on the same side, the robotic arm 212 can prioritize stacking the items on the same side, and after sufficient items have been stacked on that side, then stack them on the other side.

[0337] It is understood that the preset stacking rules for the robotic arm 212 to place the target items in the target order container 60 can be adjusted according to the actual situation, and are not limited in this embodiment.

[0338] Furthermore, the preset stacking rules can include multiple rules, and different stacking rules can be determined based on the remaining space in the target order container 60. For example, if there is ample remaining space in the target order container 60, the robotic arm 212 can directly place the target item at any position within the target order container 60; if there is limited remaining space in the target order container 60, the robotic arm 212 can place the target item in an empty position or stack it based on the current stacking arrangement. In this embodiment, the preset stacking rules are not limited.

[0339] In some examples, workstation 200 also includes a safety fence 270 that encloses a workspace 202 in which picking equipment 210 is located; The safety fence 270 is equipped with a safety door 273 and a second detection device 2920. The safety door 273 is configured to allow workers to enter the work space 202, and the second detection device 2920 is configured to detect whether workers have entered the work space 202. For example, the processing method further includes: S500, if the second detection device 2920 detects that a worker has entered the workspace 202, at least the picking device 210 shall be controlled to stop working.

[0340] For example, a second detection device 2920 is installed on the safety door 273 to detect whether a worker has passed through the safety door 273. When a worker passes through the safety door 273, it indicates that the worker has entered the workspace 202 of the picking equipment 210. At this time, it is necessary to passively control the picking equipment 210 to stop its operation. This achieves a passive emergency stop of the picking equipment 210, thereby realizing the safety protection mechanism of the workstation 200.

[0341] In some examples, workstation 200 also includes a sixth detection device 2960, which is configured to detect whether there are any abnormal conditions within workstation 200; For example, S600, the processing method further includes: In the event of an abnormal situation at workstation 200, at least the picking equipment 210 and the second transport equipment 30 shall be stopped to allow workers to enter the workspace 202 of workstation 200 through safety door 273.

[0342] For example, the sixth detection device 2960 includes a detection camera configured to capture images within the workspace 202 to analyze whether the conditions within the workspace 202 match pre-stored anomalies. If they match, an anomaly is determined in the workspace 202, and an emergency stop command is issued, for example, controlling the picking device 210 and the second transport device 30 to cease operation. This allows personnel to enter the workspace 202 to rectify the anomaly.

[0343] For example, the sixth detection device 2960 may be installed on the safety fence 270 or on the additional bracket 260. This embodiment of the disclosure does not limit the installation location of the sixth detection device 2960.

[0344] It should be noted that, upon consideration of the specification and practice of the disclosure herein, those skilled in the art will readily conceive of other embodiments of this disclosure. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein.

[0345] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The true scope is indicated by this disclosure.

Claims

1. A workstation, characterized by include: The picking device (210) has a reserved position (201) on one side, which is configured to place an inventory container (50) containing a target item. The picking device (210) is configured to pick the target item from the inventory container (50) and sort the target item into an order container (60). The seeding wall (220) is configured to place the order container (60); The loading and unloading equipment (230) is arranged adjacent to the seeding wall (220) and the sorting equipment (210); The loading and unloading equipment (230) is configured to remove the order container (60) from the seeding wall (220), and after the picking equipment (210) sorts the target item from the inventory container (50) to the order container (60), transfer the order container (60) to the seeding wall (220), and when the order container (60) meets the turnover conditions, transfer the order container (60) that meets the turnover conditions from the seeding wall (220) to the target area by the first transport equipment (40), and / or, the seeding wall (220) is configured to receive empty order containers (60) transferred by the first transport equipment (40).

2. The workstation of claim 1, wherein, The seeding wall (220) includes a storage location (221) and a cache location (222). The storage location (221) is configured to hold at least the order container (60) that does not meet the turnover conditions; the cache location (222) is configured to hold at least the order container (60) that meets the turnover conditions. The loading and unloading equipment (230) is configured to transfer the order container (60) that meets the turnover conditions to the buffer position (222) when the order container (60) meets the turnover conditions, so that the first transport equipment (40) docks with the buffer position (222) and transfers the order container (60) located on the buffer position (222) and meeting the turnover conditions to the target area.

3. The workstation of claim 2, wherein, After the picking device (210) sorts the target item into the order container (60), if the order container (60) meets the turnover conditions and there is an empty space in the buffer position (222), the loading and unloading device (230) is configured to transfer the order container (60) that meets the turnover conditions from the picking device (210) side to the buffer position (222) so that the first transport device (40) can transfer it to the target area.

