Intelligent warehousing system and intelligent warehousing method

Abstract

To improve efficiency by automatizing a warehouse storage system.SOLUTION: An intelligent warehouse storage system includes a warehouse storage robot and a freight pick-up device. A first warehouse storage robot includes a lifting component, a conveyance component, and a storage unit. The first warehouse storage robot is used to: receive a first scheduling command; transport a freight box to a first target position according to the first scheduling command; receive a first freight pick-up command; control the conveyance component and pick up the freight box from the storage unit; control the lifting component and drive and move the conveyance component; and adjust the freight box to a predetermined height. A second warehouse storage robot is used to: receive a second scheduling command; and transport a portable freight shelf to a second target position according to the second scheduling command.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to the field of intelligent warehousing technology, and in particular to an intelligent warehousing system and an intelligent warehousing method. [Background technology]

[0002] Intelligent warehousing is part of the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data entry in each process of cargo warehousing management, allowing enterprises to accurately grasp actual inventory data in real time and ensure rational maintenance and control of enterprise inventory. Scientific coding also facilitates the management of inventory lots, shelf life, etc. The use of the inventory storage location management function of the SNHGES system further enables the current location of all inventory to be grasped in real time, contributing to the improvement of warehouse management work efficiency.

[0003] In recent years, the technology of transporting goods based on warehouse storage robots has become increasingly mature. In the prior art, warehouse storage robots use a lifting disc at the top of the robot to lift the cargo shelf on which the goods are placed, and move forward by scanning a two-dimensional code on the ground, thereby transporting the cargo shelf on which the ordered goods are placed to the artificial processing area.

[0004] However, while realizing this application, the inventors have found that current intelligent warehouse storage systems are unable to achieve full automation and are therefore inefficient. Summary of the Invention [Problem to be solved by the invention]

[0005] To solve the above technical problems, the embodiments of the present application provide an intelligent warehousing system, a processing terminal, a warehousing robot, and an intelligent warehousing method that can realize automation and improve efficiency. [Means for solving the problem]

[0006] To solve the above technical problems, the embodiments of the present application provide the following technical solutions.

[0007] An intelligent warehousing system is provided, the intelligent warehousing system including a warehousing robot and a cargo pickup device, the warehousing robot including a first warehousing robot and / or a second warehousing robot, the first warehousing robot is used to receive a first scheduling command and transport a cargo box to a first target location in accordance with the first scheduling command, the second warehousing robot is used to receive a second scheduling command and transport a portable cargo shelf to a second target location in accordance with the second scheduling command, and the cargo pickup device is used to receive a cargo pickup command and remove cargo from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup command.

[0008] In some embodiments, the first warehousing robot includes at least one storage unit, or at least one transport component, or both, wherein the storage unit is used to store the cargo boxes and the transport component is used to transport the cargo boxes.

[0009] In some embodiments, when the first warehousing robot includes at least one storage unit and at least one transport component, the transport component is used to remove the cargo box from the storage unit and / or place the cargo box into the storage unit.

[0010] In some embodiments, the first warehousing robot further comprises a lifting component, the lifting component being used to adjust the at least one storage unit and / or the at least one transport component to a predetermined height by driving the at least one storage unit and / or the at least one transport component to move.

[0011] In some embodiments, when the first warehouse storage robot includes a transport component and a lifting component, the first warehouse storage robot is further a warehouse storage robot for receiving at least one first cargo pickup command, and is used to accommodate at least one of the cargo boxes per the first cargo pickup command, and is used to adjust at least one of the cargo boxes to a predetermined height in accordance with each of the first cargo pickup commands, and the cargo pickup device is further used to receive at least one second cargo pickup command, and is used to remove the cargo from the cargo box in accordance with each of the second cargo pickup commands.

[0012] In some embodiments, when the first warehouse storage robot includes a transport component, a lifting component, and at least one storage unit, the first warehouse storage robot is further configured as a warehouse storage robot for receiving at least one first cargo pickup command, and for corresponding to at least one of the cargo boxes and at least one of the storage units for each of the first cargo pickup commands, and for removing at least one of the cargo boxes from the corresponding at least one of the storage units in accordance with each of the first cargo pickup commands, and the cargo pickup device is further configured as a warehouse storage robot for receiving at least one second cargo pickup command, and for removing the cargo from the cargo box in accordance with each of the second cargo pickup commands.

[0013] In some embodiments, the first warehouse storage robot is further used to return the cargo box to the storage unit corresponding to the cargo box after the cargo pickup device has completed removing the cargo from the cargo box.

[0014] In some embodiments, the first warehousing robot is further adapted to adjust the retrieved cargo box to a predetermined height.

[0015] In some embodiments, the cargo pickup instructions include at least one third cargo pickup instruction, each corresponding to at least one of the cargo boxes, and the cargo pickup device is further used to receive the at least one third cargo pickup instruction and remove the cargo from the corresponding at least one of the cargo boxes in accordance with each of the third cargo pickup instructions.

[0016] In some embodiments, when the first warehouse storage robot includes at least one storage unit, and corresponds to at least one of the cargo boxes and at least one of the storage units for each of the third cargo pickup instructions, the cargo pickup device is further used to receive at least one of the third cargo pickup instructions and remove the cargo from at least one of the cargo boxes in the corresponding at least one of the storage units in accordance with each of the third cargo pickup instructions.

[0017] In some embodiments, when the cargo pickup instructions include at least one fourth cargo pickup instruction, the cargo pickup device is further adapted to receive at least one fourth cargo pickup instruction and remove the cargo from the portable cargo shelf in accordance with each of the fourth cargo pickup instructions.

[0018] In some embodiments, the second warehouse storage robot is further a warehouse storage robot for receiving at least one fifth cargo pickup command, and is used to accommodate at least one of the cargo items per the fifth cargo pickup command, and is used to adjust at least one of the cargo items to a predetermined height in accordance with each of the fifth cargo pickup commands, and the cargo pickup device is further used to receive at least one sixth cargo pickup command, and is used to remove the cargo items from the portable cargo shelf in accordance with each of the sixth cargo pickup commands.

[0019] In some embodiments, the cargo pickup device is further used to detect whether the cargo box and / or the portable cargo shelf is located at a predetermined safe cargo pickup position after receiving the cargo pickup command, and if so, to remove the cargo from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup command.

[0020] In some embodiments, the cargo pickup device is further adapted to adjust a cargo pickup position before removing the cargo from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup command.

[0021] In some embodiments, the cargo pickup device is further configured to send a cargo pickup completion command, such that after completing cargo pickup, the first warehouse storage robot transports the cargo box to a third target location and / or the second warehouse storage robot transports the portable cargo shelf to a fourth target location.

[0022] In some embodiments, the cargo pickup device is provided with a cargo pickup mechanism, the cargo pickup mechanism including a suction nozzle assembly and / or a gripper assembly, and the cargo pickup device is used to remove the cargo from the cargo box and / or the portable cargo shelf via the cargo pickup mechanism.

[0023] In some embodiments, the cargo pickup device includes a robotic arm and a machine controller, the machine controller being integrated into or external to the robotic arm, the machine controller being connected to the robotic arm, and the machine controller being used to control the robotic arm to retrieve the cargo from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup command.

[0024] In some embodiments, the cargo pickup device further comprises a sensor, the sensor being connected to the machine controller.

[0025] In some embodiments, the intelligent warehousing system further includes an operation console, the cargo pickup device is provided on the operation console, and the first target location and the second target location are located in a predetermined area of ​​the operation console.

[0026] In some embodiments, the intelligent warehousing system further includes a sorting device, and when the sorting device includes a custom wall and / or a conveyor belt, the cargo pickup device is further configured to receive a seventh cargo pickup command and place the cargo removed from the cargo box and / or the portable cargo shelf on the sorting device in accordance with the seventh cargo pickup command.

[0027] In some embodiments, the intelligent warehousing system further includes fixed cargo shelves and / or portable cargo shelves, wherein the fixed cargo shelves are used to store the cargo boxes, the portable cargo shelves are used to store at least one of pallets, the cargo boxes, and the cargo, the cargo boxes are used to store the cargo, and the pallets are used to stack the cargo and / or the cargo boxes.

[0028] In some embodiments, the intelligent warehousing system further includes a processing terminal, wherein the processing terminal is used to send the first scheduling instruction to the first warehousing robot so that the first warehousing robot transports the cargo box to the first target location in accordance with the first scheduling instruction, and / or the processing terminal is used to send the second scheduling instruction to the second warehousing robot so that the second warehousing robot transports the portable cargo shelf to the second target location in accordance with the second scheduling instruction, and the processing terminal is further used to send the cargo pickup instruction to the cargo pickup device so that the cargo pickup device retrieves the cargo from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup instruction.

[0029] To solve the above technical problems, the embodiments of the present application further provide the following technical solutions.

[0030] An intelligent warehousing method applicable to a processing terminal is provided, the intelligent warehousing method including: sending a first scheduling command to a first warehousing robot, so that the first warehousing robot transports a cargo box to a first target location in accordance with the first scheduling command; and / or sending a second scheduling command to a second warehousing robot, so that the second warehousing robot transports a portable cargo shelf to a second target location in accordance with the second scheduling command; and sending a cargo pickup command to a cargo pickup device, so that the cargo pickup device retrieves cargo from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup command.

[0031] In some embodiments, when the first warehouse storage robot includes a transport component and a lifting component, the transport component is used to transport the cargo boxes, and the lifting component is used to adjust the transport component to a predetermined height by driving the transport component to move, the intelligent warehousing method further includes sending at least one first cargo pickup command to the first warehouse storage robot so that the first warehouse storage robot adjusts at least one of the cargo boxes to a predetermined height in accordance with each of the first cargo pickup commands, corresponding to each of the first cargo pickup commands, and sending the cargo pickup command to a cargo pickup device so that the cargo pickup device removes cargo from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup command specifically includes sending at least one second cargo pickup command to the cargo pickup device so that the cargo pickup device removes the cargo from the cargo box in accordance with each of the second cargo pickup commands.

