Temporary storage tiers, shelves, control methods, apparatus, devices and systems

Abstract

The present application relates to a temporary storage tier, a shelf, a control method, an apparatus, a device, and a system, wherein the temporary storage tier is used to provide a plurality of temporary storage positions and is provided with fork pockets for engaging with the fork arms of a first robot, and an aisle for loading and unloading cargo for the first robot is formed below the temporary storage tier, and when loading and unloading cargo, the first robot is positioned in the aisle, and the fork pockets engage with the fork arms on the first robot to load and unload cargo. According to the embodiments of the present application, the efficiency of loading and unloading cargo can be improved.

Description

[Technical Field]

[0001] This application claims priority from a Chinese patent application filed with the China Patent Office on March 27, 2020, bearing application number 202010231552.9, entitled "Shelving and Storage Apparatus," the entire contents of which are incorporated herein by reference. This application also claims priority from a Chinese utility model application filed with the China Patent Office on September 2, 2020, bearing application number 202021892576.0, entitled "Shelving and Storage Apparatus," the entire contents of which are incorporated herein by reference. This application also claims priority from a Chinese patent application filed with the China Patent Office on March 27, 2020, bearing application number 202010231545.9, entitled "Storage Apparatus, System, and Control Method," the entire contents of which are incorporated herein by reference. This application claims priority to a Chinese patent application filed with the China Patent Office on March 27, 2020, bearing application number 202010232310.1, entitled "Warehouse entry / exit control method, apparatus, device, and readable storage medium," the entire contents of which are incorporated herein by reference. This application also claims priority to a Chinese utility model application filed with the China Patent Office on October 15, 2020, bearing application number 202022292766.5, entitled "Connection platform and workstation," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of warehousing technology, and in particular to temporary storage tiers, shelves, control methods, apparatus, devices and systems. [Background technology]

[0003] Shelving is a facility for storing cargo in a three-dimensional manner, which can increase the efficiency of warehouse utilization.

[0004] In the existing warehouse industry, robots with integrated automatic climbing and moving functions are often used to load and unload cargo, but when the robot loads or unloads cargo, it needs to stop and extend its robot arm to the shelf layer, which takes a certain amount of time and reduces the efficiency of loading and unloading cargo. Summary of the Invention [Problem to be solved by the invention]

[0005] SUMMARY OF THE INVENTION The present invention provides temporary storage lamellas, shelves, control methods, apparatus, devices and systems to solve or alleviate one or more technical problems in the related art. [Means for solving the problem]

[0006] To achieve the above objectives, the following technical proposals are adopted:

[0007] In a first aspect of an embodiment of the present application, a temporary storage tier is provided for providing a plurality of temporary storage positions, the temporary storage tier is provided with fork pockets for engaging with the fork arms of a first robot, and a cargo loading and unloading passage for the first robot is formed below the temporary storage tier, and when loading and unloading cargo, the first robot is positioned in the cargo loading and unloading passage, and the fork pockets are engaged with the fork arms on the first robot to load and unload the cargo.

[0008] In a second aspect of the present embodiment, a shelf is provided, the shelf comprising a plurality of horizontally spaced support posts, at least one temporary storage tier of any of the above embodiments, and at least one storage tier vertically spaced from the temporary storage tier via the support posts to provide a plurality of storage locations.

[0009] In a third aspect of an embodiment of the present application, there is provided an warehousing control method, which includes determining a target temporary storage location based on a target storage location of the target cargo, instructing a first robot to transport the target cargo to the target temporary storage location, and, when a transport completion signal transmitted from the first robot is received, instructing a second robot to transport the target cargo from the target temporary storage location to the target storage location.

[0010] In a fourth aspect of an embodiment of the present application, there is provided an outgoing control method, which includes instructing a second robot to remove a target cargo from a current storage location, determining a target temporary storage location according to the position of the second robot, instructing the second robot to transport the target cargo to the target temporary storage location, and, when a transport completion signal transmitted from the second robot is received, instructing the first robot to remove the target cargo from the target temporary storage location.

