Warehouse storage system and transportation equipment management method

Abstract

The present disclosure discloses a warehousing system including a transport device, an operating device, and a control device. The transport device includes a plurality of mounting positions for mounting containers, the operating device is configured to perform at least one of adjusting the mounting positions of the containers on the transport device, mounting the containers on the transport device, and removing the containers from the transport device, and the control device is connected to the operating device and configured to control the operating device to load / unload the containers on the transport device and / or adjust the positions of the containers on the transport device based on at least one of a preset center of gravity area of the transport device and a weight of the container. According to the present disclosure, the warehousing system loads / unloads the containers on the transport device and / or adjusts the positions of the containers on the transport device based on at least one of the preset center of gravity area of the transport device and the weight of the container, thereby stabilizing the center of gravity of the entire transport device.

Description

[Technical Field]

[0001] This application claims priority to a Chinese patent application filed on October 14, 2022, bearing application number 202211261344.9, the entire contents of which are incorporated herein by reference.

[0002] FIELD OF THE DISCLOSURE The present disclosure relates to the technical field of warehousing devices, and in particular to warehousing systems and methods for managing material handling equipment. [Background technology]

[0003] In the field of warehousing and logistics technology, the traditional picking method is to pick goods by human beings searching for goods, which has low efficiency. In order to improve picking efficiency, the shelf-to-human picking system has been developed. In the shelf-to-human picking system, the target shelf is transported to the work station through a robot, and the goods on the shelf are picked by workers or automatic picking devices, which can improve picking efficiency. Summary of the Invention [Problem to be solved by the invention]

[0004] Embodiments of the present disclosure provide a warehousing system and a method for managing material handling equipment. [Means for solving the problem]

[0005] According to some embodiments of the present disclosure, there is provided a warehousing storage system, the warehousing storage system including a transport device, an operating device, and a control device, wherein the transport device includes a plurality of loading positions for loading containers, the operating device is configured to move the container relative to the transport device, including at least one of adjusting the loading position of the container on the transport device, loading the container onto the transport device, and removing the container from the transport device, and the control device is connected to the operating device to control the operation of the operating device, and the control device is configured to control the operating device to load or unload the container on the transport device and / or adjust the position of the container on the transport device based on at least one of a predetermined center of gravity area of the transport device and a weight of the container.

[0006] According to the present disclosure, the warehousing storage system can stabilize the center of gravity of the entire transport device by loading and unloading containers and / or adjusting the position of the containers in the transport device based on at least one of a predetermined center of gravity area of the transport device and the weight of the container.

[0007] In some embodiments, the predetermined center of gravity region is a three-dimensional region located within the transport device, extending upward from the lowest resting position.

[0008] According to the present disclosure, the preset center of gravity area of the transport device is located at the bottom of the transport device, which can ensure the stability of the center of gravity of the transport device.

[0009] In some embodiments, the control device is configured to calculate the center of gravity position of the transport device carrying the containers based on the weights of all the containers in the transport device, and if the center of gravity position falls outside a predetermined center of gravity area, control the operating device to adjust the position of at least one container in the transport device, and the operating device is configured to adjust the loading position of the containers placed on the transport device.

[0010] According to the present disclosure, if the center of gravity of the transport device deviates from a predetermined center of gravity area, the position of the container on the transport device can be adjusted to ensure stability of the center of gravity of the transport device.

[0011] In some embodiments, the control device is configured to control the operating device to adjust the first container, which is located on the side of the conveying device where the first central plane of the preset center of gravity area faces the first horizontal direction, to an empty loading position where the first central plane of the conveying device faces away from the first horizontal direction, when the center of gravity position deviates from the preset center of gravity area along the first horizontal direction, wherein the first horizontal direction is the width direction or length direction of the conveying device, and the first central plane of the preset center of gravity area is the length center plane or width center plane of the preset center of gravity area.

[0012] In some embodiments, when the center of gravity position deviates from a predetermined center of gravity area along the first horizontal direction, the control device is configured to adjust a first container, whose first central plane is located on the side of the conveying device facing the first horizontal direction, to a loading position where the first central plane is located on the side of the conveying device facing away from the first horizontal direction, and to adjust a second container, whose first central plane is located on the side of the conveying device facing away from the first horizontal direction, to a position where the first central plane is located on the side of the conveying device facing toward the first horizontal direction, wherein the weight of the first container is greater than the weight of the second container, the first central plane of the predetermined center of gravity area is the length center plane or width center plane of the predetermined center of gravity area, and the first horizontal direction is the width direction or length direction of the conveying device.

[0013] According to the present disclosure, when the center of gravity position deviates from a preset center of gravity region in the horizontal direction, the position of the container is adjusted in the horizontal direction to achieve stability of the center of gravity.

[0014] In some embodiments, the control device is configured to control the operating device to move a third container located above the predetermined center of gravity area of the transport device to an empty loading position lower than the upper height limit of the predetermined center of gravity area of the transport device when the center of gravity position is higher than the predetermined center of gravity area.

[0015] In some embodiments, the control device is configured to control the operating device to move a third container located above the predetermined center of gravity area of the transport device to a loading position lower than the upper height limit of the predetermined center of gravity area of the transport device when the center of gravity position is higher than the predetermined center of gravity area, and to move a fourth container located below the upper height limit of the predetermined center of gravity area of the transport device to a loading position located above the predetermined center of gravity area of the transport device, and the weight of the third container is greater than the weight of the fourth container.

[0016] According to the present disclosure, if the center of gravity is too high, the center of gravity of the carrier can be stabilized by adjusting the position of the container in the vertical direction.

[0017] In some embodiments, the control device is configured to, when the first target container needs to be placed in an empty placement position of the transport device, compare the weight of the first target container with a first limit weight, and, based on the comparison result, control the operating device to place the first target container on the transport device.

[0018] According to the present disclosure, when loading a container onto a carrier, the warehousing system determines the loading method based on the weight of the container, which helps maintain a stable center of gravity of the carrier.

[0019] In some embodiments, the first weight limit is a predetermined fixed value, or the controller is configured to determine the first weight limit based on the weight of the container in the delivery device.

[0020] According to the present disclosure, the warehousing system can flexibly determine the first limit weight according to the actual situation.

[0021] In some embodiments, the control device is configured to control the handling device to place the first target container in an empty placement position of the transport device if the weight of the first target container is less than a first weight limit.

[0022] According to the present disclosure, when the container to be placed on the carrier is light, it is considered that the impact on the center of gravity of the carrier is small, and it can be placed directly on the carrier, which helps improve work efficiency.

[0023] In some embodiments, the control device is configured to control the operating device to place the first target container at an empty placement position that overlaps with the predetermined center of gravity area when the weight of the first target container is equal to or greater than a first weight limit and the empty placement position of the transport device overlaps with the predetermined center of gravity area.

[0024] According to the present disclosure, when an empty placement position of a transport device overlaps with a predetermined center of gravity area, the center of gravity of a container in the empty placement position is approximately located within the predetermined center of gravity area, and therefore, when a container is placed in such a placement position, the center of gravity of the transport device will not deviate from the predetermined center of gravity area.

[0025] In some embodiments, the control device is configured to control the operating device to place the container with the smallest weight in the transport device at the empty loading position of the transport device and to place the first target container in the loading position occupied in front of the container with the smallest weight when the weight of the first target container is equal to or greater than a first limit weight and the empty loading position of the transport device does not overlap with a predetermined center of gravity area.

[0026] According to the present disclosure, when the weight of the first target container is large and the empty placement position of the transport device does not overlap with the predetermined center of gravity area, the container with the smallest weight on the transport device is first moved to the empty placement position, which has a small impact on the original center of gravity position of the transport device, and then the first target container is placed in the placement position occupied in front of the container with the smallest weight, so that the deviation between the center of gravity position of the transport device after the first target container is placed and the initial center of gravity position is small.

[0027] In some embodiments, the control device is configured to compare the weight of the second target container to be removed from the transport device with a second limit weight, and based on the comparison result, control the operating device to remove the second target container placed in a second placement position of the transport device from the transport device.

[0028] According to the present disclosure, when a warehousing system removes a container from a transport device, the warehousing system determines the operating method of the handling device based on the weight of the removed container, which helps to maintain the stability of the center of gravity of the transport device.

[0029] In some embodiments, the second limit weight is a predetermined fixed value, or the control device is configured to determine the second limit weight based on the weight of the container in the transport device before removing the second target container.

[0030] According to the present disclosure, the warehousing system can flexibly determine the second limit weight according to the actual situation.

[0031] In some embodiments, the control device is configured to control the operating device to remove the second target container and not subsequently adjust the placement position of the container on the transport device if the weight of the second target container is less than the second limit weight.

[0032] According to the present disclosure, if the weight of the container being removed is small, it is believed that the impact on the position of the center of gravity of the transport device is small, so there is no need to adjust the position of the container on the transport device after the container is removed, which helps improve work efficiency.

[0033] In some embodiments, the control device is configured to control the operating device to remove the second target container and not adjust the placement position of the container on the transport device if the weight of the second target container is equal to or greater than the second limit weight, the second placement position is above a predetermined center of gravity area, and the second placement position overlaps with the predetermined center of gravity area when projected along the height direction of the transport device.

[0034] According to the present disclosure, if the weight of the container to be removed is large and its position is high, the center of gravity of the transport device will drop after the container is removed, i.e., the center of gravity of the transport device will become more stable. Therefore, there is no need to adjust the position of the container on the transport device after the container is removed, which helps to improve work efficiency.

[0035] In some embodiments, if the weight of the second target container is equal to or greater than the second weight limit and the second placement position overlaps with a predetermined center of gravity area, the control device controls the operating device to remove the second target container and place a container in a placement position on the transport device that does not overlap with the predetermined center of gravity area at the second placement position.