[0032] In some embodiments, the first warehousing robot includes a transport component, a lifting component, and at least one storage unit, the storage unit being used to store the cargo box, the transport component being used to remove the cargo box from the storage unit and / or place the cargo box in the storage unit, and the lifting component being used to drive the transport component to move relative to the storage unit, the intelligent warehousing method further comprising: the first warehousing robot transferring at least one of the cargo boxes to a corresponding at least one storage unit according to each of the first cargo pickup instructions. and transmitting at least one first cargo pickup command to the first warehouse storage robot so that the first cargo pickup command corresponds to at least one of the cargo boxes and at least one of the storage units, and transmitting the cargo pickup command to the cargo pickup device so that the cargo pickup device retrieves cargo from the cargo boxes and / or the portable cargo shelves in accordance with the cargo pickup commands specifically includes transmitting at least one second cargo pickup command to the cargo pickup device so that the cargo pickup device retrieves the cargo from the cargo boxes in accordance with each of the second cargo pickup commands.

[0033] In some embodiments, the cargo pickup instruction includes at least one third cargo. and for each said third cargo pickup instruction, at least one Sending the cargo pickup command to the cargo pickup device so that, upon corresponding to the cargo box, the cargo pickup device removes cargo from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup command specifically includes sending at least one third cargo pickup command to the cargo pickup device so that the cargo pickup device removes the cargo from the corresponding at least one cargo box in accordance with each of the third cargo pickup commands.

[0034] In some embodiments, when the first warehouse storage robot includes at least one storage unit, and when each of the third cargo pickup instructions corresponds to at least one of the cargo boxes and at least one of the storage units, sending the at least one third cargo pickup instruction to the cargo pickup device so that the cargo pickup device removes the cargo from the cargo box in accordance with each of the third cargo pickup instructions specifically includes sending the at least one third cargo pickup instruction to the cargo pickup device so that the cargo pickup device removes the cargo from at least one of the cargo boxes in the corresponding at least one of the storage units in accordance with each of the third cargo pickup instructions.

[0035] In some embodiments, when the cargo pickup instructions include at least one fourth cargo pickup instruction, transmitting the cargo pickup instructions to the cargo pickup device so that the cargo pickup device retrieves cargo from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup instructions specifically includes transmitting at least one fourth cargo pickup instruction to the cargo pickup device so that the cargo pickup device retrieves the cargo from the portable cargo shelf in accordance with each of the fourth cargo pickup instructions.

[0036] In some embodiments, the intelligent warehousing method further includes sending at least one fifth cargo pickup command to the second warehousing storage robot, so that the second warehousing storage robot adjusts at least one of the cargo items to a predetermined height in accordance with each of the fifth cargo pickup commands, corresponding to at least one of the cargo items for each of the fifth cargo pickup commands, and sending the cargo pickup command to the cargo pickup device, so that the cargo pickup device removes the cargo items from the cargo box and / or the portable cargo shelf in accordance with the cargo pickup command, specifically includes sending at least one sixth cargo pickup command to the cargo pickup device, so that the cargo pickup device removes the cargo items from the portable cargo shelf in accordance with each of the sixth cargo pickup commands.

[0037] In some embodiments, the intelligent warehousing method further includes receiving a cargo pickup completion command transmitted by the cargo pickup device, and instructing the first warehousing robot to transport the cargo box to a third target location according to the cargo pickup completion command, and / or instructing the second warehousing robot to transport the portable cargo shelf to a fourth target location according to the cargo pickup completion command.

[0038] In some embodiments, the intelligent warehousing method further includes transmitting a seventh cargo pickup command to the cargo pickup device such that the cargo pickup device places the cargo removed from the cargo box and / or the portable cargo shelf in a sorting device in accordance with the seventh cargo pickup command.

[0039] In order to solve the above technical problems, the embodiments of the present application further provide the following technical solutions: .

[0040] An intelligent warehousing method applicable to a warehouse storage robot is provided, the warehouse storage robot including at least one first warehouse storage robot, the intelligent warehousing method including receiving a first scheduling command, such that a cargo pickup device receives a cargo pickup command and then removes cargo from the cargo box in accordance with the cargo pickup command, and transporting the cargo box to a first target position in accordance with the first scheduling command.

[0041] In some embodiments, when the first warehousing robot includes a transport component and a lifting component, the transport component is used to transport the cargo box, and the lifting component is used to adjust the transport component to a predetermined height by driving the transport component to move, the intelligent warehousing method further includes receiving at least one first cargo pickup command, and corresponding to at least one of the cargo boxes for each of the first cargo pickup commands, and adjusting at least one of the cargo boxes to a predetermined height in accordance with each of the first cargo pickup commands.

[0042] In some embodiments, when the first warehousing robot includes a transport component, a lifting component, and at least one storage unit, the storage unit is used to store the cargo box, the transport component is used to remove the cargo box from the storage unit and / or is used to place the cargo box into the storage unit, and the lifting component is used to drive the transport component to move relative to the storage unit, the intelligent warehousing method further includes receiving at least one first cargo pickup command, and corresponding at least one of the cargo boxes and at least one of the storage units for each of the first cargo pickup commands, and removing at least one of the cargo boxes from the corresponding at least one of the storage units in accordance with each of the first cargo pickup commands.

[0043] In some embodiments, the intelligent warehousing method further includes returning the cargo box to the storage unit corresponding to the cargo box after the cargo pickup device has completed removing the cargo from the cargo box.

[0044] In some embodiments, the intelligent warehousing method further comprises adjusting the removed cargo box to a predetermined height.

[0045] To solve the above technical problems, the embodiments of the present application further provide the following technical solutions.

[0046] A processing terminal is provided, comprising at least one processor and a memory communicatively connected to said at least one processor, said memory storing instructions executable by said at least one processor, said instructions being executed by said at least one processor such that said at least one processor can perform the intelligent warehousing method described above.

[0047] To solve the above technical problems, the embodiments of the present application further provide the following technical solutions.

[0048] A warehousing robot is provided, comprising at least one first warehousing robot, said first warehousing robot comprising at least one processor and a memory communicatively coupled to said at least one processor, said memory storing instructions executable by said at least one processor, said instructions being executed by said at least one processor such that said at least one processor can perform the intelligent warehousing method set forth above.

[0049] To solve the above technical problems, the embodiments of the present application further provide the following technical solutions.

[0050] A non-volatile computer-readable storage medium is provided, the non-volatile computer-readable storage medium having computer-executable instructions stored thereon, the computer-executable instructions being used to cause a processing terminal to perform the intelligent warehousing method described above, and further being used to cause a warehousing robot to perform the intelligent warehousing method described above. [Effects of the Invention]

[0051] Compared with the prior art, the intelligent warehousing storage system provided by the embodiments of the present application can realize automation of warehouse cargo pickup / placement and improve efficiency by having a first warehousing storage robot receive a first scheduling command to transport a cargo box to a first target location, and / or a second warehousing storage robot receive a second scheduling command to transport a portable cargo shelf to a second target location, and a cargo pickup device receive a cargo pickup command to remove cargo from the cargo box and / or the portable cargo shelf. [Brief explanation of the drawings]

[0052] One or more embodiments will be illustratively described with reference to the corresponding drawings, but the embodiments are not limited by these illustrative descriptions. Elements in the drawings having the same reference numeral designation indicate similar elements, and unless otherwise specified, the figures in the drawings are not to scale. [Figure 1] 1 is a schematic diagram of the configuration of an intelligent warehousing system provided by an embodiment of the present application; [Figure 2a] FIG. 2 is a structural schematic diagram of the first warehouse storage robot shown in FIG. 1; [Figure 2b] FIG. 2 is a structural schematic diagram of the first warehouse storage robot shown in FIG. 1; [Figure 2c] FIG. 2 is a structural schematic diagram of the first warehouse storage robot shown in FIG. 1; [Figure 2d] FIG. 2 is a structural schematic diagram of the first warehouse storage robot shown in FIG. 1; [Figure 2e] FIG. 2 is a structural schematic diagram of the first warehouse storage robot shown in FIG. 1; [Figure 3] FIG. 2 is a structural schematic diagram of the second warehouse storage robot shown in FIG. 1; [Figure 4] FIG. 2 is a schematic diagram of the hardware structure of the cargo pickup device shown in FIG. 1. [Figure 5] 2 is a flowchart of a first intelligent warehousing method applied to the intelligent warehousing system shown in FIG. 1 provided by an embodiment of the present application; [Figure 6] FIG. 2 is a schematic diagram of cargo pick-up in a first intelligent warehousing method applied to the intelligent warehousing system shown in FIG. 1 provided by an embodiment of the present application; [Figure 7] 2 is a flowchart of a second type of intelligent warehousing method applied to the intelligent warehousing system shown in FIG. 1 provided by an embodiment of the present application; [Figure 8]2 is a flowchart of a third intelligent warehousing method applied to the intelligent warehousing system shown in FIG. 1 provided by an embodiment of the present application; [Figure 9] 2 is a flowchart of a fourth intelligent warehousing method applied to the intelligent warehousing system shown in FIG. 1 provided by an embodiment of the present application; [Figure 10] 2 is a flowchart of a fifth intelligent warehousing method applied to the intelligent warehousing system shown in FIG. 1 provided by an embodiment of the present application; [Figure 11] 2 is a flowchart of a sixth intelligent warehousing method applied to the intelligent warehousing system shown in FIG. 1 provided by an embodiment of the present application; [Figure 12] FIG. 2 is a schematic diagram of the hardware structure of a processing terminal provided by an embodiment of the present application; [Figure 13] FIG. 1 is a schematic diagram of the hardware structure of a warehouse storage robot provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0053] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be described in more detail below with reference to the drawings and examples. The specific examples described in this specification are used only to interpret the present application, not to limit the present application.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Terms used in this specification are for the purpose of describing specific embodiments and are not intended to be limiting of this specification. As used herein, the term "and / or" includes any and all combinations of one or more of the associated specified items.