4. The workstation of claim 2, wherein, The storage location (221) is configured to temporarily store order containers (60) that meet the turnover conditions. After the picking device (210) sorts the target items into the order container (60), if the order container (60) meets the turnover conditions and the buffer position (222) is empty, the loading and unloading device (230) transfers the order container (60) that meets the turnover conditions to the storage position (221). If there is an empty position in the buffer position (222), the loading and unloading device (230) transfers the order container (60) that meets the turnover conditions in the storage position (221) to the buffer position (222) so that the first transport device (40) can transfer it to the target area.

5. The workstation of claim 2, wherein, The buffer (222) is also configured to hold the empty order container (60) transferred by the first transport device (40). The loading and unloading equipment (230) is configured to remove the empty order container (60) from the buffer position (222) and transfer it to the storage position (221), or transfer it to the picking equipment (210) side when a picking task is received, to receive the target items picked by the picking equipment (210) from the inventory container (50).

6. The workstation of claim 1, wherein, The workstation (200) also includes a sorting station (251): The sorting station (251) is configured to carry the order container (60); The loading and unloading equipment (230) is configured to transfer the order container (60) between the sorting station (251) and the seed wall (220), and the picking equipment (210) is configured to sort the target items in the inventory container (50) into the order container (60) on the sorting station (251).

7. The workstation of claim 6, wherein, The workstation (200) also includes: The first detection device (240) is configured to detect the remaining space in the order container (60), and the picking device (210) is configured to sort the target items in the inventory container (50) into the order container (60) when the remaining space meets preset conditions.

8. The workstation of claim 7, wherein, The workstation (200) also includes an abnormal workstation (252); If the first detection device detects that the remaining space of the order container (60) does not meet the preset conditions, the picking device (210) is configured to place the target item picked from the inventory container (50) at the abnormal workstation (252).

9. The workstation of claim 7, wherein, The workstation is equipped with multiple sorting stations (251). The first detection device (240) moves relative to the sorting station (251) to switch between each sorting station (251) to detect whether the remaining space of the order container (60) at each sorting station (251) meets the preset conditions.

10. The workstation of claim 9, wherein, The workstation (200) also includes a support (260); The first detection device (240) includes: The detection module (241) is configured to detect whether the remaining space of the order container (60) meets the preset conditions; A drive module (242) is connected to the detection module (241) and is configured to drive the detection module (241) to move relative to the sorting station (251); The drive module (242) is mounted on the bracket (260) to place the detection module (241) above the sorting station (251).

11. The workstation of claim 10, wherein, A slider (243) is provided on one of the bracket (260) and the detection module (241), and a slide rail (244) is provided on the other of the bracket (260) and the detection module (241). When the detection module (241) moves along the bracket (260), the slider (243) slides along the slide rail (244).

12. The workstation of claim 10, wherein, The bracket (260) is provided with multiple limiting structures (263). The plurality of limiting structures (263) are correspondingly provided with the plurality of sorting stations (251); The limiting structure (263) is configured to restrict the movement of the detection module (241) so that the detection module (241) moves to the position corresponding to the target sorting station (251).

13. The workstation of claim 1, wherein, The storage container (50) on the reserved position (201) is loaded onto the second transport device (30); The second transport device (30) includes a second transport robot configured to transport the inventory container (50), the reserved position (201) is a docking position (201a) for the second transport robot, and the picking device (210) is configured to dock with the inventory container (50) on the second transport robot to pick out target items from the inventory container (50). Alternatively, the second transport device (30) includes a conveyor line, the reserved position (201) being a picking position on the conveyor line for docking with the picking device (210), the picking device (210) being configured to dock with an inventory container (50) at the picking position to pick out the target item from the inventory container (50).

14. The workstation of any of claims 1-13, wherein, The workstation (200) also includes a safety fence (270) that encloses a workspace (202), and the picking equipment (210) is located within the workspace (202); The safety fence (270) is provided with a safety door (273), which is configured to allow workers to enter the workspace (202).

15. The workstation of claim 14, wherein, The reserved space (201) is located outside or inside the workspace (202).

16. The workstation of claim 15, wherein, When the reserved space (201) is located outside the workspace (202), the safety fence (270) includes a clearance portion (274) and a connecting portion (275). The clearance section (274) forms a reserved space with the ground, the reserved space is configured for the operation of the second transport equipment (30), and the reserved position (201) is located within the reserved space; The connecting portion (275) separates the workspace (202) and the reserved space, and the picking device (210) is configured to pick target items from the inventory container (50) through the connecting portion (275).

17. The workstation of claim 15, wherein, The reserved space (201) is located inside the workspace (202); The safety fence (270) also has an entrance (276) and an exit (277); The reserved space (201) is located between the entrance (276) and the exit (277); The inlet (276) is configured to allow the storage container (50) to enter the workspace (202); The outlet (277) is configured to allow the storage container (50) to leave the workspace (202).