[0036] According to the present disclosure, after a container is removed, when a placement position becomes available within the preset center of gravity area, the container outside the preset center of gravity area is quickly filled within the preset center of gravity area, thereby causing the center of gravity of the transport device to tend to move closer to or within the preset center of gravity area, which helps maintain the stability of the center of gravity of the transport device.

[0037] In some embodiments, the control device removes the second target container when the weight of the second target container is equal to or greater than a second limit weight and the second placement position in the projection along the height direction of the transport device is outside a predetermined center of gravity area along a first horizontal direction, and then adjusts the placement position of at least one container in the transport device, the first horizontal direction being the width direction or length direction of the transport device.

[0038] According to the present disclosure, if the weight of the container to be removed is large and its placement position is outside the predetermined center of gravity area in the horizontal direction, removing the container may cause the center of gravity of the transport device to deviate from the predetermined center of gravity position in the horizontal direction, and therefore it is necessary to stabilize the center of gravity of the transport device by adjusting the position of the container after removing it.

[0039] In some embodiments, the operating device is configured to remove a third target container placed at a third loading position of the transport device from the transport device and then return the third target container to the transport device, wherein the third target container has a pre-processing weight when removed and a post-processing weight when returned, and the pre-processing weight is not equal to the post-processing weight, and the control device calculates a weight change value of the third target container, compares the absolute value of the weight change value with a third limit weight, and controls the operating device to return the third target container to the transport device based on the comparison result.

[0040] According to the present disclosure, when the weight of the container in the transport device changes, the warehousing storage system determines the operation method of the handling device according to the range of the weight change, which helps to maintain the stability of the center of gravity of the transport device.

[0041] In some embodiments, the third limit weight is a predetermined fixed value, or the control device is configured to determine the third limit weight based on the weight of the container in the transport device before the third target container is removed from the transport device.

[0042] According to the present disclosure, the warehousing storage system can flexibly set the value of the third limit weight according to the actual situation.

[0043] In some embodiments, the control device controls the operating device to return the third target container to the third placement position when the absolute value of the weight change value is smaller than the third limit weight.

[0044] According to the present disclosure, if the change in weight of the container is small, it is considered that the impact on the center of gravity of the transport device is small, and the container can be returned to its original position after removal, which helps improve work efficiency.

[0045] In some embodiments, the control device controls the operating device to return the third target container to the third placement position when the absolute value of the weight change value is greater than or equal to the third limit weight and the third placement position overlaps with a predetermined center of gravity area.

[0046] According to the present disclosure, when the placement position of a container overlaps with a predetermined center of gravity area, the center of gravity of the container is located roughly within the predetermined center of gravity area, and the center of gravity of the transport device does not deviate significantly from the predetermined center of gravity area due to a change in its weight, and the transport device can be returned to its original position even after being removed, which helps improve work efficiency.

[0047] In some embodiments, the control device controls the operating device to return the third target container to the third loading position when the absolute value of the weight change value is greater than or equal to the third limit weight, the weight before processing is greater than the weight after processing, the third loading position is above a predetermined center of gravity area, and the third loading position when projected along the height direction of the transport device overlaps with the predetermined center of gravity area.

[0048] According to the present disclosure, when the weight of the container being removed decreases and its position is high, the center of gravity of the transport device will be lowered, i.e., the center of gravity of the transport device will be more stable and can be returned to its original position even after removal, which helps improve work efficiency.

[0049] In some embodiments, when the absolute value of the weight change value is greater than or equal to the third limit weight, the weight before processing is smaller than the weight after processing, the third loading position is above a predetermined center of gravity area, and the third loading position in the projection along the height direction of the transport device overlaps with the predetermined center of gravity area, the control device first controls the loading position of at least one container on the transport device, and then controls the operating device to return the third target container to the transport device.

[0050] According to the present disclosure, if the weight of the removed container increases and its position is high, the center of gravity of the transport device will rise, which is not beneficial for stabilizing the center of gravity of the transport device, and therefore it is necessary to stabilize the center of gravity of the transport device by adjusting the container's placement position when returning the container.

[0051] In some embodiments, when the absolute value of the weight change value is greater than or equal to the third limit weight and the third placement position projected along the height direction of the transport device does not overlap with a predetermined center of gravity area, the control device first controls the placement position of at least one container on the transport device, and then controls the operating device to return the third target container to the transport device.

[0052] According to the present disclosure, if the weight of the container being removed increases and its position deviates from the predetermined center of gravity area in the horizontal direction, the center of gravity position of the transport device will deviate from the predetermined center of gravity area in the horizontal direction, which is detrimental to the stability of the center of gravity of the transport device.Therefore, it is necessary to stabilize the center of gravity of the transport device by adjusting the container's placement position when returning the container.

[0053] In some embodiments, the control device calculates the center of gravity position of the transport device carrying the container, and controls the operating device to adjust the position of at least one container on the transport device so that the adjusted center of gravity position is located within a predetermined center of gravity area.

[0054] According to the present disclosure, by adjusting the position of a container in a warehouse storage system transport device, the center of gravity position of the transport device after adjustment is located within a predetermined center of gravity area, thereby ensuring the stability of the center of gravity of the transport device.

[0055] In some embodiments, the control device calculates the center of gravity position of the transport device carrying the container, and controls the operating device to adjust the position of at least one container on the transport device so that the distance between the center of gravity position before the adjustment and the center of gravity position after the adjustment is smaller than a predetermined distance.

[0056] According to the present disclosure, when adjusting the position of a container on a transport device, the warehousing system may consider the center of gravity to be adjusted to an appropriate position if the distance between the center of gravity of the transport device before adjustment and the center of gravity after adjustment is less than a predetermined distance. In some cases, the difference between the weight of an individual container and the weight of other containers is so large that it is impossible to achieve the center of gravity of the transport device within the predetermined center of gravity area. In this case, if the distance between the center of gravity of the transport device before adjustment and the center of gravity after adjustment is less than the predetermined distance, it is considered that a good adjustment effect has been achieved, and the warehousing system can quickly complete the adjustment operation, which helps improve work efficiency.

[0057] In some embodiments, the control device is further configured to calculate the center of gravity position of the transport device carrying the container, and if the center of gravity position falls outside a predetermined center of gravity area, plan multiple container position adjustment schemes, calculate an operation cost index for each container position adjustment scheme in the multiple container position adjustment schemes, and control the operating device to operate according to the container position adjustment scheme with the smallest operation cost index, wherein the operation cost index is determined based on the length of time required to complete the container position adjustment operation and / or the number of containers requiring position adjustment.

[0058] According to the present disclosure, the warehousing storage system selects the operation plan with the smallest operation cost index from among multiple operation plans, which helps improve operation efficiency.

[0059] In some embodiments, the operating device includes temporary storage positions for placing the containers, and a container access device connected to the control device and configured to move the containers between the placement positions or between the placement positions and the temporary storage positions.

[0060] According to the present disclosure, the handling device can move the container between different loading positions, and may load the container into a temporary storage position for temporary storage or load the container in the temporary storage position onto a transport device, and thus the warehousing system may adjust the position of the container on the transport device and may remove or load the container.

[0061] In some embodiments, the manipulation device includes a movement device, the manipulation device configured to move to the delivery device based on commands from the controller.

[0062] According to the present disclosure, the operating device can move to a location where a transport device is located to complete an operation on a container, and thus one operating device can operate multiple transport devices.

[0063] In some embodiments, the transport device is a mobile transport device and the operating device is a hub station, and the warehousing system further includes a mobile transport device docking area for docking the mobile transport device and an automated transport device configured to transport the mobile transport device between the mobile transport device docking area and the hub station, wherein the control device is connected to the hub station and the automated transport device and controls operation of the hub station and the automated transport device.

[0064] Further, the warehousing system is configured such that before moving the container relative to the transport device, the automated transport device transports the transport device to the hub station, and after moving the container relative to the transport device, the automated transport device transports the transport device to the movable transport device docking area.

[0065] According to the present disclosure, the transport device can perform operations on the container by moving to the location of the operating device, thereby allowing one operating device to operate multiple transport devices.

[0066] According to some embodiments of the present disclosure, a method for managing a transport device is provided, the method including: determining a center of gravity position of the transport device based on the weight of all containers placed on the transport device; and controlling an operating device to move containers in and out of the transport device and / or adjust the position of the containers in the transport device based on the center of gravity position and / or the weight of the containers.

[0067] In some embodiments, the step of controlling the operating device to take the container in or out and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container includes the steps of determining a positional relationship between the center of gravity position and a predetermined center of gravity area based on the center of gravity position of the transport device and a predetermined center of gravity area of the transport device, and controlling the operating device to take the container in or out and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container.

[0068] In some embodiments, the predetermined center of gravity region is a three-dimensional region located within the delivery device, extending upward from the lowest resting position.

[0069] In some embodiments, the step of controlling the operating device to take the container in or out and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container includes a step of controlling the operating device to adjust, when the center of gravity position deviates from the predetermined center of gravity area along the first horizontal direction, the first container located on the side of the transport device where the first central plane of the predetermined center of gravity area faces the first horizontal direction, to an empty loading position on the side of the transport device where the first central plane faces away from the first horizontal direction, wherein the first central plane of the predetermined center of gravity area is the length center plane or width center plane of the predetermined center of gravity area, and the first horizontal direction is the width direction or length direction of the transport device.

[0070] In some embodiments, the step of controlling the operating device to take the container in or out and / or adjust the position of the container on the carrier based on the positional relationship and / or the weight of the container includes, when the center of gravity position deviates from a predetermined center of gravity area along the first horizontal direction, controlling the operating device to adjust the first container, whose first central plane of the predetermined center of gravity area on the carrier is facing the first horizontal direction, to a loading position where the first central plane of the carrier is facing away from the first horizontal direction, and to adjust the second container, whose first central plane is facing away from the first horizontal direction, to a loading position where the first central plane of the carrier is facing toward the first horizontal direction, wherein the weight of the first container is greater than the weight of the second container, the first central plane of the predetermined center of gravity area is the length center plane or width center plane of the predetermined center of gravity area, and the first horizontal direction is the width direction or length direction of the carrier.