[0055] The intelligent warehousing system provided herein may be applied to any suitable industry or technical field, such as the intelligent warehousing field, intelligent logistics field, intelligent sorting field, etc. In the embodiments of the present application, an intelligent warehousing system that can intelligently pick up / place cargo according to cargo orders and that is applied to the intelligent warehousing field will be described as an example.

[0056] Example 1

[0057] 1 is a schematic diagram of an intelligent warehousing system according to an embodiment of the present invention. Referring to FIG. 1, the intelligent warehousing system 100 includes a warehousing robot 10 and a cargo pickup device 20.

[0058] The warehousing storage robot 10 may include one or more robots. The warehousing storage robot 10 may include a first warehousing storage robot 11 and / or a second warehousing storage robot 12. Specifically, the warehousing storage robot 10 may include the first warehousing storage robot 11, or the warehousing storage robot 10 may include the second warehousing storage robot 12, or the warehousing storage robot 10 may include the first warehousing storage robot 11 and the second warehousing storage robot 12 at the same time.

[0059] The first warehousing robot 11 can be used to pick up / place a cargo box or cargo, and the cargo box may have cargo stored therein. In this embodiment, the first warehousing robot 11 is used to receive a first scheduling command and transport the cargo box to a first target location according to the first scheduling command. The first target location may be a different preset location, such as a cargo sorting platform or a cargo transfer platform.

[0060] The first warehousing robot 11 has a variety of structural forms, and in this embodiment, the warehousing robot 10 can simultaneously include the first warehousing robot 11 of one or more structural forms, for example, the first warehousing robot 11 in Figures 2a to 2e.

[0061] As shown in FIG. 2a, the first warehousing robot 11 includes a mobile chassis 111, at least one storage unit 112, and a support frame 115, where the storage unit 112 is attached to the support frame 115, and the support frame 115 is attached to the mobile chassis 111. Of course, in some other embodiments, the storage unit 112 may be directly attached to the mobile chassis 111. The mobile chassis 111 is used for the first warehousing robot 11 to move along a planned path. The storage unit 112 is used to store cargo boxes. The cargo boxes may be placed directly in the storage unit 112, either by manually placing the cargo boxes in the storage unit 112, or by providing additional mechanical equipment to place the cargo boxes in the storage unit 112 for more automated system implementation. As shown in FIG. 2a, when there is one storage unit 112, the storage unit 112 is directly attached to the support frame 115; in some other embodiments, when there is a plurality of storage units 112, the storage units 112 can be mounted on the support frame 115 so as to be vertically stacked, with gaps between adjacent storage units 112 to facilitate loading and unloading of cargo boxes; of course, in some other embodiments, the storage units 112 can also be mounted horizontally on the support frame 115.

[0062] Optionally, with regard to the first warehousing robot 11 in Fig. 2a, the first warehousing robot 11 further includes a lifting component 114, the lifting component 114 is mounted on a support frame 115, the lifting component 114 is respectively connected to the mobile chassis 111 and the storage unit 112, and the lifting component 114 is used to drive the storage unit 112 to move along a vertical direction L3 relative to the support frame 115. In this embodiment, the first warehousing robot 11 controls the lifting component 114 to move the storage unit 112 along the vertical direction L3 relative to the support frame 115, thereby lifting the cargo box in the storage unit 112 to a certain height.

[0063] As shown in FIG. 2b , the first warehouse storage robot 11 may not be provided with a storage unit, and the first warehouse storage robot 11 includes a mobile chassis 111, at least one transport component 113, and a support frame 115, where the transport component 113 is attached to the support frame 115, and the support frame 115 is attached to the mobile chassis 111. Of course, in some other embodiments, the transport component 113 may be attached directly to the mobile chassis 111. The mobile chassis 111 is used to move the first warehouse storage robot 11 along a planned path. The transport component 113 includes a fork 1131 and a telescopic device 1132, where the fork 1131 is attached to the telescopic device 1132. The telescopic device 1132 is used to drive the fork 1131 to move along the horizontal direction L1 relative to the support frame 115 so that the fork 1131 can load and unload cargo boxes relative to any position on the support frame 115 in the horizontal direction L1. In this embodiment, the first warehousing robot 11 is used to control the transport component 113 to pick up the cargo box and transport the cargo box, and the first warehousing robot 11 can only pick up one cargo box at a time.

[0064] When the number of conveying components 113 is one, the conveying component 113 is directly attached to the support frame 115; in some other embodiments, when the number of conveying components 113 is multiple, multiple conveying components 113 can be arranged on the support frame 115 so as to be stacked vertically, and gaps can be provided between adjacent conveying components 113 to facilitate the loading and unloading of cargo boxes; of course, it can be understood that in some other embodiments, multiple conveying components 113 can also be arranged horizontally on the support frame 115.

[0065] Optionally, with respect to the first warehousing robot 11 in FIG. 2b, the first warehousing robot 11 further includes a lifting component 114, the lifting component 114 is provided on a support frame 115, the lifting component 114 is respectively connected to the mobile chassis 111 and the transport component 113, and the lifting component 114 is used to move the transport component 113 along a vertical direction relative to the mobile chassis 111. The first warehousing robot 11 is further used to control the lifting component 114 so that the transport component 113 moves relative to the support frame 115 along the vertical direction L3, thereby lifting the cargo box on the transport component 113 to a certain height.

[0066] As shown in FIGS. 2c and 2d, the first warehouse storage robot 11 includes a mobile chassis 111, at least one storage unit 112, at least one transport component 113, and a support frame (not shown), where the support frame is attached to the mobile chassis 111, the storage units 112 are attached to the support frame, and the transport components 113 are attached to the storage units 112, with one transport component 113 corresponding to one storage unit 112. The mobile chassis 111 is used to move the first warehouse storage robot 11 along a planned path. The storage units 112 are used to store cargo boxes. The transport component 113 has the same structure as the transport component in FIG. 2b, and will not be described again here. The difference is that the transport component 113 is attached to the storage unit 112, allowing it to move relative to the storage unit 112. In this embodiment, the first warehouse storage robot 11 is used to control the transport components 113 to remove cargo boxes from the storage units 112 and / or to control the transport components 113 to place cargo boxes in the storage units 112. As shown in FIG. 2c, when there is only one storage unit 112 and one transport component 113, the storage unit 112 is directly attached to the support frame, and the transport component 113 is attached to the storage unit 112. As shown in FIG. 2d, when there are multiple storage units 112 and multiple transport components 113, multiple storage units 112 are vertically stacked on the support frame, and one transport component 113 is attached to each storage unit 112, and each transport component 113 can extend horizontally, thereby realizing the pickup / placement of cargo boxes.

[0067] Optionally, with respect to the first warehouse storage robot 11 shown in Figures 2c and 2d, the first warehouse storage robot 11 may further include a lifting component (not shown), which is provided on the support frame and connected to the mobile chassis 111 and the storage unit 112, respectively, and which is used to drive the storage unit 112 to move along a vertical direction relative to the support frame, thereby transmitting the transport component 113 to move along a vertical direction relative to the support frame.

[0068] As shown in FIG. 2e, the first warehouse storage robot 11 includes a mobile chassis 111, at least one storage unit 112, one transport component 113, a lifting component 114, and a support frame 115. The support frame 115 is attached to the mobile chassis 111, the storage unit 112 is attached to the support frame 115, and the lifting component 114 is attached to the support frame 115, and the lifting component 114 is connected to the transport component 113. The mobile chassis 111 is used to move the first warehouse storage robot 11 along a planned path. The storage unit 112 is used to store cargo boxes. The structure of the transport component 113 is the same as that of the transport component in FIG. 2b, and will not be described again here. The difference is that the transport component 113 is attached to the support frame 115 and moves relative to the storage unit 112 along the vertical direction L3. A lifting component 114 is connected to the transport component 113 and is used to drive the transport component 113 to move along a vertical direction L3 relative to the storage unit 112. A fork 1131 of the transport component 113 can also move along a horizontal direction L1 relative to the storage unit 112. In this embodiment, the first warehouse storage robot 11 is used to control the transport component 113 to remove cargo boxes from the storage unit 112 and / or to place cargo boxes in the storage unit 112. The first warehouse storage robot 11 is further used to control the lifting component 114 to cause the transport component 113 to move relative to the storage unit 112 so that one transport component 113 can travel between multiple storage units 112, thereby storing cargo boxes obtained by the transport component 113 in each storage unit 112 or removing cargo boxes from each storage unit 112 via one transport component 113.

[0069] In this embodiment, the lifting component moves the transport component and / or the storage unit to a predetermined height, which may be a height set by the first warehouse storage robot according to a command received by the first warehouse storage robot.

[0070] The second warehouse storage robot 12 is used to move the portable cargo shelf, which can store cargo boxes, cargo, and / or pallets. The portable cargo shelf can be single-tiered or multi-tiered. If the portable cargo shelf is multi-tiered, multiple cargo boxes and / or pallets can be placed on different tiers of the portable cargo shelf, while if the portable cargo shelf is single-tiered, the cargo boxes and / or pallets can be placed on top of the portable cargo shelf. In this embodiment, the second warehouse storage robot 12 is used to receive a second scheduling command and transport the portable cargo shelf to a second target location according to the second scheduling command. The second target location may be a different preset location, such as a cargo sorting platform or a cargo transfer platform.

[0071] However, the second warehouse storage robot 12 may also be a robot equipped with a lifting mechanism on its top and used to transport cargo shelves by lifting them. For example, the second warehouse storage robot 12 may be a jack-up robot or another robot similar to a jack-up structure. In this embodiment, as shown in FIG. 3 , the second warehouse storage robot 12 includes a drive mechanism 121 and a jack mechanism 122. The drive mechanism 121 can drive the second warehouse storage robot 12 to move within a work area such as a warehouse. The jack mechanism 122 is used to transport portable cargo shelves. When the jack mechanism 122 is raised, the portable cargo shelf can be lifted off the ground, and when the jack mechanism 122 is lowered, the portable cargo shelf can be placed on the ground.