[0011] In a fifth aspect of the present embodiment, there is provided a storage control device, the device comprising: a first determination module for determining a target temporary storage location based on the target storage location of the target cargo; a first instruction module for instructing the first robot to transport the target cargo to the target temporary storage location; and a second instruction module for instructing the second robot to transport the target cargo from the target temporary storage position to the target storage position when a transport completion signal transmitted from the first robot is received.

[0012] In a sixth aspect of the present embodiment, there is provided a delivery control device, the device comprising: a first instruction module for instructing the second robot to remove the target cargo from its current storage location; a first determination module for determining a target temporary storage location according to a position of the second robot, where the current storage location is located on a different layer from the target temporary storage location; a second instruction module for instructing the second robot to transport the target cargo to the target temporary storage location; and a third instruction module for instructing the first robot to remove the target cargo from the target temporary storage position when a transport completion signal transmitted from the second robot is received.

[0013] In a seventh aspect of an embodiment of the present application, there is provided a control device comprising: a processor; and a memory storing instructions that, when loaded and executed by the processor, implement the method of any of the above embodiments.

[0014] In an eighth aspect of the present embodiment, there is provided a warehouse system, the warehouse system comprising the temporary storage lamina of any of the above embodiments and the control device of any of the above embodiments.

[0015] Any of the above technical solutions has the following advantages or beneficial effects: the temporary storage tier provides fork pockets for fitting with the fork arms of the first robot, so that the fork arms of the first robot can be directly inserted into the fork pockets of the temporary storage tier, and thus the first robot can directly load and unload cargo on the temporary storage tier, eliminating the need to extend the robot arm above the shelf and improving the efficiency of loading and unloading cargo; furthermore, the temporary storage tier can temporarily store cargo, and the storage tier provides a storage location where cargo can be stored for a long period of time, facilitating the coordination between the temporary storage tier and the storage tier, thereby improving the efficiency of cargo loading and unloading. [Brief explanation of the drawings]

[0016] In order to more clearly explain the technical solutions in the embodiments of the present invention or the related art, the following will briefly describe the accompanying drawings that need to be used to explain the embodiments or the related art. However, the accompanying drawings described below are only some examples described in the embodiments of the present invention, and it is obvious to those skilled in the art that other accompanying drawings can be obtained based on these accompanying drawings. [Figure 1] 1 is a schematic diagram 1 showing the configuration of a shelf according to Example 1 of the present application. [Figure 2] 2 is a schematic diagram 2 showing the configuration of a shelf according to Example 1 of the present application. [Figure 3] 1 is a schematic diagram showing a configuration of a first robot according to a first embodiment of the present invention. [Figure 4] 10 is a schematic diagram showing the fitting of the fork pocket of the temporary storage lamina and the fork arm of the first robot according to the first embodiment of the present invention. FIG. [Figure 5] 1 is a schematic diagram illustrating a configuration of a warehouse device according to a first embodiment of the present invention. [Figure 6] FIG. 6 is a side view of FIG. 5. [Figure 7] 2 is a schematic diagram 2 showing the configuration of a warehouse apparatus according to the first embodiment of the present invention. [Figure 8] FIG. 2 is a schematic diagram showing the configuration of a second robot according to the first embodiment of the present invention. [Figure 9] 1 is a schematic diagram showing a projection of a packing box located on a temporary storage tier according to a first embodiment of the present invention onto a warehouse device. [Figure 10A] 1 is a schematic diagram 1 showing the configuration of a shelf according to Example 2 of the present application. [Figure 10B] 10B is a schematic diagram showing the configuration of the temporary storage layer in FIG. 10A. FIG. [Figure 10C] FIG. 10B is a schematic diagram showing the configuration of the cross beam in FIG. 10A. [Figure 11] 2 is a schematic diagram 2 showing the configuration of a shelf according to Example 2 of the present application. [Figure 12A] 3 is a schematic diagram 3 showing the configuration of a shelf according to Example 2 of the present application. [Figure 12B] 12B is a schematic diagram showing the configuration of the temporary storage layer in FIG. 12A. FIG. [Figure 12C] 12B is a schematic diagram showing engagement between the first robot and the shelf in FIG. 12A. FIG. [Figure 13A] 1 is a schematic diagram showing a configuration of a warehouse apparatus according to a second embodiment of the present invention. [Figure 13B] 2 is a schematic diagram 2 showing the configuration of a warehouse apparatus according to a second embodiment of the present invention. [Figure 14] FIG. 10 is a schematic diagram showing the flow of a warehousing control method according to a third embodiment of the present invention. [Figure 15]FIG. 15 is a schematic diagram showing the flow of step S1001 in FIG. [Figure 16] FIG. 10 is a schematic diagram illustrating an application scene of warehousing / retrieval control according to a third embodiment of the present invention. [Figure 17] FIG. 10 is a schematic diagram showing the flow of a delivery control method according to a third embodiment of the present invention. [Figure 18] FIG. 18 is a schematic diagram showing the flow of step S1302 in FIG. 17. [Figure 19] FIG. 10 is a schematic diagram illustrating a configuration of a warehouse system according to a third embodiment of the present invention. [Figure 20] FIG. 10 is a schematic diagram illustrating a configuration of a control device according to a third embodiment of the present invention. [Figure 21] FIG. 10 is a schematic diagram showing the configuration of a storage control device according to a fourth embodiment of the present invention. [Figure 22] FIG. 10 is a schematic diagram showing the configuration of a delivery control device according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] Only some illustrative embodiments are briefly described below. As will be recognized by those skilled in the art, various modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Accordingly, the accompanying drawings and descriptions are to be regarded as illustrative in nature and not as restrictive.