[0071] In some embodiments, the step of controlling the operating device to take the container in or out and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container includes the step of controlling the operating device to move a third container located above the predetermined center of gravity area in the transport device to an empty loading position lower than the upper height limit of the predetermined center of gravity area in the transport device if the center of gravity position is higher than the predetermined center of gravity area.

[0072] In some embodiments, the step of controlling the operating device to take the container in or out and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container includes the step of controlling the operating device to move a third container located above the predetermined center of gravity area in the transport device to a loading position lower than the upper height limit of the predetermined center of gravity area in the transport device when the center of gravity position is higher than the predetermined center of gravity area, and to move a fourth container located below the upper height limit of the predetermined center of gravity area in the transport device to a loading position located above the predetermined center of gravity area in the transport device, wherein the weight of the third container is greater than the weight of the fourth container.

[0073] In some embodiments, the step of controlling the operating device to take the container in or out and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container includes a step of comparing the weight of the first target container with a first limit weight when the first target container needs to be placed in an empty placement position of the transport device, and controlling the operating device to place the first target container on the transport device based on the comparison result.

[0074] In some embodiments, the step of controlling the operating device to take the container in or out and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container includes a step of comparing the weight of the second target container to be removed from the transport device with a second limit weight when it is necessary to remove a second target container located in a second loading position in the transport device, and controlling the operating device to remove the second target container from the transport device based on the comparison result.

[0075] In some embodiments, the step of controlling the operating device to take in or out a container and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container includes the step of, when a third target container placed in a third loading position of the transport device is removed from the transport device and then the third target container needs to be returned to the transport device, calculating a weight change value of the third target container based on the weight of the third target container when it is removed and the weight of the third target container when it is returned, comparing the absolute value of the weight change value with a third limit weight, and controlling the operating device to return the third target container to the transport device based on the comparison result, wherein the weight of the third target container when it is removed is not equal to the weight of the third target container when it is returned.

[0076] According to some embodiments of the present disclosure, an electronic device is provided, the electronic device including a processor and a memory, the memory being used to store computer-executable instructions, and the processor being used to realize any one of the above-mentioned methods for managing transportation equipment by reading the instructions from the memory and executing the instructions.

[0077] According to some embodiments of the present disclosure, a computer-readable storage medium is provided, the computer-readable storage medium having computer instructions stored thereon, the computer instructions causing a computer to perform any one of the methods for managing transportation equipment described above.

[0078] According to some embodiments of the present disclosure, a computer program product is provided, the computer program product including a computer program stored on a computer-readable storage medium, the computer program including program instructions that, when executed by a computer, cause the computer to perform any one of the transportation equipment management methods described above. [Brief explanation of the drawings]

[0079] The following drawings of the present disclosure are used as part of the present disclosure and are used to understand the present disclosure, and illustrate embodiments of the present disclosure and its description, and are used to explain the principles of the present disclosure. [Figure 1] 1 is a structural schematic diagram of a warehousing system provided by some embodiments of the present disclosure. FIG. [Figure 2] FIG. 1 is a partial perspective view of a warehousing system provided by some embodiments of the present disclosure. [Figure 3] FIG. 1 is a schematic perspective view of a transport device of a warehousing system provided by some embodiments of the present disclosure. [Figure 4] 10 is a flowchart illustrating an operation for adjusting the position of a container in a delivery device provided according to some embodiments of the present disclosure. [Figure 5] 10 is a flowchart illustrating an operation for loading a new container onto a carrier provided according to some embodiments of the present disclosure. [Figure 6] 10 is a flowchart illustrating an operation for removing a container from a carrier provided in accordance with some embodiments of the present disclosure. [Figure 7] 10 is a flowchart illustrating an operation for removing and returning a container to a carrier provided by some embodiments of the present disclosure. [Figure 8] 1 is a flowchart of a method for managing a vehicle provided by some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0080] In the following description, numerous details are provided to provide a more thorough understanding of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure can be practiced without one or more of the details. In other instances, technical features well known in the art are not described to avoid confusion with the present disclosure.

[0081] In order to provide a thorough understanding of the present disclosure, the following detailed description is provided. These embodiments are provided so that the disclosure will be thorough and complete, and will convey the concept of these exemplary embodiments to those skilled in the art. Obviously, the implementation of the embodiments of the present disclosure is not limited to specific details known to those skilled in the art. Detailed descriptions of preferred embodiments of the present disclosure are provided below. In addition to these detailed descriptions, the present disclosure may have other embodiments.

[0082] It should be noted that the terminology used herein is for the purpose of describing specific embodiments and is not intended to limit the exemplary embodiments of the present disclosure. As used herein, the singular includes the plural unless the context clearly dictates otherwise. Furthermore, when the terms "comprise" and / or "include" are used in this specification, they refer to the presence of the stated feature, whole, step, operation, element, and / or component, but do not exclude the presence of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0083] Ordinal numbers such as "first" and "second" referred to in this disclosure are merely identifiers and do not imply any particular order or other meaning. For example, a "first part" does not imply the existence of a "second part," and a "second part" does not imply the existence of a "first part."

[0084] It should be noted that the terms "upper," "lower," "front," "back," "left," "right," "inner," "outer," and similar expressions used herein are intended to be descriptive and not limiting.

[0085] In a shelf-to-man picking system, a robot typically transports a target shelf to an operation station, where an operator at the operation station or an automatic picking device can pick the items on the shelf. However, after the robot transports the shelf, the robot travels at a high speed in the warehouse, and if the center of gravity of the shelf on which the containers or items are loaded is not stable, the shelf may tip over during travel.

[0086] In order to avoid the problem that shelves may tip over during the process of being transported by a robot, an embodiment of the present disclosure provides a warehouse storage system that can ensure the stability of the center of gravity of the entire transport device by taking containers in and out of the transport device and / or adjusting the position of the containers in the transport device based on at least one of a preset center of gravity area of the transport device and the weight of the container, thereby preventing the transport device from tipping over during the process of being transported by a robot.

[0087] FIG. 1 is a structural schematic diagram of a warehousing storage system provided by some embodiments of the present disclosure. As shown in FIG. 1, the warehousing storage system 100 includes a transport device 10, an operating device 70, and a control device (not shown). FIG. 2 is a partial perspective view of a warehousing storage system provided by some embodiments of the present disclosure. As shown in FIG. 2, the transport device 10 includes a plurality of placement positions 15 for placing containers 50. The containers 50 are used to store cargo, and the transport device 10 may be a movable transport device, and may include partition shelves, container shelves, picking shelves, movable shelves, etc.

[0088] For example, as shown in FIG. 2, the multiple loading positions 15 in the transport device 10 are arranged in h layers along the height direction DH of the transport device 10, in l columns along the length direction DL of the transport device 10, and in w rows along the width direction DW of the transport device 10, where h, l, and w are positive integers.

[0089] The operating device 70 is configured to move the container 50 relative to the transport device 10, including at least one of adjusting the placement position of the container 50 on the transport device 10, placing the container 50 on the transport device 10, and removing the container 50 from the transport device 10. A control device is connected to the operating device 70, and the control device is configured to control the operating device 70 to move the container 50 in and out of the transport device 10 and / or adjust the position of the container 50 on the transport device 10.

[0090] FIG. 3 is a schematic perspective view of a transport device in a warehouse storage system provided according to some embodiments of the present disclosure. As shown in FIG. 3, the interior of the transport device 10 has a predetermined center of gravity area 16. The control device is configured to control the operation of the operating device 70 based on at least one of the predetermined center of gravity area 16 of the transport device 10 and the weight of the container 50. That is, the control device is configured to control the operating device 70 to take the container 50 in and out of the transport device 10 and / or adjust the position of the container 50 in the transport device 10 based on at least one of the predetermined center of gravity area 16 of the transport device 10 and the weight of the container 50. This ensures that the center of gravity of the entire transport device 10 carrying the container 50 is within the predetermined center of gravity area 16 or approaches the predetermined center of gravity area 16, thereby ensuring stability of the center of gravity of the transport device 10. Note that the predetermined center of gravity area 16 is a center of gravity distribution area that stabilizes the center of gravity of the transport device 10.

[0091] As shown in Figure 2, the height direction DH corresponds to the up-down direction, the length direction DL corresponds to the left-right direction, and the width direction DW corresponds to the front-to-back direction. As shown in Figure 3, the predetermined center of gravity area 16 is a three-dimensional area located inside the transport device 10 and extending upward from the lowest loading position 15. The transport device 10 typically has a symmetrical structure and includes a width center plane PW that equally divides the width of the transport device 10 and a length center plane PL that equally divides the length of the transport device 10. The width center plane PW and the length center plane PL intersect with a line CA, which may be considered as an axis of symmetry extending along the height direction of the transport device 10.

[0092] Illustratively, the preset center of gravity region 16 is symmetrical with respect to the width central plane PW and the length central plane PL. That is, the symmetry axis CA is a symmetry axis extending along the height direction of the preset center of gravity region 16. In some examples, the height of the preset center of gravity region 16 does not exceed ½ of the total height of all the mounting positions 15 of the transport device 10. Alternatively, the upper height limit of the preset center of gravity region 16 does not exceed ½ of the total height of all the mounting positions 15 of the transport device 10. The preset center of gravity region 16 may be configured so that the horizontal cross-sectional area at any height is the same. For example, the preset center of gravity region 16 may be in the shape of a polygonal prism, a cylinder, or the like. Alternatively, the horizontal cross-sectional area of the lower part of the preset center of gravity region 16 is larger than the horizontal cross-sectional area of the upper part. For example, the preset center of gravity region 16 may be in the shape of a truncated cone with a large bottom and a small top, or a prism with a large bottom and a small top. The embodiment of the present disclosure does not limit the shape of the preset centroid region 16, and FIG. 3 exemplarily illustrates the preset centroid region 16 as a rectangular parallelepiped.