[0072] The cargo pickup device 20 is an automated mechanical device, and may be, for example, a mechanical device with six degrees of freedom, capable of accurately positioning itself at a point in three-dimensional (or two-dimensional) space and performing operations. In this embodiment, the cargo pickup device 20 is used to receive a cargo pickup command and remove cargo from a cargo box and / or a portable cargo shelf in accordance with the cargo pickup command. When the warehouse storage robot 10 includes a first warehouse storage robot 11, the cargo pickup device 20 is located at a first target position. When the warehouse storage robot 10 includes a second warehouse storage robot 12, the cargo pickup device 20 is located at a second target position. When the warehouse storage robot 10 includes both the first warehouse storage robot 11 and the second warehouse storage robot 12, the cargo pickup device 20 is located at an intermediate position between the first target position and the second target position, thereby enabling the cargo pickup device 20 to perform cargo pickup. The first target location and the second target location may be the same location, and the first warehousing robot 11 and the second warehousing robot 12 may arrive at the same location in sequence, and the cargo pickup device 20 may pick up the cargo in the order of arrival. Using the cargo pickup device 20 in the intelligent warehousing system 100 to realize automatic pickup / placement of cargo can increase the automation level and improve efficiency.

[0073] Optionally, in some other embodiments, the cargo pickup device 20 is also used to remove cargo from cargo boxes and / or portable cargo shelves.

[0074] As shown in FIG. 4 , the cargo pickup device 20 includes a robot arm 21 and a machine controller 22. The robot arm 21 may be an articulated robot arm, such as a five-joint robot arm. The robot arm 21 includes several arm sections and several rotary joints, and every two adjacent arm sections are connected via a rotary joint. The rotary joint is used to drive the rotation and / or swing of the arm sections, thereby realizing the movement of the robot arm 21. The machine controller 22 may be a control chip or a control circuit, etc., and is connected to the rotary joints of the robot arm 21 and is used to control the movement of the robot arm 21. The machine controller 22 can control the robot arm 21 to pick up cargo from a cargo box and / or a portable cargo shelf according to a cargo pickup command. The machine controller 22 may be built into the robot arm 21 or may be external to the robot arm 21.

[0075] The cargo pickup device 20 further includes a sensor 23. The sensor 23 is provided on the robot arm 21, and may be an image sensor for collecting image information. A machine controller 22 is connected to the sensor 23, and is used to process the image information collected by the sensor 23 and control the movement of the robot arm 21 according to the processing result. Of course, in some other embodiments, the cargo pickup device 20 may further include other sensors, such as a depth sensor, an acceleration sensor, etc., which can be selected according to actual situations.

[0076] The cargo pickup device 20 is provided with a cargo pickup mechanism 25, which is used to grasp cargo, and the cargo pickup device 20 removes cargo from a cargo box and / or a portable cargo shelf via the cargo pickup mechanism 25. The cargo pickup mechanism 25 includes a suction nozzle assembly and / or a gripper assembly (not shown), where the suction nozzle assembly may be a sponge suction nozzle and is used to pick up large-area cargo such as clothing and fabric, and the gripper assembly may have a structure simulating finger joints and is used to grasp cargo such as daily necessities.

[0077] The intelligent warehousing system 100 may further include an operation console 30. The cargo pickup device 20 may be provided on the operation console 30, and in this case, the first target position and the second target position may be located in a predetermined area of ​​the operation console 30. The operation console 30 may be used to receive and transmit control commands and control the robot arm 21 so that the cargo pickup device 20 realizes the pickup / placement of cargo.

[0078] The intelligent warehousing system 100 may further include a sorting device 40. The sorting device 40 may include a custom wall and / or a conveyor belt, both of which are used to place cargo. The custom wall is a fixed, immovable mechanism on which cargo is placed, and the conveyor belt is a dynamic mechanism on which cargo is placed. In this embodiment, the cargo pickup device 20 is further used to receive a seventh cargo pickup command and place cargo retrieved from the cargo box and / or portable cargo shelf on the corresponding sorting device 40 according to the seventh cargo pickup command. For example, the seventh cargo pickup command may include cargo placement position information. After receiving the seventh cargo pickup command, the cargo pickup device 20 retrieves cargo from the warehousing robot 10 and places it in the corresponding position on the sorting device 40 based on the cargo placement position information. While the cargo pickup device 20 completes the final cargo pickup and proceeds to sorting, the sorting device 40 completes sorting, and then the warehouse storage robot 10 can move to the position of the sorting device 40 so that the warehouse storage robot 10 can send the cargo box to the corresponding packing area or secondary sorting area.

[0079] Alternatively, the sorting device 40 can be provided on the operation console 30, and the operation console 30 can control the sorting device 40 or record the cargo placement information of the cargo pickup device 20, which may be the cargo placement item, the cargo placement quantity, the cargo placement position, etc. For example, when the cargo pickup device 20 places product a in position 1 on the order wall, the operation console 30 records "order wall position 1, product a, quantity 1."

[0080] Optionally, the intelligent warehousing system 100 may further include a fixed cargo shelf 50. The quantity of the fixed cargo shelf 50 may be one or more, and each fixed cargo shelf 50 may have one or more layers. The fixed cargo shelf 50 is used to store cargo boxes so that the first warehousing robot 11 can pick up cargo boxes from the fixed cargo shelf 50 or place cargo boxes on the fixed cargo shelf 50.

[0081] Optionally, the intelligent warehousing system 100 may further include a portable cargo shelf 60. There may be one or more portable cargo shelves 60, and each portable cargo shelf 60 may have one or more layers. The portable cargo shelves 60 are used to store cargo, cargo boxes, and / or pallets so that the second warehousing robot 12 can transport the cargo, cargo boxes, and / or pallets on the portable cargo shelves 60 by transporting the portable cargo shelves 60. The cargo boxes are used to store the cargo, and the pallets are used to store the cargo and / or cargo boxes. The cargo may be bulky goods, pendant goods, or general goods, and the general goods may include a first general goods and / or a second general goods, where the first general goods are stored in the cargo boxes and the second general goods are directly stored on the portable cargo shelves 60. The second general goods may be high-selling goods such as popular goods, and storing the goods directly on the portable cargo shelves 60 can save time from packing the goods into the cargo boxes.

[0082] The fixed cargo shelves 50 and the portable cargo shelves 60 may be installed in the same area, such as a cargo pickup station, so that the warehouse storage robot 10 can pick up a cargo box or a portable cargo shelf from the cargo pickup station. The fixed cargo shelves 50 and the portable cargo shelves 60 may be arranged in a mixed manner or in separate areas.

[0083] Optionally, the intelligent warehousing system 100 may further include a processing terminal 70. In this embodiment, the processing terminal 70 is used to transmit cargo pickup commands to the cargo pickup device 20 so that the cargo pickup device 20 receives the cargo pickup command and retrieves cargo from the cargo box and / or portable cargo shelf in accordance with the cargo pickup command. The processing terminal 70 is further used to transmit a first scheduling command to the first warehousing robot 11 so that the first warehousing robot 11 transports the cargo box to a first target location in accordance with the first scheduling command, and / or to transmit a second scheduling command to the second warehousing robot 12 so that the second warehousing robot 12 transports the portable cargo shelf to a second target location in accordance with the second scheduling command.

[0084] The processing terminal 70 may be a back-end server, a computer device with processing capabilities, or a terminal device with calculation or scheduling functions. The processing terminal 70 can communicate with each of the warehouse storage robot 10, the cargo pickup device 20, and / or the operation console 30 via a network connection to perform information interaction, such as sending scheduling commands. The processing terminal 70 can also include external data and information, such as cargo pickup order information, location information, and various corresponding related information. When sending a scheduling command, the processing terminal 70 usually needs to determine the location of the cargo based on the cargo pickup / placement information and cargo storage-related information, and instruct the corresponding warehouse storage robot to pick up / place the cargo. For example, if the cargo related to the cargo pickup order is located on a fixed cargo shelf, the processing terminal 70 will send a first scheduling command to instruct the first warehouse storage robot 11 to move to the fixed cargo shelf to pick up the cargo. If the cargo related to the cargo pickup order is located on a portable cargo shelf, the processing terminal 70 will send a second scheduling command to instruct the second warehouse storage robot 12 to move to the portable cargo shelf to pick up the cargo. The scheduling command may include a recipient of the command, a forward route of the recipient, and specific execution content contained in the command. The recipient may include the first warehouse storage robot 11 or the second warehouse storage robot 12. The forward route may include a starting position, a forward trajectory, and a target position. The specific execution content may include cargo pickup or cargo placement, etc.

[0085] To enable the warehouse storage robot 10 to pick up and place cargo, the processing terminal 70 may store cargo storage-related information, which may include at least one of cargo identifier information, cargo box identifier information, cargo shelf identifier information, cargo shelf location information where the cargo is stored, cargo box location information where the cargo is stored, a correspondence between a cargo shelf and a cargo box, a correspondence between a cargo shelf and the cargo, and a correspondence between a cargo box and the cargo. The cargo identifier information may be various codes on the cargo, such as a two-dimensional code, a barcode, or SKU (Stock Keeping Unit) information, and the code information may include any or multiple attributes, such as brand, model, configuration, grade, color / pattern, packaging volume, unit, manufacturing date, shelf life, purpose, price, and place of origin.

[0086] The intelligent warehousing storage system 100 provided by the embodiments of the present application can realize automation of warehouse cargo pickup / placement and improve efficiency by having a first warehousing storage robot 11 receive a first scheduling command to transport a cargo box to a first target location and / or a second warehousing storage robot 12 receive a second scheduling command to transport a portable cargo shelf to a second target location, and a cargo pickup device 20 receive a cargo pickup command to remove cargo from the cargo box and / or the portable cargo shelf.