18. The workstation of claim 14, wherein, A picking equipment setting area (203) and a personnel activity area (204) are formed on one side of the sorting station (251) of the workstation (200). The picking equipment setting area (203) and the personnel activity area (204) are arranged along the length of the sorting station (251). The personnel activity area (204) is equipped with the control components of the loading and unloading equipment (230) and the control components of the picking equipment (210). The security door (273) is located on one side of the personnel activity area (204).

19. The workstation of claim 14, wherein, The side wall of the safety fence (270) on which the safety door (273) is installed is inclined toward the workspace (202).

20. The workstation of claim 14, wherein, The workstation (200) also includes a second detection device (2920), which is configured to detect whether a worker has entered the workspace (202); if the second detection device (2920) detects that a worker has entered the workspace (202), it controls the picking device (210) to stop working.

21. The workstation of any of claims 1-13, wherein, The workstation (200) also includes a fall arrestor platform (2910), which is at least located in the activity area of ​​the picking equipment (210) between the reserved position (201) and the sorting station (251); The anti-fall platform (2910) is configured to catch target items falling from the picking equipment (210) at least during the process of the picking equipment (210) sorting target items from the inventory container (50) to the order container (60).

22. The workstation of claim 21, wherein, Part of the anti-fall platform (2910) is also erected on the reserved position (201) and the sorting station (251); The anti-fall platform (2910) is provided with a picking port (2911) and a sorting port (2912). The picking port (2911) is located above the reserved position (201) and is configured to allow the picking end of the picking device (210) to pass through to pick the target item from the inventory container (50) at the reserved position (201). The sorting port (2912) is located above the sorting station (251) and is configured to allow the picking end of the picking device (210) to pass through in order to sort the target item into the order container (60) of the sorting station (251).

23. The workstation according to any one of claims 1-13, characterized in that, The picking device (210) includes a robotic arm (212) and at least one picking element (213) disposed at the end of the robotic arm (212). The robotic arm (212) includes a plurality of arms (212a) connected in sequence, with a multi-directional rotatable connection between adjacent arms (212a). One end of the pickup (213) is connected to the tail arm (212a) in a multi-directional rotatable manner. The pickup (213) is configured to pick up the target item to select the target item from the inventory container (50). The pickup (213) is also configured to release the target item to place the target item in the order container (60).

24. The workstation of claim 23, wherein, There are multiple pickup elements (213), and the pickup structures of the multiple pickup elements (213) are different, the same, or partially the same; The picking structure includes any one of the size and shape of the picking element (213).

25. The workstation of any one of claims 1-13, wherein, The workstation (200) includes a third detection device (2930) configured to detect whether the storage container (50) enters or leaves the reserved position (201). And / or, the workstation (200) includes a fourth detection device (2940) configured to detect and identify a target item in an inventory container (50) located in the reserved position (201) to determine the type and pick-up location of the target item, thereby determining the movement trajectory and pick-up parameters of the picking device (210) based on the type and pick-up location of the target item; And / or, the workstation (200) includes a fifth detection device (2950) configured to detect anomalies in the picking device (210) picking up target items, and to control the picking device (210) to pick up target items again when the picking device (210) picks up abnormally; And / or, the workstation (200) includes a sixth detection device (2960) configured to detect whether there is an abnormality in the workstation (200) and, in the event of an abnormality in the workstation (200), to at least control the picking device (210) to stop working.

26. The workstation of any one of claims 1-13, wherein, The picking device (210) has multiple reserved positions (201) arranged on different sides of its outer periphery, and the inventory containers (50) on the multiple reserved positions (201) are used to dock with one or more of the picking devices (210).

27. The workstation of any of claims 1-13, wherein, The sorting device (210) has multiple loading and unloading devices (230) on different sides of its outer periphery, and each loading and unloading device (230) has a corresponding seeding wall (220) on one side. The picking device (210) is configured to transfer the picked target items to the corresponding seeding wall (220) via different loading and unloading devices (230).

28. A warehousing system characterized by include: The workstation (200) as described in any one of claims 1-27; The storage area is configured to store inventory containers (50) containing the target items. The second transport device (30) is configured to transfer the inventory container (50) loaded with the target item to the reserved position (201) of the workstation (200) so that the picking device (210) of the workstation (200) can pick the target item into the order container (60) and transfer the order container (60) to the seed wall (220) by the loading and unloading device (230) of the workstation (200). The first transport device (40) is configured to transport order containers (60) that meet the turnover conditions in the seeding wall (220) to the target area.

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