[0093] 1 , the warehousing system further includes a mobile vehicle docking area 20 configured to dock a plurality of mobile vehicle 10. The mobile vehicle docking area 20 may also be referred to as an inventory area. The mobile vehicle docking area 20 may be a congested storage area or a sparse storage area.

[0094] In some embodiments, the operating device 70 includes two types: a mobile operating device 60 and a hub station 30. Here, the mobile operating device 60 has a moving device and can move freely within the space of the warehouse storage area. Therefore, the mobile operating device 60 can move to the transport device 10 based on a control command from the control device and perform an operation of moving the container 50 on the transport device 10. The hub station 30 is a fixed device in the warehouse storage area. The warehousing system 100 further includes an automated transport device 40, which is used to transport the transport device 10 between the movable transport device docking area 20 and the hub station 30. The automated transport device 40 is, for example, a transport robot, which can travel below the transport device 10 and lift the transport device 10 above the ground to support and move the transport device 10. The control device is connected to the hub station 30 and the automated transport device 40 and controls the operations of the hub station 30 and the automated transport device 40.

[0095] As shown in FIG. 2 , the hub station 30 includes a support frame 31, a guide mechanism 32, a container access device 33, and a temporary storage position (not shown, which may be installed on the support frame 31, for example). The guide mechanism 32 is installed on the support frame 31. The guide mechanism 32 can move laterally or vertically relative to the support frame 31. The container access device 33 is installed on the guide mechanism 32, which allows the container access device 33 to move laterally or vertically relative to the support frame 31. The container access device 33 is connected to a control device. When the automated transport device 40 transports the movable transport apparatus 10 to a predetermined working position relative to the support frame 31 under the control of the control device, the container access device 33 moves laterally or vertically to reach a position corresponding to the placement position 15, thereby allowing the container 50 to be placed in or removed from the placement position 15.

[0096] Illustratively, the guide mechanism 32 includes a lateral movement device 34, a movement rod 35, and a vertical movement device 36. Here, the lateral movement device 34 is mounted on the support frame 31. The lateral movement device 34 is connected to a control device. The lateral movement device 34 is configured to be movable in a lateral direction relative to the support frame 31. The movement rod 35 extends along the vertical direction. The movement rod 35 is mounted on the lateral movement device 34, thereby allowing the movement rod 35 to move in a lateral direction relative to the support frame 31. The vertical movement device 36 is mounted on the movement rod 35. The vertical movement device 36 is connected to the control device. The vertical movement device 36 is configured to be movable in a vertical direction relative to the movement rod 35. The container loading / unloading device 33 is mounted on the vertical movement device 36, thereby allowing the container loading / unloading device 33 to move in a vertical direction relative to the movement rod 35. Therefore, the container loading / unloading device 33 can move in both the lateral and vertical directions on the support frame 31. Here, the temporary storage position is also used to place the container 50. Thus, the container access device 33 can move the containers 50 between different placement positions 15 or between a placement position 15 and a temporary storage position.

[0097] In some embodiments, the hub station 30 may not be mounted on the support frame 31 and the container access device 33 may move laterally and vertically via the guide mechanism 32 .

[0098] For example, the hub station 30 includes a guide mechanism 32 and a container access device 33, and the guide mechanism 32 is a robot arm (automated robot arm). The container access device 33 may be connected to the robot arm, and the container access device 33 may move laterally or vertically via the robot arm (e.g., the robot arm may move laterally or vertically along with the container access device 33). The robot arm may be fixed to the ground or a guide rail; for example, the robot arm may be permanently fixed to the ground or a guide rail, or may be temporarily fixed to the ground or a guide rail; the embodiments of the present disclosure are not limited thereto.

[0099] In some examples, when the operating device 70 is a hub station 30, the hub station 30 is installed in a fixed area within the warehouse storage system, so the control device may first control the automated transport device 40 to transport the transport device 10 from the movable transport device docking area 20 to the hub station 30, and then control the hub station 30 to take the container 50 in and out of the transport device 10 and / or adjust the position of the container 50 in the transport device 10, and after the take-out and / or adjustment of the position of the container 50 is completed, the automated transport device 40 transports the transport device 10 to the movable transport device docking area 20.

[0100] In some embodiments, the mobile handling device 60 may include a temporary storage location and a container access device. The temporary storage location is used to store the container 50. The container access device is connected to the controller and configured to move the container 50 between the storage locations or between the storage location and the temporary storage location.

[0101] Figure 4 is an operational flowchart for adjusting the position of a container in a transport device provided by some embodiments of the present disclosure. As shown in Figure 4, the control device calculates the center of gravity position of the transport device 10 loaded with containers based on the weight of all containers 50 in the transport device 10, and controls the operating device 70 to adjust the position of at least one container 50 in the transport device 10 if the center of gravity position deviates from the predetermined center of gravity area 16 (i.e., the center of gravity position is outside the predetermined center of gravity area 16).

[0102] For example, when the center of gravity of the transport device 10 is within the preset center of gravity region 16, it indicates that the center of gravity of the transport device 10 is stable, and there is no need to adjust the position of the container 50 on the transport device 10. When the center of gravity of the transport device 10 is outside the preset center of gravity region 16, it indicates that the center of gravity of the transport device 10 is not stable, and there is a need to adjust the position of the container 50 on the transport device 10. Note that the center of gravity of the transport device 10 in the embodiments of the present disclosure refers to the overall center of gravity of the transport device 10 and all containers 50 placed on the transport device 10.

[0103] When a mobile operating device 60 is used, the mobile operating device 60 moves to the transport device 10 based on instructions from the control device, and after adjusting the position of the container 50 on the transport device 10, the mobile operating device 60 may leave or move to the next transport device 10. When a hub station 30 is used, before adjusting the position of the container 50 on the transport device, the automated transport device 40 first transports the transport device 10 to the hub station 30, and after adjusting the position of the container 50 on the transport device 10, the automated transport device 40 further transports the transport device 10 to the movable transport device docking area 20.

[0104] The center of gravity positions of all containers 50 in the transport device 10 include a first coordinate position Gh in the height direction DH, a second coordinate position Gl in the length direction DL, and a third coordinate position Gw in the width direction DW. For example, the first coordinate position Gh can be calculated using the following formula (1), the second coordinate position Gl can be calculated using the following formula (2), and the third coordinate position Gw can be calculated using the following formula (3). JPEG2025525662000002.jpg39147

[0105] In equations (1) to (3), M is the total number of containers 50 in the carrier 10, and G i is the i-th container c i is the weight of h i is the i-th container c i is the height coordinate position in the height direction DH of the geometric center of the current placement position 15, i is the i-th container ci is the length coordinate position in the length direction DL of the geometric center of the current placement position 15, and w i is the i-th container c i This is the width coordinate position in the width direction DW of the geometric center of the current placement position 15.

[0106] The weight of the container 50 can be calculated based on the weight of the items placed in the container 50, and the weight of the items placed in the container 50 is usually known when the container 50 is displayed. If the structure of the carrier 10 is determined, the geometric center of each placement position 15 on the carrier 10 is also known. Therefore, the first coordinate position Gh, the second coordinate position Gl, and the third coordinate position Gw can be obtained by calculation. Note that the weight of the container 50 may be calculated using either the net weight or the gross weight, and the embodiments of the present disclosure are not limited thereto.

[0107] The overall center of gravity of the carrier 10 and all containers 50 placed on the carrier 10 is determined primarily by the weight of the multiple containers 50 placed on the carrier 10. If the weight of any one container 50 placed on the carrier 10 changes, the overall center of gravity will be affected.

[0108] In some examples, when the center of gravity of the transport device 10 carrying the container 50 is outside the predetermined center of gravity region 16, the center of gravity of the transport device 10 can be positioned within the predetermined center of gravity region 16 by adjusting the position of one container 50, or the center of gravity of the transport device 10 can be positioned within the predetermined center of gravity region 16 by adjusting the positions of multiple containers 50, but the embodiments of the present disclosure are not limited thereto. To adjust the center of gravity of the transport device 10 to be within the predetermined center of gravity region 16, the container positions can be adjusted depending on the situation in which the containers are placed in multiple placement positions on the transport device 10. Below, we will describe, in combination with multiple situations, how to adjust the position of the container 50 on the transport device 10 to position the center of gravity of the transport device 10 within the predetermined center of gravity region 16 when the center of gravity of the transport device 10 carrying the container 50 is outside the predetermined center of gravity region 16.

[0109] For example, when the overall center of gravity position deviates from the preset center of gravity area 16 of the transport device 10, the control device controlling the operating device 70 to adjust the position of at least one container 50 in the transport device 10 includes controlling the operating device 70 to adjust, when the center of gravity position deviates from the preset center of gravity area 16 along the first horizontal direction, a first container located on the side of the transport device 10 where the first central plane of the preset center of gravity area 16 faces the first horizontal direction, to an empty loading position 15 located on the side of the transport device 10 where the first central plane faces away from the first horizontal direction, wherein the first horizontal direction is the width direction DW or length direction DL of the transport device 10, and the first central plane of the preset center of gravity area is the length center plane PL or width center plane PW of the preset center of gravity area.

[0110] In some examples, when the first horizontal direction is the width direction DW of the transport device 10, the first central plane is the width central plane PW, and when the first horizontal direction is the length direction DL of the transport device 10, the first central plane is the length central plane PL.