[0087] Example 2

[0088] Figure 5 is a flowchart of a first type of intelligent warehousing method provided by an embodiment of the present application and applied to the intelligent warehousing system shown in Figure 1. Referring to Figure 5, the intelligent warehousing method may include, but is not limited to, the following steps:

[0089] S210, the processing terminal sends a first scheduling instruction to the first warehouse storage robot, causing the first warehouse storage robot to transport the cargo box to the first target location according to the first scheduling instruction, and / or the processing terminal sends a second scheduling instruction to the second warehouse storage robot, causing the second warehouse storage robot to transport the portable cargo shelf to the second target location according to the second scheduling instruction.

[0090] In this embodiment, the "scheduling command" is used to instruct the warehousing robot to move. For example, the scheduling command may include start and end point information, movement route information, etc. The "first target position" and "second target position" are location areas close to the robot arm to facilitate cargo pickup by the robot arm. Specifically, if the intelligent warehousing system includes only a first warehousing robot, the processing terminal sends a first scheduling command to the first warehousing robot. If the intelligent warehousing system includes only a second warehousing robot, the processing terminal sends a second scheduling command to the second warehousing robot. If the intelligent warehousing system includes both the first and second warehousing robots, the processing terminal can send the first and second scheduling commands simultaneously or sequentially. For example, if the first and second target positions are the same, the processing terminal sends the first and second scheduling commands sequentially to prevent the first and second warehousing robots from being located at the same position at the same time.

[0091] The scheduling instruction may further include cargo pickup / placement information. Before S210, the method may further include: the processing terminal obtaining the pickup / placement cargo information, and sending the first scheduling instruction and / or the second scheduling instruction based on the pickup / placement cargo information.

[0092] The pickup / placement cargo information may include order information for cargo pickup or information on cargo that needs to be placed on a shelf, which may be cargo SKU information. When cargo needs to be picked up, the SKU information of the ordered cargo can be obtained, which may include the name, model, quantity, style, etc. of the cargo that needs to be picked up. When cargo needs to be placed on a shelf, the cargo is stored in a cargo box or cargo shelf, and associations between the cargo information and the cargo box or cargo shelf are established, such as a correspondence between the cargo SKU information and cargo box identifier information, a correspondence between the cargo SKU information and cargo shelf identifier information, and a correspondence between the cargo box identifier information and cargo shelf identifier information. When the cargo is placed on a shelf and placed at a predetermined target position, its location information can be stored, which may include specific location information of the cargo shelf where the cargo is stored and the specific location information of the cargo box where the cargo is stored.

[0093] Send a first scheduling command and / or a second scheduling command based on the pick-up / placement cargo information, and one embodiment of the first scheduling command includes sending a first scheduling command based on the pick-up / placement cargo information to a first warehouse storage robot to go to a corresponding fixed cargo shelf to pick up the cargo box and transport the cargo box to a first target location.

[0094] S221, a first warehousing robot receives a first scheduling command and transports a cargo box to a first target location according to the first scheduling command.

[0095] In this embodiment, when the first warehouse storage robot receives the first scheduling command sent by the processing terminal, the first warehouse storage robot goes to the fixed cargo shelf to pick up the cargo box based on the cargo pickup / placement information included in the first scheduling command, moves to the first target position based on the movement route information included in the first scheduling command, and transports the cargo box to the first target position.

[0096] S222, a second warehousing robot receives a second scheduling command and transports the portable cargo shelf to a second target location according to the second scheduling command.

[0097] In this embodiment, when the second warehouse storage robot receives the second scheduling command sent by the processing terminal, the second warehouse storage robot picks up the portable cargo shelf according to the cargo pickup / placement information included in the second scheduling command, moves to the second target position according to the movement route information included in the second scheduling command, and transports the portable cargo shelf to the second target position.

[0098] In addition, when the warehouse storage robots include only the first warehouse storage robot, only S221 is executed; when the warehouse storage robots include only the second warehouse storage robot, only S222 is executed; when the warehouse storage robots include both the first warehouse storage robot and the second warehouse storage robot, S221 and S222 are executed; S221 and S222 may be executed simultaneously or separately; for example, when the movements of the first warehouse storage robot and the second warehouse storage robot do not affect each other, S221 and S222 are executed simultaneously to improve work efficiency.

[0099] S230, the processing terminal sends a cargo pick-up command to the cargo pick-up device.

[0100] In this embodiment, a "cargo pickup command" refers to a command for instructing the cargo pickup device to perform a cargo pickup operation. When the processing terminal transmits the cargo pickup command, it may transmit the command directly or indirectly. For example, the processing terminal may transmit the cargo pickup command directly to the cargo pickup device, or the processing terminal may transmit the cargo pickup command to the first warehousing robot and / or the second warehousing robot, which then transmits the cargo pickup command to the cargo pickup device, or the processing terminal may transmit the cargo pickup command to the control console, which then transmits the cargo pickup command to the cargo pickup device.

[0101] Further, the cargo pickup command is also sent to the first warehouse storage robot, and in this embodiment, when the first warehouse storage robot includes a transporting component, a lifting component, and at least one storage unit (as shown in FIG. 2e), the method further includes: S241, the processing terminal sending at least one first cargo pickup command to the first warehouse storage robot, and for each first cargo pickup command, corresponding to at least one cargo box and at least one storage unit; S242, the first warehouse storage robot receiving the at least one first cargo pickup command; and S243, the first warehouse storage robot removing at least one cargo box from the corresponding at least one storage unit according to each first cargo pickup command.

[0102] In S241, if the warehouse storage robots include a first warehouse storage robot, a first cargo pickup command is sent to the first warehouse storage robot. Sending at least one first cargo pickup command to the first warehouse storage robot may involve sending one first cargo pickup command at a time, sending several first cargo pickup commands to the first warehouse storage robot, or sending multiple first cargo pickup commands at a time to the first warehouse storage robot. For example, the processing terminal may send one first cargo pickup command to the first warehouse storage robot, and after the cargo pickup device completes the operation corresponding to the first cargo pickup command, send the next first cargo pickup command to the first warehouse storage robot until all first cargo pickup commands have been sent. Alternatively, for example, the processing terminal may send multiple first cargo pickup commands to the first warehouse storage robot at a time, causing the first warehouse storage robot to gradually perform operations corresponding to the multiple first cargo pickup commands.

[0103] In S241, corresponding to at least one cargo box and at least one storage unit for each first cargo pickup command may mean that one first cargo pickup command includes location information of one storage unit where one cargo box is located, or that one first cargo pickup command includes location information of multiple storage units where multiple cargo boxes are located. For example, assuming that cargo box a is located in storage unit 1, cargo box b is located in storage unit 2, and cargo box c is located in storage unit 3, the first cargo pickup command may include location information of storage unit 2 where cargo box b is located.

[0104] 6 , a specific embodiment of S243 may be that after the first warehouse storage robot receives a first cargo pickup command, it determines the location of the storage unit based on the storage unit location information included in the first cargo pickup command, and controls the lifting component to move the transport component relative to the storage unit, so that the transport component moves to a corresponding height in the storage unit corresponding to the storage unit location information included in the first cargo pickup command, and controls the transport component to pick up the cargo box in the storage unit. For example, assuming that cargo box a is located in storage unit 1, cargo box b is located in storage unit 2, and cargo box c is located in storage unit 3, and the first cargo pickup command corresponds to the location information of storage unit 2, after the first warehouse storage robot receives the first cargo pickup command, it controls the lifting component to move the transport component to a corresponding height in storage unit 2, and controls the transport component to pick up cargo box b in storage unit 2.

[0105] Optionally, after S243, the method further includes S244, in which the first warehouse storage robot adjusts the removed cargo box to a predetermined height. The predetermined height may be a preset height corresponding to the position of the cargo pickup device, and adjusting the cargo box to the predetermined height facilitates cargo pickup by the cargo pickup device. For example, assuming the predetermined height is 1 meter, the first warehouse storage robot, after removing cargo box b from storage unit 2 via the transport component, controls the lifting component to adjust the transport component to the predetermined height so that cargo box b moves along with the transport component to the predetermined height and the cargo pickup device can pick up the cargo.

[0106] Optionally, after S243, the method further includes the first warehouse storage robot returning the cargo box to the storage unit after the cargo pickup device has completed picking up the cargo from the cargo box. "Completing picking up the cargo from the cargo box" means that all cargo that needs to be removed has been removed from the cargo box, and returning the cargo box to the storage unit may mean returning the cargo box to the storage unit from which it was removed or placing the cargo box in the storage unit closest to the cargo box. The first warehouse storage robot may automatically return the cargo box to the storage unit after the cargo pickup device has completed picking up the cargo from the cargo box, or may return the cargo box to the storage unit after receiving a related command. For example, after the first warehouse storage robot receives the first cargo pickup command to retrieve cargo box b from storage unit 2, the cargo pickup device first retrieves cargo b1 from cargo box b, then retrieves cargo b2 from cargo box b, and when all of the cargo b1 and b2 that need to be retrieved have been retrieved from cargo box b, the cargo pickup of cargo box b is completed and cargo box b is automatically returned to storage unit 2.

[0107] It should be noted that S221 and S241-S244 can be performed simultaneously, so that the first warehousing robot can pick up the cargo box from the corresponding storage unit while transporting the cargo box, thereby saving cargo pick-up time.