[0111] For example, consider a case where the first horizontal direction is the width direction DW of the carrier 10. The width direction DW includes a first width direction DW1 and a second width direction DW2 that is opposite to the first width direction DW1. When the center of gravity position is outside the predetermined center of gravity region 16 along the first width direction DW1 and an empty placement position 15 exists on the side of the carrier 10 where the width center plane PW faces the second width direction DW2, the operating device 70 is controlled to move the container 50 located on the side of the carrier 10 where the width center plane PW faces the first width direction DW1 to the empty placement position 15 located on the side where the width center plane PW faces the second width direction DW2. When the center of gravity position is outside the predetermined center of gravity region 16 along the second width direction DW2 and an empty placement position 15 exists on the side of the transport device 10 where the width center plane PW faces the first width direction DW1, the operating device 70 is controlled to move the container 50 located on the side of the transport device 10 where the width center plane PW faces the second width direction DW2 to the empty placement position 15 located on the side of the transport device 10 where the width center plane PW faces the first width direction DW1.

[0112] Also, take as an example the first horizontal direction as the length direction DL of the transport device 10. The length direction DL includes a first length direction DL1 and a second length direction DL2 opposite to the first length direction DL1. When the center of gravity position is out of the predetermined center of gravity area 16 along the first length direction DL1 and an empty placement position 15 exists on the side of the transport device 10 where the length center plane PL faces the second length direction DL2, the operating device 70 is controlled to move the container 50 located on the side of the transport device 10 where the length center plane PL faces the first length direction DL1 to the empty placement position 15 located on the side of the transport device 10 where the length center plane PL faces the second length direction DL2. If the center of gravity position is outside the predetermined center of gravity area 16 along the second length direction DL2 and an empty loading position 15 exists on the side of the transport device 10 where the length center plane PL faces the first length direction DL1, the operating device 70 is controlled to move the container 50 located on the side of the transport device 10 where the length center plane PL faces the second length direction DL2 to the empty loading position 15 located on the side of the transport device 10 where the length center plane PL faces the first length direction DL1.

[0113] When the center of gravity position deviates from the predetermined center of gravity region 16 of the transport device 10, controlling the operating device 70 to adjust the position of at least one container 50 on the transport device 10 by the control device further includes, when the center of gravity position deviates from the predetermined center of gravity region 16 along the first horizontal direction, controlling the operating device 70 to move a first container located on the side of the transport device 10 where the first central plane of the predetermined center of gravity region 16 faces the first horizontal direction to a loading position where the first central plane faces away from the first horizontal direction, and to move a second container located on the side of the transport device 10 where the first central plane faces away from the first horizontal direction to a loading position where the first central plane faces toward the first horizontal direction, where the weight of the first container is greater than the weight of the second container, the first horizontal direction is the width direction DW or length direction DL of the transport device 10, and the first central plane of the predetermined center of gravity region is the length center plane PL or width center plane PW of the predetermined center of gravity region.

[0114] In some examples, when the first horizontal direction is the width direction DW of the transport device 10, the first central plane is the width central plane PW, and when the first horizontal direction is the length direction DL of the transport device 10, the first central plane is the length central plane PL.

[0115] For example, if the center of gravity position deviates from the predetermined center of gravity region 16 along the first width direction DW1, the operating device 70 is controlled to exchange the position of a first container located on the side of the transport device 10 whose width center plane PW faces the first width direction DW1 with the position of a second container located on the side of the transport device 10 whose width center plane PW faces the second width direction DW2, where the weight of the first container is greater than the weight of the second container. If the center of gravity position deviates from the predetermined center of gravity region 16 along the second width direction DW2, the operating device 70 is controlled to exchange the position of the first container located on the side of the transport device 10 whose width center plane PW faces the second width direction DW2 with the position of a second container located on the side of the transport device 10 whose width center plane PW faces the first width direction DW1, where the weight of the first container is greater than the weight of the second container.

[0116] Furthermore, if the center of gravity position deviates from the predetermined center of gravity region 16 along the first length direction DL1, the operating device 70 is controlled to exchange the position of the first container located on the side of the transport device 10 whose length center plane PL faces the first length direction DL1 with the position of the second container located on the side of the transport device 10 whose length center plane PL faces the second length direction DL2, where the weight of the first container is greater than the weight of the second container.If the center of gravity position deviates from the predetermined center of gravity region 16 along the second length direction DL2, the operating device 70 is controlled to exchange the position of the first container located on the side of the transport device 10 whose length center plane PL faces the second length direction DL2 with the position of the second container located on the side of the transport device 10 whose length center plane PL faces the first length direction DL1, where the weight of the first container is greater than the weight of the second container.

[0117] In the above example, if the center of gravity of the entire transport device 10 is not stable in the horizontal direction, the center of gravity of the transport device 10 can be stabilized by adjusting the weight distribution of the container 50 in the horizontal direction.

[0118] When the center of gravity position is outside the preset center of gravity area 16 of the transport device 10, the control device controls the operating device 70 to adjust the position of at least one container 50 in the transport device 10, and if the center of gravity position is higher than the preset center of gravity area 16, the control device further includes controlling the operating device 70 to move a third container located above the preset center of gravity area 16 of the transport device 10 to an empty loading position 15 that is lower than the upper height limit of the preset center of gravity area 16 of the transport device 10. For example, if the center of gravity position of the transport device 10 is higher than the preset center of gravity area 16 and there is an empty loading position 15 lower than the upper height limit of the preset center of gravity area 16 on the transport device 10 (which may also be called an empty loading position, a loading position where no container is loaded), the operating device 70 is controlled to move the container located above the preset center of gravity area 16 on the transport device 10 to an empty loading position lower than the upper height limit of the preset center of gravity area 16 on the transport device 10, thereby lowering the center of gravity position of the transport device 10 and stabilizing the center of gravity of the transport device 10.

[0119] In some examples, when the center of gravity position is outside the preset center of gravity area 16 of the transport device 10, the control device controls the operating device 70 to adjust the position of at least one container 50 on the transport device 10, and if the center of gravity position is higher than the preset center of gravity area 16, further includes controlling the operating device 70 to move a third container located above the preset center of gravity area 16 on the transport device 10 to a loading position 15 lower than the upper height limit of the preset center of gravity area 16 on the transport device 10, and to move a fourth container located below the upper height limit of the preset center of gravity area 16 on the transport device 10 to a loading position 15 located above the preset center of gravity area 16 of the transport device 10, wherein the weight of the third container is greater than the weight of the fourth container. For example, if the center of gravity of the transport device 10 is higher than the predetermined center of gravity area 16 and there is no empty loading position 15 that is lower than the upper height limit of the predetermined center of gravity area 16 on the transport device 10, the position of a heavy third container located above the predetermined center of gravity area 16 on the transport device 10 is replaced with the position of a light fourth container that is lower than the upper height limit of the predetermined center of gravity area 16 on the transport device 10, thereby lowering the center of gravity of the transport device 10 and stabilizing the center of gravity of the transport device 10.

[0120] In the above example, if the center of gravity of the entire transport device 10 is too high, the center of gravity of the transport device 10 can be stabilized by adjusting the weight distribution of the container 50 in the vertical direction.

[0121] Note that there is no single scheme for adjusting the position of the container 50 to stabilize the center of gravity of the transport device 10. In some embodiments, to improve work efficiency, the control device calculates the center of gravity position of the transport device 10 carrying the container, and if the center of gravity position deviates from the predetermined center of gravity region 16, the control device plans multiple container position adjustment schemes, calculates an operation cost index for each of the multiple container position adjustment schemes, and then controls the operating device 70 to operate according to the container position adjustment scheme with the smallest operation cost index. Here, the operation cost index is calculated based on the length of time required to complete the container position adjustment operation and / or the number of containers that require position adjustment.

[0122] In some embodiments, the control device calculates the center of gravity position of the transport device carrying the container, and then controls the operating device to adjust the position of at least one container 50 in the transport device 10 so that the adjusted center of gravity position is located within a predetermined center of gravity area 16, thereby ensuring the stability of the center of gravity of the transport device 10.

[0123] In some cases, if the difference between the weights of some containers and others is too large, the weights of all containers may not be evenly distributed within the three-dimensional space of the transport device 10, i.e., the adjusted center of gravity position may not be located within the predetermined center of gravity area 16. In this case, the control device calculates the center of gravity position of the transport device 10 carrying the containers, and then controls the operating device to adjust the position of at least one container 50 on the transport device 10 so that the distance between the center of gravity position before the adjustment and the center of gravity position after the adjustment is smaller than the predetermined distance. That is, when planning the container position adjustment scheme, when the center of gravity position becomes constant, it can be considered that a good weight distribution pattern has been achieved for all current containers, and calculations can be stopped, thereby improving work efficiency to a certain extent.

[0124] When the first target container needs to be placed in an empty placement position of the transport device 10, the control device is configured to compare the weight of the first target container with the first limit weight and, based on the comparison result, control the operating device to place the first target container on the transport device 10. Here, the first limit weight can be used as a criterion for determining whether or not it affects the center of gravity position.

[0125] 5, the control device first obtains the weight of the first target container and compares it with the first weight limit. If the weight of the first target container is less than the first weight limit, the control device controls the operating device 70 to place the first target container in an empty placement position on the transport device. In other words, if the weight of the first target container is small, it is considered that it will not significantly affect the center of gravity of the entire transport device 10, so it can be placed directly on the transport device 10.

[0126] If the weight of the first target container is equal to or greater than the first weight limit and the empty placement position of the transport device 10 overlaps with the predetermined center of gravity area 16, the first target container is placed in the empty placement position that overlaps with the predetermined center of gravity area 16. If the empty placement position of the transport device 10 overlaps with the predetermined center of gravity area, the center of gravity of the container in the empty placement position is approximately located within the predetermined center of gravity area 16. Therefore, when the container is placed in such a placement position, the center of gravity of the transport device 10 will not deviate from the predetermined center of gravity area 16, and the first target container may be placed directly in the empty placement position that overlaps with the predetermined center of gravity area 16.