[0108] Optionally, when the processing terminal transmits a plurality of first cargo pickup commands, the method further includes transmitting the plurality of first cargo pickup commands in a predetermined order of priority, and having the first warehouse storage robot sequentially remove cargo boxes from corresponding storage units according to the transmission order of each first cargo pickup command. The predetermined order of priority is the order in which the first warehouse storage robot is instructed to pick up cargo boxes. For example, assuming that the first warehouse storage robot includes storage units 1, 2, and 3 and the predetermined order of priority is storage unit 2 > storage unit 1 > storage unit 3, the processing terminal first transmits the first cargo pickup command corresponding to storage unit 2, then transmits the first cargo pickup command corresponding to storage unit 1, and finally transmits the first cargo pickup command corresponding to storage unit 3, so that the first warehouse storage robot first goes to storage unit 2 to pick up cargo box b, then goes to storage unit 1 to pick up cargo box a, and finally goes to storage unit 3 to pick up cargo box c. By the processing terminal sending the first cargo pickup command in accordance with the predetermined priority order, the first warehouse storage robot can gradually take out the cargo boxes in accordance with the predetermined priority order, and the cargo pickup device can perform cargo pickup without needing to obtain the cargo pickup order.

[0109] Optionally, in some other embodiments, when the first warehouse storage robot includes a conveying component and a lifting component (as shown in FIG. 2b), referring to FIG. 7, the method further includes: S246, the processing terminal sending at least one first cargo pickup command to the first warehouse storage robot, and for each first cargo pickup command, corresponding to at least one cargo box; S247, the first warehouse storage robot receiving the at least one first cargo pickup command; and S248, the first warehouse storage robot adjusting the at least one cargo box to a predetermined height according to the first cargo pickup command.

[0110] In S246, for each first cargo pickup command, corresponding to at least one cargo box may be that one first cargo pickup command includes target height information for one or more cargo boxes. For example, assuming that cargo box a is currently located at (0, 0, 1), the target height information for cargo box a included in the first cargo pickup command is (0, 0, 3).

[0111] In S248, when the first warehouse storage robot receives a first cargo pickup command, the first warehouse storage robot controls the lifting component to move the transport component to a predetermined height corresponding to the cargo box target height information included in the first cargo pickup command, based on the cargo box target height information included in the first cargo pickup command, thereby transmitting the cargo box on the transport component to move to the predetermined height so that the cargo pickup device can directly go to the predetermined height to pick up the cargo. For example, assuming that cargo box a is currently located at (0,0,1) and the target position of cargo box a included in the first cargo pickup command is (0,0,3), after the first warehouse storage robot receives the first cargo pickup command, the first warehouse storage robot controls the lifting component to move the transport component to (0,0,3), thereby adjusting the cargo box to the predetermined height.

[0112] It should be noted that S221 and S246 to S248 can be performed simultaneously, so that the first warehousing robot can pick up the cargo box from the corresponding storage unit while transporting the cargo box, thereby saving cargo pick-up time.

[0113] S250, the cargo pickup device receives a cargo pickup command and retrieves cargo from the cargo box and / or portable cargo shelf according to the cargo pickup command.

[0114] In this embodiment, the cargo pickup device can receive a cargo pickup command via the machine controller and control the robot arm to perform a cargo pickup operation according to the cargo pickup command. When the warehousing storage robot includes only a first warehousing storage robot, the cargo pickup device picks up the cargo from the cargo box; when the warehousing storage robot includes only a second warehousing storage robot, the cargo pickup device picks up the cargo from the portable cargo shelf; and when the warehousing storage robot includes both the first warehousing storage robot and the second warehousing storage robot, the cargo pickup device picks up the cargo from the cargo box and the portable cargo shelf, respectively.

[0115] When the warehouse storage robot includes a first warehouse storage robot, step S230 includes, S231, the processing terminal sending at least one second cargo pickup command to the cargo pickup device, and step S250 includes, S251, the cargo pickup device receiving the at least one second cargo pickup command and removing cargo from the cargo box according to each second cargo pickup command.

[0116] In this embodiment, the second cargo pickup command may include first target position information for the cargo pickup device to move to so that the cargo pickup device picks up the cargo from the cargo box. In one embodiment, the first target position information for the cargo pickup device to move included in the second cargo pickup command may be preset. For example, if the first target position point for the robot arm movement of the cargo pickup device is preset to (x0, y0, z0), the cargo pickup device will pick up the cargo from the cargo box every time it receives the second cargo pickup command. In another embodiment, the second cargo pickup command corresponds one-to-one to the first cargo pickup command, and the first target position information to which the cargo pickup device included in the second cargo pickup command will move is set based on the position of the storage unit corresponding to the first cargo pickup command. For example, if the position of the storage unit corresponding to the first cargo pickup command is (x1, y1, z1), the first target position point to which the robot arm of the cargo pickup device will move according to the first cargo pickup command is set to (x2, y1, z1). If the position of the storage unit corresponding to the next first cargo pickup command changes, the first target position information to which the cargo pickup device of the second cargo pickup command will move will also change accordingly.

[0117] In addition, S241 to S244 and S231 can be executed simultaneously so that when the first warehouse storage robot arrives at the first target position, the cargo box has already been taken out and adjusted to a predetermined height, and the cargo pickup device can immediately pick up the cargo from the cargo box; and S246 to S248 and S231 can be executed simultaneously so that when the first warehouse storage robot arrives at the first target position, the cargo box has already been taken out and adjusted to a predetermined height, and the cargo pickup device can immediately pick up the cargo from the cargo box.

[0118] If the warehouse storage robot includes a second warehouse storage robot, the cargo pickup command further includes at least one fourth cargo pickup command, in which case step S230 includes S232, the processing terminal sending the at least one fourth cargo pickup command to the cargo pickup device, and step S250 includes S252, the cargo pickup device receiving the at least one fourth cargo pickup command and retrieving cargo and / or cargo boxes from the portable cargo shelf in accordance with each fourth cargo pickup command.

[0119] In this embodiment, the fourth cargo pickup command may include second target position information for the cargo pickup device to move to so that the cargo pickup device can pick up cargo from the portable cargo shelf. In one embodiment, the second target position information included in the fourth cargo pickup command is set by the processing terminal based on cargo pickup / placement information. For example, assuming that the portable cargo shelf is single-layered, a pallet is placed on top of the portable cargo shelf, and the cargo pickup / placement information of the processing terminal includes removing a cargo box from the pallet, the second target position information included in the fourth cargo pickup command is determined by the position information of the pallet.

[0120] In S252, after receiving the fourth cargo pickup command, the cargo pickup device controls the robotic arm to remove cargo and / or a cargo box from the portable cargo shelf in accordance with the fourth cargo pickup command. The fourth cargo pickup command may further include cargo pickup type information, such as removing cargo or a cargo box. For example, if the cargo pickup type information is first type information, the cargo pickup device controls the robotic arm to remove cargo from the portable cargo shelf, and if the cargo pickup type information is second type information, the cargo pickup device controls the robotic arm to remove a cargo box from the portable cargo shelf.

[0121] It should be noted that S222 and S232 can be executed simultaneously so that when the second warehouse storage robot arrives at the second target location, the cargo pickup device immediately picks up the cargo from the cargo box.

[0122] Optionally, referring to Figures 8 and 9, the method further includes: S261, the processing terminal sending at least one fifth cargo pickup command to the second warehouse storage robot, and corresponding to at least one cargo per fifth cargo pickup command; S262, the second warehouse storage robot receiving the at least one fifth cargo pickup command; and S263, the second warehouse storage robot adjusting the at least one cargo to a predetermined height in accordance with each fifth cargo pickup command; step S230 includes: S233, the processing terminal sending at least one sixth cargo pickup command to the cargo pickup device; and step S250 includes: S253, the cargo pickup device receiving the at least one sixth cargo pickup command and removing cargo and / or cargo boxes from the portable cargo shelf in accordance with each sixth cargo pickup command.

[0123] For each fifth cargo pickup command, corresponding to at least one cargo may be that the fifth cargo pickup command includes one or more cargo target height information. For example, if cargo b is currently located at (2, 0, 1), the target height information for cargo b included in the fifth cargo pickup command is (2, 0, 3). When the second warehouse storage robot receives the fifth cargo pickup command, the second warehouse storage robot lifts the cargo to a predetermined height based on the predetermined height corresponding to the cargo target height information included in the fifth cargo pickup command, so that the cargo pickup device directly goes to the predetermined height to pick up the cargo. The sixth cargo pickup command may include second target position information to which the cargo pickup device moves so that the cargo pickup device picks up the cargo from the portable cargo shelf. In one embodiment, the second target position information to which the cargo pickup device moves included in the sixth cargo pickup command may be preset, so that the cargo pickup device moves to an appropriate height and removes the cargo and / or cargo box from the portable cargo shelf. Optionally, the method further includes detecting whether the cargo box and / or portable cargo shelf is located at a predetermined safe cargo pickup position after the cargo pickup device receives the cargo pickup command, and if so, removing cargo from the cargo box and / or portable cargo shelf in accordance with the cargo pickup command.

[0124] In this embodiment, after receiving a cargo pickup command (including the second cargo pickup command and / or the fourth cargo pickup command), the cargo pickup device may begin detection immediately after receiving the cargo pickup command, or may begin detection after the cargo pickup device receives the cargo pickup command and the warehouse storage robot arrives at the target location. The "predetermined safe cargo pickup location" is a pre-set location range where cargo can be safely picked up from a cargo box and / or portable cargo shelf. Detecting whether a cargo box and / or portable cargo shelf is located at the predetermined safe cargo pickup location may specifically mean that if the cargo box and / or portable cargo shelf is within the predetermined safe cargo pickup location range, the cargo pickup device is located at the predetermined safe cargo pickup location and performs a cargo pickup operation; or if the cargo box and / or portable cargo shelf is not within the predetermined safe cargo pickup location range, the cargo pickup device is not located at the predetermined safe cargo pickup location and does not perform a cargo pickup operation. The robot arm of the cargo pickup device may be equipped with an image sensor, a depth sensor, or other sensors to detect whether a cargo box and / or portable cargo shelf is located at the predetermined safe cargo pickup location. The sensors are used to detect the location of the cargo box and / or portable cargo shelf to determine whether safe cargo pickup is possible and to avoid the robotic arm colliding with and damaging the cargo box and / or portable cargo shelf.