[0127] If the weight of the first target container is equal to or greater than the first weight limit and the empty placement position of the carrier 10 does not overlap with the predetermined center of gravity area 16, the lightest container on the carrier 10 is placed in the empty placement position of the carrier 10, and the first target container is placed in the placement position occupied in front of the lightest container. If the empty placement position of the carrier 10 does not overlap with the predetermined center of gravity area 16, the lightest container on the carrier 10 may be moved to the empty placement position first, thereby minimizing the impact on the original center of gravity of the carrier 10, and then the first target container is placed in the placement position occupied in front of the lightest container, thereby minimizing the deviation between the center of gravity of the carrier 10 after the first target container is placed and the center of gravity of the carrier 10 before the first target container is placed.

[0128] The first weight limit may be a preset fixed value. Alternatively, the control device may determine the first weight limit based on the weight of the containers 50 in the transportation device 10, thereby improving the adaptability of the first weight limit to actual conditions. For example, if the weights of the containers 50 in the transportation device 10 are all large, the first weight limit may also be large; if the weights of the containers 50 in the transportation device 10 are all small, the first weight limit may also be small. Furthermore, the first weight limit may be the weight of the smallest container in the transportation device 10. Alternatively, the first weight limit may be determined by the average weight of all the containers 50 in the transportation device 10; the embodiments of the present disclosure do not limit the manner in which the first weight limit is determined.

[0129] Furthermore, after the first target container is placed on the transport device 10, the control device can recalculate the overall center of gravity position of the transport device 10, and if the center of gravity position deviates from the predetermined center of gravity area 16, the control device can continue to adjust the position of the container on the transport device 10 by referring to the above-mentioned solution.

[0130] When a second target container located at a second loading position of the transport device 10 needs to be removed from the transport device 10, the control device compares the weight of the second target container with the second limit weight, and based on the comparison result, controls the operating device 70 to remove the second target container placed at the second loading position of the transport device 10 from the transport device 10. Here, the second limit weight can be used as a criterion for determining whether or not it affects the center of gravity position.

[0131] 6, the control device first obtains the weight of the second target container and compares it with the second weight limit. If the weight of the second target container is less than the second weight limit, the control device controls the operating device 70 to remove the second target container from the transport device 10, without adjusting the position of the container on the transport device 10. That is, because the second target container is light, removing the second target container from the transport device 10 only slightly changes the center of gravity of the entire transport device 10, so the second target container can be removed directly from the transport device, and there is no need to adjust the position of the container on the transport device 10.

[0132] If the weight of the second target container is equal to or greater than the second weight limit and the second placement position overlaps the preset center of gravity region 16, the control unit 70 controls the device 10 to remove the second target container from the device 10, and then place the container 50 in a placement position on the device 10 that does not overlap the preset center of gravity region 16 in the second placement position. That is, after the second target container is removed from the second placement position, the placement position that overlaps the preset center of gravity region 16 becomes empty, so that the container 50 outside the preset center of gravity region 16 can be quickly placed in the empty position, which helps to concentrate the center of gravity of the entire device 10 in the preset center of gravity region 16. For example, the heaviest container in a placement position that does not overlap the preset center of gravity region 16 may be placed in the empty position, or the heaviest container located directly above the preset center of gravity region 16 may be placed in the empty position.

[0133] If the weight of the second target container is equal to or greater than the second weight limit and the second placement position is located above the predetermined center of gravity area 16 (the second placement position does not overlap with the predetermined center of gravity area 16), but the second placement position as projected along the height direction DH of the transport device 10 overlaps with the predetermined center of gravity area 16, the second target container is removed from the transport device 10 and the placement positions of the containers on the transport device 10 are not adjusted thereafter. That is, if the second target container is located directly above the predetermined center of gravity area 16, the center of gravity of the entire transport device 10 will drop after it is removed, which will not cause instability in the center of gravity of the transport device 10, so there is no need to adjust the placement positions of the containers on the transport device 10.

[0134] If the weight of the second target container is greater than the second weight limit and the second placement position of the transport device 10, as projected along the height direction, is outside the predetermined center of gravity area 16 along the first horizontal direction (i.e., the second placement position does not overlap with the predetermined center of gravity area 16 and is not directly above the predetermined center of gravity area 16), the second target container is removed from the transport device 10, and then the placement positions of at least one container on the transport device are adjusted. Here, the first horizontal direction is the width direction DW or length direction DL of the transport device. For example, if the second target container is heavy and its original placement position is outside the predetermined center of gravity area 16 along the horizontal direction, the center of gravity of the transport device 10 may become unstable in the horizontal direction after removal. Therefore, the position of the container on the transport device 10 needs to be adjusted to stabilize the center of gravity of the transport device 10. For example, the position of the container on the transport device 10 can be adjusted depending on the situation in which the center of gravity of the transport device 10 is outside the predetermined center of gravity area 16 along the horizontal direction.

[0135] The second weight limit may be a preset fixed value. Alternatively, the control device may determine the second weight limit based on the weight of the containers 50 in the transportation device 10, thereby improving adaptability of the second weight limit to actual conditions. For example, if the weights of all the containers 50 in the transportation device 10 are large, the second weight limit may also be large, and if the weights of all the containers 50 in the transportation device 10 are small, the second weight limit may also be small. For example, the second weight limit may be determined based on the average weight of all the containers 50 in the transportation device 10.

[0136] Furthermore, after the second target container is removed from the transport device 10, the control device can recalculate the center of gravity position of the entire transport device 10, and if the center of gravity position deviates from the predetermined center of gravity area 16, the control device can continue to adjust the position of the container in the transport device 10 by referring to the above-mentioned solution.

[0137] For example, in some scenarios, some cargo needs to be removed from the container 50 or some cargo needs to be placed in the container 50. For example, a third target container placed in a third placement position of the transport device 10 is removed from the transport device 10 and then returned to the transport device 10. After the cargo is removed from the third target container, the third target container is returned to the transport device, causing a change in the weight of the third target container. The third target container has a pre-processing weight when removed and a post-processing weight when returned, and the pre-processing weight is not equal to the post-processing weight. The control device calculates a weight change value of the third target container, compares the absolute value of the weight change value with a third limit weight, and controls the operating device to return the third target container to the transport device 10 based on the comparison result. Here, the third limit weight can be used as a criterion for determining whether or not the center of gravity position is affected.

[0138] 7, the control device first calculates a weight change value Gd of the third target container based on the pre-processing weight before the load is removed and the post-processing weight after the load is removed, where Gd is the difference between the pre-processing weight of the third target container and the post-processing weight of the third target container. Then, the absolute value of Gd is compared with the third limit weight. If the absolute value of Gd is smaller than the third limit weight, it indicates that the weight change of the third target container is insignificant and will not significantly affect the center of gravity of the transport device 10. Therefore, the third target container can be directly returned to its original position (i.e., the third loading position).

[0139] If the absolute value of Gd is equal to or greater than the third weight limit and the third placement position overlaps with the preset center of gravity area 16, the third target container is returned to the third placement position. That is, if the third target container is located within the preset center of gravity area 16, the center of gravity position of the transport device 10 will not become unstable due to a change in the weight of the third target container, and it can be returned to its original position.

[0140] If the absolute value of Gd is equal to or greater than the third weight limit, and the weight before processing is greater than the weight after processing (Gd>0), and the third placement position is above the preset center of gravity area 16 (the third placement position does not overlap with the preset center of gravity area 16), and the third placement position in the projection along the height direction of the transport device 10 overlaps with the preset center of gravity area 16, the third target container is returned to the third placement position. That is, if the third placement position is directly above the preset center of gravity area 16 and the weight of the third target container decreases, the change in the weight of the third target container will lower the center of gravity position of the transport device 10, so the third target container can be returned directly to its original position.

[0141] If the absolute value of Gd is equal to or greater than the third weight limit, the weight before processing is less than the weight after processing (Gd<0), the third placement position is above the predetermined center of gravity region 16 (the third placement position does not overlap with the predetermined center of gravity region 16), and the third placement position overlaps with the predetermined center of gravity region 16 when projected along the height direction of the transport device 10, at least one placement position on the transport device 10 is first adjusted, and then the third target container is returned to the transport device 10. That is, if the third placement position is directly above the predetermined center of gravity region 16 and the weight of the third target container increases, the change in the weight of the third target container may raise the center of gravity of the transport device 10. Therefore, instead of first returning the third target container to its original position, the placement positions of other containers on the transport device 10 are first adjusted, and then the third target container is returned to the transport device 10. For example, see the operation of the method described above for placing the first target container on the transport device 10.

[0142] If the absolute value of Gd is equal to or greater than the third weight limit and the third placement position, as projected along the height direction of the carrier 10, does not overlap the predetermined center of gravity region 16 (i.e., the third placement position does not overlap the predetermined center of gravity region 16 and is not directly above the predetermined center of gravity region 16), first adjust the placement position of at least one container on the carrier and then return the third target container to the carrier. That is, if the third placement position deviates from the predetermined center of gravity region 16 in the horizontal direction and the weight of the third target container increases, the change in the weight of the third target container will cause the center of gravity of the carrier 10 to change horizontally, so the third target container is not returned to its original position. For example, see the operations of the above-described method for placing the first target container on the carrier 10.

[0143] The third limit weight may be a preset fixed value. Alternatively, the control device may determine the third limit weight based on the weights of all containers in the transport device 10 before the third target container is removed from the transport device 10, thereby improving the adaptability of the third limit weight to actual conditions. For example, if the weights of all containers 50 in the transport device 10 are large, the third limit weight is also large, and if the weights of all containers 50 in the transport device 10 are small, the third limit weight is also small. For example, the third limit weight may be determined based on the average weight of all containers 50 in the transport device 10.

[0144] Furthermore, after the third target container is returned to the transport device 10, the control device can recalculate the center of gravity position of the entire transport device 10, and if the center of gravity position deviates from the predetermined center of gravity area 16, the control device may continue to adjust the position of the container in the transport device 10 by referring to the above-mentioned solution.

[0145] According to the warehouse storage system of the present disclosure, the control device adjusts the placement position of the container on the transport device based on the preset center of gravity area of the transport device and the weight of the container, and controls the operating device to place the container on the transport device or remove the container from the transport device, thereby stabilizing the center of gravity of the entire transport device and preventing the transport device from tipping over while the robot is transporting the transport device.

[0146] FIG. 8 is a flowchart of a transportation equipment management method provided by some embodiments of the present disclosure, which is applicable to the above-mentioned control device. As shown in FIG. 8, the method may include the following steps 801 to 802:

[0147] In step 801, the center of gravity of the carrier is determined based on the weights of all containers placed on the carrier.

[0148] Illustratively, the transport device includes a plurality of loading positions, and loading positions on the transport device may or may not have containers loaded therein, and positions without containers may be referred to as idle loading positions or empty loading positions. The center of gravity of the transport device is related to the weight of the containers loaded on the transport device, and therefore the center of gravity of the transport device can be determined based on the weight of all containers loaded on the transport device.

[0149] In step 802, a handling device is controlled to move the container in and out of the transport device and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container.

[0150] For example, the operating device may be controlled to take a container in or out of the transport device and / or adjust the position of the container in the transport device based solely on the center of gravity position of the transport device, the operating device may be controlled to take a container in or out of the transport device and / or adjust the position of the container in the transport device based solely on the weight of the container, or the operating device may be controlled to take a container in or out of the transport device and / or adjust the position of the container in the transport device based on the center of gravity position and the weight of the container.

[0151] In some embodiments, step 802 may include determining a positional relationship between the center of gravity position and a predetermined center of gravity area based on the center of gravity position of the transport device and a predetermined center of gravity area of the transport device, and controlling an operating device to move the container in and out of the transport device and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container.

[0152] For example, the predetermined center of gravity area is a three-dimensional area located inside the carrier, extending upward from the lowest placement position. The positional relationship between the center of gravity position and the predetermined center of gravity area includes the center of gravity being within the predetermined center of gravity area or the center position being outside the predetermined center of gravity area (i.e., the center of gravity position is outside the predetermined center of gravity area). If the center of gravity position of the carrier is within the predetermined center of gravity area, it indicates that the center of gravity of the carrier is stable, and therefore, there is no need to adjust the position of the container on the carrier. If the center of gravity position of the carrier 10 is outside the predetermined center of gravity area, it indicates that the center of gravity of the carrier is unstable, and there is a need to adjust the position of the container on the carrier.

[0153] In some examples, when the center of gravity position deviates from a predetermined center of gravity area along the first horizontal direction, the operating device is controlled to adjust the first container located on the side of the transport device where the first central plane of the predetermined center of gravity area faces the first horizontal direction to an empty loading position where the first central plane of the transport device faces away from the first horizontal direction.

[0154] In some examples, when the center of gravity position deviates from a predetermined center of gravity area along the first horizontal direction, the operating device is controlled to adjust a first container located on the side of the conveying device where the first central plane of the predetermined center of gravity area faces the first horizontal direction to a loading position where the first central plane of the conveying device faces away from the first horizontal direction, and to adjust a second container located on the side of the conveying device where the first central plane faces away from the first horizontal direction to a loading position where the first central plane of the conveying device faces toward the first horizontal direction, wherein the weight of the first container is greater than the weight of the second container.

[0155] For example, the first central plane of the preset center of gravity area is the length central plane of the preset center of gravity area, and the first horizontal direction is the length direction of the conveying device, or the first central plane of the preset center of gravity area is the width central plane of the preset center of gravity area, and the first horizontal direction is the width direction of the conveying device.

[0156] In some examples, when the center of gravity position is higher than the predetermined center of gravity area, the operating device is controlled to move the third container located above the predetermined center of gravity area of the transport device to an empty loading position lower than the upper height limit of the predetermined center of gravity area of the transport device.

[0157] In some examples, when the center of gravity position is higher than the predetermined center of gravity area, the operating device is controlled to move a third container located above the predetermined center of gravity area of the transport device to a loading position lower than the upper height limit of the predetermined center of gravity area of the transport device, and to move a fourth container located below the upper height limit of the predetermined center of gravity area of the transport device to a loading position located above the predetermined center of gravity area of the transport device, wherein the weight of the third container is greater than the weight of the fourth container.

[0158] In some embodiments, step 802 may include a step of comparing the weight of the first target container with a first limit weight when the first target container needs to be placed in an empty placement position of the transport device, and controlling the operating device to place the first target container on the transport device based on the comparison result.

[0159] In some embodiments, step 802 may include a step of comparing the weight of the second target container to be removed from the transport device with a second limit weight when it is necessary to remove the second target container located in a second placement position in the transport device, and controlling an operating device to remove the second target container from the transport device based on the comparison result.

[0160] In some embodiments, the above step 802 includes a step of, when a third target container located at a third placement position of the transport device is removed from the transport device and then the third target container needs to be returned to the transport device, calculating a weight change value of the third target container based on the weight of the third target container when it is removed and the weight of the third target container when it is returned, comparing the absolute value of the weight change value with a third limit weight, and controlling the operating device to return the third target container to the transport device based on the comparison result, wherein the weight of the third target container when it is removed is not equal to the weight of the third target container when it is returned.

[0161] For the specific implementation of step 802, please refer to the relevant content of the above-mentioned embodiment, and a detailed explanation will be omitted here.

[0162] An embodiment of the present disclosure provides a method for managing a transport device, which determines the center of gravity of a transport device, and controls an operating device to take containers in and out of the transport device and / or adjust the position of the containers in the transport device based on the center of gravity of the transport device and / or the weight of the containers in the transport device, thereby ensuring the stability of the center of gravity of the entire transport device and preventing the transport device from falling over during the process of the robot transporting the transport device.

[0163] The processes and steps of all the above preferred embodiments are merely examples. Various processing operations may be performed in a different order from the order of the processes described above, provided that no adverse effects are encountered. Steps in the processes described above may be added, combined, or deleted as needed.

[0164] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used herein are intended to describe specific implementations and are not intended to limit the present disclosure. In this specification, a feature described in one embodiment can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable to another embodiment or is otherwise specified.

[0165] Although the present disclosure has been described with reference to the above embodiments, it should be understood that the above embodiments are merely exemplary and explanatory and do not limit the present disclosure to the scope of the described embodiments. In addition, as will be apparent to those skilled in the art, the present disclosure is not limited to the above embodiments, and many more variations and modifications may be made based on the teachings of the present disclosure, and all of these variations and modifications are included in the scope that the present disclosure is intended to protect.

Claims

1. 1. A warehousing system comprising: a carrier including a plurality of placement locations for placement of the containers; an operating device configured to perform at least one of adjusting a placement position of a container on the carrier, placing a container on the carrier, and removing a container from the carrier; a control device connected to the operating device and configured to control the operating device to move the container in and out of the transport device and / or adjust the position of the container in the transport device based on at least one of a preset center of gravity area of the transport device and a weight of the container; Warehouse storage system.

2. The predetermined center of gravity area is a three-dimensional area located inside the transport device and extending upward from a placement position of the lowest layer. The warehousing system of claim 1 .

3. The control device calculates a center of gravity position of the transportation device on which the containers are loaded based on the weights of all the containers in the transportation device, and controls the operating device to adjust the position of at least one of the containers in the transportation device when the center of gravity position is out of the preset center of gravity area. The warehousing system of claim 2.

4. The control device When the center of gravity position deviates from the predetermined center of gravity area along a first horizontal direction, the operating device is controlled to adjust a first container, the first container being located on a side of the transport device where a first central plane of the predetermined center of gravity area faces the first horizontal direction, to an empty placement position where the first central plane of the transport device faces away from the first horizontal direction; The first center plane of the predetermined center of gravity area is a length center plane or a width center plane of the predetermined center of gravity area, and the first horizontal direction is a width direction or a length direction of the carrier.

4. The warehousing system of claim 3.

5. The control device When the center of gravity position deviates from the predetermined center of gravity area along the first horizontal direction, the operating device is controlled so that a first container whose first central plane in the predetermined center of gravity area of the transport device is positioned on the side facing the first horizontal direction is adjusted to a loading position where the first central plane of the transport device is positioned on the side facing away from the first horizontal direction, and a second container whose first central plane is positioned on the side facing away from the first horizontal direction is adjusted to a loading position where the first central plane of the transport device is positioned on the side facing away from the first horizontal direction, The weight of the first container is greater than the weight of the second container, the first central plane of the predetermined center of gravity area is a length central plane or a width central plane of the predetermined center of gravity area, and the first horizontal direction is a width direction or a length direction of the carrier.

4. The warehousing system of claim 3.

6. The control device When the center of gravity position is higher than the predetermined center of gravity area, the operation device is controlled to move a third container located above the predetermined center of gravity area of the transport device to an empty placement position lower than an upper limit of the height of the predetermined center of gravity area of the transport device.

4. The warehousing system of claim 3.

7. The control device When the center of gravity position is higher than the predetermined center of gravity area, the operation device is controlled to move a third container located above the predetermined center of gravity area of the transport device to a placement position lower than the upper limit of the height of the predetermined center of gravity area of the transport device, and to move a fourth container located below the upper limit of the height of the predetermined center of gravity area of the transport device to a placement position above the predetermined center of gravity area of the transport device, wherein the weight of the third container is greater than the weight of the fourth container.

4. The warehousing system of claim 3.

8. When a first target container needs to be placed in an empty placement position of the transportation device, the control device compares the weight of the first target container with a first limit weight, and controls the operating device to place the first target container on the transportation device based on the comparison result. The warehousing system of claim 2.