[0125] Optionally, the method further includes the cargo pickup device adjusting a cargo pickup position before removing cargo from the cargo box and / or portable cargo shelf in accordance with the cargo pickup command. In a specific embodiment, when the cargo pickup device detects that the cargo box and / or portable cargo shelf is not located at a predetermined safe cargo pickup position and does not perform a cargo pickup operation, the cargo pickup device adjusts its cargo pickup position until the cargo box and / or portable cargo shelf is located at the predetermined safe cargo pickup position, and the cargo pickup device performs the cargo pickup operation.

[0126] Optionally, when the intelligent warehousing system includes a sorting device (as shown in FIG. 1 ), the method further includes: the cargo pickup device receiving a seventh cargo pickup command and placing the cargo retrieved from the cargo box and / or portable cargo shelf on the corresponding sorting device according to the seventh cargo pickup command. The seventh cargo pickup command includes the cargo placement location information. In a specific embodiment, the seventh cargo pickup command with the cargo placement location information may be received by a machine controller of the cargo pickup device, and the machine controller may control the robotic arm to place the retrieved cargo on the corresponding sorting device according to the seventh cargo pickup command.

[0127] Optionally, the method further includes the cargo pickup device sending a cargo pickup completion command after completing the cargo pickup; and the processing terminal receiving the cargo pickup completion command sent by the cargo pickup device, and instructing the first warehouse storage robot to transport the cargo box to a third target position according to the cargo pickup completion command, and / or instructing the second warehouse storage robot to transport the portable cargo shelf to a fourth target position according to the cargo pickup completion command.

[0128] "After completing the pickup of the goods" may refer to after the goods pickup device picks up the goods from the warehouse storage robot, or after the goods pickup device picks up the goods from the warehouse storage robot and places the goods on the sorting device. Specifically, the sending of the goods pickup completion command by the goods pickup device may refer to the goods pickup device directly sending the goods pickup completion command to the processing terminal, or the goods pickup device sending the goods pickup completion command to the warehouse storage robot, which then forwards it to the processing terminal, or the goods pickup device sending the goods pickup completion command to the console, which then transmits it to the processing terminal, etc. Therefore, it is only necessary to ensure that the processing terminal can receive the goods pickup completion command.

[0129] After the processing terminal receives the cargo pickup completion command, the processing terminal sends a corresponding command, thereby controlling the first warehousing robot to transport the cargo box to a third target position and / or controlling the second warehousing robot to transport the portable cargo shelf to a fourth target position. The third target position may be the same as the first target position, and the fourth target position may be the same as the second target position, so that the warehousing robot returns to the original cargo pickup area. Of course, the third target position and the fourth target position may also be other positions, so that the warehousing robot performs other transportation operations.

[0130] Of course, in some other embodiments, the cargo pickup device can directly send a cargo pickup completion command to the warehouse storage robot, so that the warehouse storage robot performs the next operation according to the cargo pickup completion command without relying on a processing terminal.

[0131] The intelligent warehousing method provided by the embodiments of the present application includes a processing terminal sending a scheduling command to a warehousing robot, the warehousing robot transporting a cargo box and / or a portable cargo shelf to a target position according to the scheduling command, and the processing terminal sending a cargo pickup command to a first warehousing robot and a cargo pickup device, so that the first warehousing robot retrieves the cargo box from the storage unit, and the cargo pickup device picks up cargo from the cargo box retrieved by the first warehousing robot, and / or the cargo pickup device picks up cargo from the portable cargo shelf transported by the second warehousing robot, thereby realizing automation of warehouse cargo pickup / placement and improving efficiency.

[0132] Example 3

[0133] 10 and 11 are flowcharts of a second intelligent warehousing method applied to the intelligent warehousing system shown in FIG. 1 according to an embodiment of the present application. Specifically, referring to FIGS. 10 and 11, the differences from embodiment 2 are as follows: In this embodiment, when the warehousing robot includes a first warehousing robot, the cargo pickup command includes at least one third cargo pickup command, and step S230 includes, S234, the processing terminal sending the at least one third cargo pickup command to the cargo pickup device. Correspondingly, step S250 includes, S254, the cargo pickup device receiving the at least one third cargo pickup command and removing cargo from the cargo box according to each third cargo pickup command.

[0134] Specific embodiments of S234 include sending one third cargo pickup command at a time, sending several third cargo pickup commands to the cargo pickup device, or sending multiple third cargo pickup commands at a time to the cargo pickup device. For example, the processing terminal sends one third cargo pickup command to the cargo pickup device, and after the cargo pickup device completes the operation corresponding to the third cargo pickup command, sends the next third cargo pickup command to the cargo pickup device, until all third cargo pickup commands have been sent. Furthermore, for example, the processing terminal sends multiple third cargo pickup commands to the cargo pickup device at a time, so that the cargo pickup device gradually performs operations corresponding to the multiple third cargo pickup commands.

[0135] Optionally, when the processing terminal transmits multiple third cargo pickup commands, the method further includes the processing terminal transmitting the multiple third cargo pickup commands in a predetermined order of priority. The predetermined order of priority is the order in which the cargo pickup device is instructed to perform cargo pickup. For example, assuming that the first warehouse storage robot includes storage units 1, 2, and 3 and the predetermined order of priority is storage unit 2 > storage unit 1 > storage unit 3, the processing terminal first transmits the third cargo pickup command corresponding to storage unit 2, then transmits the third cargo pickup command corresponding to storage unit 1, and finally transmits the third cargo pickup command corresponding to storage unit 3. In this way, the cargo pickup device first goes to cargo box b of storage unit 2, then to cargo box a of storage unit 1, and finally to cargo box c of storage unit 3. By transmitting the third cargo pickup commands in a predetermined order of priority, the cargo pickup device can gradually arrive at different cargo boxes in a predetermined order of priority, eliminating the need for the cargo pickup device to obtain a cargo pickup order and allowing the cargo pickup device to perform cargo pickup.

[0136] In S254, each third cargo pickup instruction may correspond to at least one cargo box, which may be that one third cargo pickup instruction includes location information where one cargo box is located. For example, assuming that the first warehouse storage robot only includes a mobile chassis, a lifting component, and a transport component (as shown in FIG. 2b), and the cargo box is placed on the transport component, the third cargo pickup instruction may include location information of the transport component where the cargo box is located.

[0137] In S254, each third cargo pickup command may further correspond to at least one cargo box and at least one storage unit, where one third cargo pickup command may include location information of one storage unit where one cargo box is located, or one third cargo pickup command may include location information of multiple storage units where multiple cargo boxes are located. For example, assuming that cargo box a is located in storage unit 1, cargo box b is located in storage unit 2, and cargo box c is located in storage unit 3, the third cargo pickup command may include location information of storage unit 2 where cargo box b is located.

[0138] If each third cargo pickup command corresponds to at least one cargo box and at least one storage unit, after receiving the third cargo pickup command, the cargo pickup device determines the location of the storage unit based on the storage unit location information included in the third cargo pickup command, and the machine controller controls the movement of the robot arm to move to the corresponding spatial position of the storage unit corresponding to the storage unit location information included in the third cargo pickup command, and controls the robot arm to remove the cargo from the cargo box. For example, assuming that cargo box a is located in storage unit 1, cargo box b is located in storage unit 2, and cargo box c is located in storage unit 3, and the third cargo pickup command corresponds to the location information of storage unit 2, after receiving the third cargo pickup command, the machine controller controls the robot arm to move to the corresponding spatial position of storage unit 2, and controls the robot arm to remove the cargo from cargo box b.

[0139] A specific embodiment of moving the robot arm to the spatial position of the storage unit corresponding to the storage unit position information included in the third cargo pickup command includes establishing a spatial coordinate system and obtaining the coordinate position of each cargo box on the first warehouse storage robot in the spatial coordinate system, thereby obtaining the corresponding spatial position of the storage unit.

[0140] The intelligent warehousing method provided by the embodiments of the present application can realize automation of warehouse cargo pickup / placement and improve efficiency by having a processing terminal send a scheduling command to a warehousing robot, the warehousing robot transport a cargo box and / or a portable cargo shelf to a target position according to the scheduling command, the processing terminal send a cargo pickup command to a cargo pickup device, the cargo pickup device identify the cargo box location on the first warehousing robot according to the cargo pickup command and pick up cargo from the cargo box on the first warehousing robot, and / or the cargo pickup device pick up cargo from the portable cargo shelf transported by the second warehousing robot according to the cargo pickup command.

[0141] Example 4

[0142] 12 is a schematic diagram of the hardware structure of a processing terminal provided by an embodiment of the present application, which may be any type of electronic device, such as a smartphone, a diagnostic robot, a personal computer, a tablet computer, etc.

[0143] Specifically, referring to FIG. 12, the processing terminal 70 includes one or more processors 701 and a memory 702, and FIG. 12 takes the processor 701 as an example.

[0144] The processor 701 and the memory 702 can be connected via a bus or other methods, and FIG. 12 shows them connected via a bus as an example.

[0145] The memory 702, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions / modules corresponding to the intelligent warehousing method applied to the processing terminal in any of the embodiments of the present application. The processor 701 executes the non-transitory software programs, instructions and modules stored in the memory 702 to perform various functional applications and data processing of the intelligent warehousing system 100 applied to the processing terminal, i.e., to implement the intelligent warehousing method applied to the processing terminal in any of the above method embodiments.

[0146] The memory 702 may include a program storage area and a data storage area. The program storage area may store an operating system, an application program required for at least one function, and the data storage area may store data generated by use of the intelligent warehousing system 100 applied to the processing terminal. The memory 702 may also include high-speed random access memory, and may further include non-transitory memory, such as at least one magnetic disk memory device, flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory 702 may optionally include memory configured remotely from the processor 701, and these remote memories may be connectable to the processing terminal 70 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0147] The memory 702 stores instructions executable by at least one processor 701, which executes the instructions to implement the intelligent warehousing method applied to the processing terminal in any of the above method embodiments, for example, to perform the above-described method steps S210, S241, S246, S231, S232, S261, S233, S234, etc.