9. The first weight limit is a preset fixed value, or the control device determines the first weight limit based on a weight of the container on the transportation device.

9. The warehousing system of claim 8.

10. The control device If the weight of the first target container is less than the first weight limit, the operating device is controlled to place the first target container in an empty placement position of the transport device.

9. The warehousing system of claim 8.

11. The control device When the weight of the first target container is equal to or greater than the first weight limit and the empty placement position of the transport device overlaps with the preset center of gravity area, the operation device is controlled so as to place the first target container at the empty placement position that overlaps with the preset center of gravity area.

9. The warehousing system of claim 8.

12. The control device When the weight of the first target container is equal to or greater than a first weight limit and the empty placement position of the transportation device does not overlap with the predetermined center of gravity area, the operation device is controlled so as to place the container with the smallest weight on the empty placement position of the transportation device and to place the first target container on the placement position occupied in front of the container with the smallest weight.

9. The warehousing system of claim 8.

13. The control device compares a weight of the second target container to be removed from the transportation device with a second limit weight, and controls the operating device based on the comparison result to remove the second target container placed in a second placement position of the transportation device from the transportation device. The warehousing system of claim 2.

14. The second limit weight is a predetermined fixed value, or the control device determines the second limit weight based on the weight of the container in the transportation device before the second target container is removed.

14. The warehousing system of claim 13.

15. The control device When the weight of the second target container is smaller than the second weight limit, the second target container is removed, and the operating device is controlled so as not to adjust the placement position of the container placed on the transport device.

14. The warehousing system of claim 13.

16. The control device When the weight of the second target container is equal to or greater than the second weight limit, the second placement position is above the predetermined center of gravity area, and the second placement position overlaps with the predetermined center of gravity area when projected along the height direction of the transport device, the second target container is removed, and the operating device is controlled so as not to adjust the placement position of the container placed on the transport device.

14. The warehousing system of claim 13.

17. The control device When the weight of the second target container is equal to or greater than the second weight limit and the second placement position overlaps the predetermined center of gravity area, the operation device is controlled to remove the second target container and place a container at a placement position on the transport device that does not overlap the predetermined center of gravity area at the second placement position.

14. The warehousing system of claim 13.

18. The control device When the weight of the second target container is equal to or greater than the second weight limit and the second placement position in the projection along the height direction of the transport device is outside the predetermined center of gravity area along the first horizontal direction, the second target container is removed and the operating device is controlled to adjust the placement position of at least one container placed on the transport device; The first horizontal direction is a width direction or a length direction of the carrier.

14. The warehousing system of claim 13.

19. the operating device removes a third target container placed in a third placement position of the transporting device from the transporting device, and then returns the third target container to the transporting device, the third target container having a pre-processing weight when removed and a post-processing weight when returned, the pre-processing weight not equal to the post-processing weight; The control device calculates a weight change value of the third target container, compares an absolute value of the weight change value with a third limit weight, and controls the operating device to return the third target container to the transport device based on a comparison result. The warehousing system of claim 2.

20. The third limit weight is a predetermined fixed value, or the control device determines the third limit weight based on the weight of the container in the transportation device before the third target container is removed from the transportation device.

20. The warehousing system of claim 19.

21. The control device When the absolute value of the weight change value is smaller than the third limit weight, the operation device is controlled to return the third target container to the third placement position.

20. The warehousing system of claim 19.

22. The control device When the absolute value of the weight change value is equal to or greater than the third limit weight and the third placement position overlaps with the preset center of gravity area, the operation device is controlled to return the third target container to the third placement position.

20. The warehousing system of claim 19.

23. The control device When the absolute value of the weight change value is equal to or greater than the third limit weight, the weight before processing is greater than the weight after processing, the third placement position is above the preset center of gravity area, and the third placement position when projected along the height direction of the transport device overlaps with the preset center of gravity area, the operating device is controlled to return the third target container to the third placement position.

20. The warehousing system of claim 19.

24. The control device When the absolute value of the weight change value is equal to or greater than the third limit weight, the weight before processing is smaller than the weight after processing, the third placement position is above the preset center of gravity area, and the third placement position in the projection along the height direction of the transport device overlaps with the preset center of gravity area, first adjust the placement position of at least one container on the transport device, and then control the operating device to return the third target container to the transport device.

20. The warehousing system of claim 19.

25. The control device If the absolute value of the weight change value is equal to or greater than the third limit weight and the third placement position projected along the height direction of the transport device does not overlap with the predetermined center of gravity area, first adjust the placement position of at least one container on the transport device, and then control the operating device to return the third target container to the transport device.

20. The warehousing system of claim 19.

26. The control device further comprises: Calculating the center of gravity of the carrier carrying the container; controlling the operating device so that the adjusted center of gravity position is positioned within the preset center of gravity region by adjusting a position of at least one of the containers in the transport device; 4. The warehousing system of claim 3.

27. The control device further comprises: Calculating the center of gravity of the carrier carrying the container; controlling the operating device so that a distance between the center of gravity position before the adjustment and the center of gravity position after the adjustment becomes smaller than a preset distance by adjusting a position of at least one of the containers in the transport device; 4. The warehousing system of claim 3.

28. The control device further comprises: Calculating the center of gravity of the carrier carrying the container; planning a plurality of container position adjustment schemes when the center of gravity position falls outside the predetermined center of gravity region; calculating an operating cost index for each container positioning scheme in the plurality of container positioning schemes; controlling the operating device to operate according to the container position adjustment scheme with the smallest operating cost index; the operation cost index is determined based on the length of time required to complete the container repositioning operation and / or the number of containers requiring repositioning; 4. The warehousing system of claim 3.

29. A transportation equipment management method, comprising: determining a center of gravity of the carrier based on the weights of all containers placed on the carrier; and controlling an operating device to move the container in and out of the transport device and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container. Transportation equipment management methods.

30. The step of controlling an operating device to take the container in and out of the transport device and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container includes: determining a positional relationship between the center of gravity position of the transportation device and the predetermined center of gravity region based on the center of gravity position of the transportation device and the predetermined center of gravity region; and controlling an operating device to move the container in and out of the transport device and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container.

30. The method of claim 29.

31. The predetermined center of gravity area is a three-dimensional area located inside the transport device and extending upward from a placement position of the lowest layer.

31. The method of claim 30.

32. The step of controlling an operating device to move the container in and out of the transport device and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container includes: When the center of gravity position deviates from the predetermined center of gravity area along the first horizontal direction, the operating device is controlled so as to adjust a first container, the first container being located on a side of the transport device where a first central plane of the predetermined center of gravity area faces the first horizontal direction, to an empty placement position where the first central plane of the transport device faces away from the first horizontal direction, The first center plane of the predetermined center of gravity area is a length center plane or a width center plane of the predetermined center of gravity area, and the first horizontal direction is a width direction or a length direction of the carrier.

32. The method of claim 31.

33. The step of controlling an operating device to move the container in and out of the transport device and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container includes: When the center of gravity position deviates from the predetermined center of gravity area along the first horizontal direction, the operating device is controlled to adjust a first container whose first central plane in the predetermined center of gravity area of the transport device is located on the side facing the first horizontal direction to a loading position where the first central plane of the transport device is located on the side facing away from the first horizontal direction, and to adjust a second container whose first central plane in the transport device is located on the side facing away from the first horizontal direction to a loading position where the first central plane of the transport device is located on the side facing away from the first horizontal direction, The weight of the first container is greater than the weight of the second container, the first central plane of the predetermined center of gravity area is a length central plane or a width central plane of the predetermined center of gravity area, and the first horizontal direction is a width direction or a length direction of the carrier.

32. The method of claim 31.

34. The step of controlling an operating device to move the container in and out of the transport device and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container includes: and when the center of gravity position is higher than the predetermined center of gravity area, controlling the operating device to move a third container located above the predetermined center of gravity area of the transport device to an empty placement position lower than an upper height limit of the predetermined center of gravity area of the transport device.

32. The method of claim 31.

35. The step of controlling an operating device to move the container in and out of the transport device and / or adjust the position of the container in the transport device based on the positional relationship and / or the weight of the container includes: When the center of gravity position is higher than the predetermined center of gravity area, the method includes a step of controlling the operating device to move a third container located above the predetermined center of gravity area of the transport device to a placement position lower than an upper limit of the height of the predetermined center of gravity area of the transport device, and to move a fourth container located below an upper limit of the height of the predetermined center of gravity area of the transport device to a placement position above the predetermined center of gravity area of the transport device, wherein the weight of the third container is greater than the weight of the fourth container.

32. The method of claim 31.

36. The step of controlling an operating device to take the container in and out of the transport device and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container includes: When a first target container needs to be placed in an empty placement position of the transport device, the method includes a step of comparing a weight of the first target container with a first limit weight, and controlling the operating device to place the first target container on the transport device based on a comparison result.

30. The method of claim 29.

37. The step of controlling an operating device to take the container in and out of the transport device and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container includes: When it is necessary to remove a second target container located at a second placement position in the transport device, the method includes a step of comparing a weight of the second target container to be removed from the transport device with a second weight limit, and controlling the operating device to remove the second target container from the transport device based on the comparison result.

30. The method of claim 29.

38. The step of controlling an operating device to take the container in and out of the transport device and / or adjust the position of the container in the transport device based on the center of gravity position and / or the weight of the container includes: When a third target container placed on a third placement position of the transporting device is removed from the transporting device and then needs to be returned to the transporting device, the method includes the steps of: calculating a weight change value of the third target container based on the weight of the third target container when it is removed and the weight of the third target container when it is returned; comparing the absolute value of the weight change value with a third limit weight; and controlling the operating device to return the third target container to the transporting device based on the comparison result; wherein the weight of the third target container when it is removed is not equal to the weight of the third target container when it is returned.

30. The method of claim 29.

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