[0148] Furthermore, embodiments of the present application further provide a non-transitory computer-readable storage medium having computer-executable instructions stored thereon, which, when executed by one or more processors, such as processor 701 in FIG. 12, cause the one or more processors 701 to perform the intelligent warehousing method applied to the processing terminal in any of the method embodiments above, for example, performing the method steps S210, S241, S246, S231, S232, S261, S233, S234, etc. described above.

[0149] Example 5

[0150] 13 is a schematic diagram of the hardware structure of a warehousing robot provided by an embodiment of the present application. The warehousing robot 10 includes at least one first warehousing robot 11, and the first warehousing robot 11 may have various structural forms (as shown in FIGS. 2a to 2e).

[0151] Specifically, referring to FIG. 13, the first warehouse storage robot 11 includes one or more processors 101 and memories 102, and in FIG. 13, the processor 101 is taken as an example.

[0152] The processor 101 and the memory 102 may be connected via a bus or other means, and are connected via a bus in Fig. 13. The processor 101 may further be connected via a bus or other means to the moving chassis 111, the transport component 113, or the lifting component 114, and is used to control the movement of the moving chassis 111, the transport component 113, or the lifting component 114, respectively.

[0153] The memory 102, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions / modules corresponding to the intelligent warehousing method applied to the first warehousing robot in any of the embodiments of the present application. The processor 101 executes the non-transitory software programs, instructions, and modules stored in the memory 102 to perform various functional applications and data processing of the intelligent warehousing system 100 applied to the first warehousing robot, i.e., to implement the intelligent warehousing method applied to the first warehousing robot in any of the embodiments of the method.

[0154] The memory 102 may include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required for at least one function, and the data storage area may store data generated by use of the intelligent warehousing system 100 applied to the first warehousing robot. The memory 102 may also include high-speed random access memory, and may further include non-transitory memory, such as at least one magnetic disk memory device, flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory 102 may optionally include memory configured remotely from the processor 101, and these remote memories may be connectable to the first warehousing robot 11 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0155] The memory 102 stores instructions executable by at least one processor 101, which executes the instructions and is used to implement the intelligent warehousing method applied to the first warehousing robot in any of the method embodiments described above, for example, to perform the method steps S221, S242, S243, S244, S247, S248, etc. described above.

[0156] Furthermore, embodiments of the present application further provide a non-transitory computer-readable storage medium having computer-executable instructions stored thereon, which, when executed by one or more processors, such as processor 101 in FIG. 13, can cause the one or more processors 101 to perform the intelligent warehousing method applied to the first warehousing robot in any of the method embodiments above, for example, performing the method steps S221, S242, S243, S244, S247, S248, etc. described above.

[0157] The above-described device embodiments are merely illustrative, and the units described as separate components may or may not be physically separate. Components shown as units may be physical units, but they may not be physical units. That is, they may be located in the same place, but they may also be located in multiple network units. Depending on actual needs, only some modules or all units may be selected to achieve the purpose of this embodiment.

[0158] From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by software on a general-purpose hardware platform, and of course, can also be realized through hardware. Those skilled in the art can understand that all or part of the flow of the method according to the above embodiments can be achieved by a computer program in a computer program product issuing instructions to associated hardware. The computer program can be stored in a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by associated devices, the associated devices execute the flow of each of the above method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), etc.

[0159] The above product can implement the intelligent warehousing method provided by the embodiments of the present application, and has corresponding functional modules and beneficial effects for implementing the intelligent warehousing method. For technical details not described in detail in this embodiment, please refer to the intelligent warehousing method provided by the embodiments of the present application.

[0160] Finally, it should be noted that the above embodiments are merely used to explain the technical solutions of the present application, rather than to limit them, and it is the intention of the present application that the technical features in the above embodiments or different embodiments can be combined, the steps can be performed in any order, and there are many other variations in the different aspects of the present application described above, which are not provided in the detailed description for the sake of brevity. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or equivalently replace part of the technical features, and such modifications or replacements will not cause the essence of the corresponding technical solutions to depart from the scope of the technical solutions of the respective embodiments of the present application.

Claims

1. An intelligent warehousing system, the intelligent warehousing system including a warehousing robot, a cargo pickup device, and a sorting device; the warehousing robots include a first warehousing robot and a second warehousing robot; the first warehousing robot includes a lifting component, a transport component, and a storage unit, and is used to receive a first scheduling command and transport a cargo box to a first target location according to the first scheduling command; the first warehousing robot is further used to receive a first cargo pickup command, control the transport component to pick up the cargo box from the storage unit, and control the lifting component to drive and move the transport component, and adjust the cargo box to a predetermined height; the second warehousing robot is adapted to receive a second scheduling command and transport a portable cargo shelf to a second target location in accordance with the second scheduling command; the cargo pickup device is used to receive a second cargo pickup command and remove cargo from the cargo box or the portable cargo shelf located at the predetermined height in accordance with the second cargo pickup command; the cargo pickup device is used to receive a seventh cargo pickup command and place the cargo removed from the cargo box or the portable cargo shelf onto the sorting device in accordance with the seventh cargo pickup command; The warehouse storage robot is further adapted to move to the position of the sorting device while the cargo pickup device has completed the final cargo pickup and sorting is taking place, and to send the cargo box to a packing area or a secondary sorting area after the sorting device has completed sorting. An intelligent warehouse storage system characterized by:

2. The first warehousing robot further comprises: After the cargo pickup device has finished removing the cargo from the cargo box, it returns the cargo box to the storage unit corresponding to the cargo box.

2. The intelligent warehousing system of claim 1.

3. the first cargo pickup instructions are multiple and the storage units are multiple; The first warehouse storage robot is used to sequentially remove the cargo boxes from the corresponding storage units according to the order in which the first cargo pickup instructions are sent.

2. The intelligent warehousing system of claim 1.

4. the cargo pickup device is located at a position intermediate the first target location and the second target location; or The first target position and the second target position are the same position, and the cargo pickup device picks up cargo in the order of arrival of the first warehouse storage robot and the second warehouse storage robot.

2. The intelligent warehousing system of claim 1.

5. 1. An intelligent warehousing method applied to a processing terminal, the intelligent warehousing method comprising: sending a first scheduling instruction to a first warehousing robot including a lifting component, a transport component, and a storage unit, so that the first warehousing robot transports the cargo box to a first target location according to the first scheduling instruction; sending second scheduling instructions to a second warehousing robot such that the second warehousing robot transports the portable cargo shelf to a second target location in accordance with the second scheduling instructions; sending a first cargo pickup command to the first warehousing robot, so that the first warehousing robot controls the transport component to pick up the cargo box from the storage unit according to the first cargo pickup command, and controls the lifting component to drive and move the transport component to adjust the cargo box to a predetermined height; sending a second cargo pickup command to a cargo pickup device, so that the cargo pickup device retrieves cargo from the cargo box or the portable cargo shelf located at the predetermined height in accordance with the second cargo pickup command; transmitting a seventh cargo pickup command to the cargo pickup device, so that the cargo pickup device places the cargo removed from the cargo box or the portable cargo shelf on a sorting device in accordance with the seventh cargo pickup command; receiving a transportation command, and moving a warehouse storage robot to the position of the sorting device according to the transportation command while the cargo pickup device has completed the final cargo pickup and sorting is being performed, and sending the cargo box to a packing area or a secondary sorting area after the sorting device has completed sorting. An intelligent warehousing method characterized by:

6. transmitting a first cargo pickup command to the first warehouse storage robot so that the first warehouse storage robot controls the transport component to retrieve the cargo box from the storage unit in accordance with the first cargo pickup command; transmitting a plurality of first cargo pickup commands to the first warehouse storage robot in a predetermined order of priority, so that the first warehouse storage robot sequentially retrieves the cargo boxes from the corresponding storage units in accordance with the order in which the first cargo pickup commands are transmitted; The first warehousing robot includes a plurality of the storage units, and the order of priority is an order in which the first warehousing robot is instructed to pick up cargo boxes.

6. The intelligent warehousing method of claim 5.

7. An intelligent warehousing method applied to a warehousing robot, the warehousing robot including at least one first warehousing robot, the first warehousing robot including a lifting component, a transport component, and a storage unit, the intelligent warehousing method comprising: receiving a first scheduling command and transporting a cargo box to a first target location according to the first scheduling command; receiving a first cargo pickup command, and controlling the transport component to remove the cargo box from the storage unit according to the first cargo pickup command, and controlling the lifting component to drive and move the transport component to adjust the cargo box to a predetermined height so that a cargo pickup device can remove cargo from the cargo box; transmitting a seventh cargo pickup command to the cargo pickup device, so that the cargo pickup device places the cargo removed from the cargo box or portable cargo shelf on a sorting device in accordance with the seventh cargo pickup command; receiving a transportation command, and moving the warehouse storage robot to the position of the sorting device according to the transportation command while the cargo pickup device has completed the final cargo pickup and sorting is being performed, and sending the cargo box to a packing area or a secondary sorting area after the sorting device has completed sorting. Contains An intelligent warehousing method characterized by:

8. the first cargo pickup instructions are multiple and the storage units are multiple; In the step of receiving a first cargo pickup command and controlling the transport component to remove the cargo boxes from the storage units in accordance with the first cargo pickup command, the cargo boxes are sequentially removed from the corresponding storage units in accordance with the transmission order of the first cargo pickup commands.

8. The intelligent warehousing method of claim 7.

9. The sorting device is positioned to receive the cargo picked up by the cargo pickup device from the cargo box or portable cargo shelf.

8. The intelligent warehousing method of claim 7.

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