[0018] Example 1 Fig. 1 is a schematic diagram 1 showing the configuration of a shelf according to Example 1 of the present application. As shown in Figs. 1, 3 and 4, the shelf 100 includes a plurality of support columns 110 spaced apart horizontally, at least one temporary storage tier 120, and at least one storage tier 130, the temporary storage tier 120 being provided with a fork pocket 121 that fits with a fork arm 210 of a first robot 200, and the storage tier 130 being spaced apart vertically from the temporary storage tier 120 by the support columns 110.

[0019] The shelf 100 may be a single-row shelf, a double-row shelf, or a multi-row shelf, and the number of rows of the shelf 100 is not limited in the embodiment of the present application.

[0020] In one example, the plurality of support posts 110 may surround a rectangular area to which the temporary storage lamella 120 and the storage lamella 130 are attached, and the temporary storage lamella 120 and the storage lamella 130 may be spaced apart in the vertical direction by the support posts 110. However, the installation positions of the support posts 110 are not limited in this embodiment, as long as the temporary storage lamella 120 and the storage lamella 130 are spaced apart in the vertical direction. For example, the support posts 110 may be installed vertically to penetrate the middle of the temporary storage lamella 120 and the storage lamella 130 rather than at their edges.

[0021] Hereinafter, for convenience of explanation, in the embodiment, the two long sides of the temporary storage laminar plate 120 are referred to as the first side and the second side of the temporary storage laminar plate 120, the outsides of the two long sides of the temporary storage laminar plate 120 are referred to as the first outside and the second outside of the temporary storage laminar plate 120, the two short sides of the temporary storage laminar plate 120 are referred to as the third side and the fourth side of the temporary storage laminar plate 120 (the two short sides of the temporary storage laminar plate 120 may also be referred to as the first end and the second end of the temporary storage laminar plate 120), and the outsides of the two short sides of the temporary storage laminar plate 120 are referred to as the third outside and the fourth outside of the temporary storage laminar plate 120. Here, the first outside of the temporary storage laminar plate 120 may be referred to as the first outside of the temporary storage laminar plate 120.

[0022] A plurality of temporary storage positions may be provided on the temporary storage layer 120, and the plurality of temporary storage positions may include two or more temporary storage positions. A fork pocket 121 is provided below each temporary storage position. The fork pocket 121 may have a U-shape, C-shape, I-shape, V-shape, etc. The shape of the fork pocket 121 can be selected and adjusted according to actual needs, as long as it can be fitted with the fork arm 210 of the first robot 200. The shape of the fork pocket 121 is not limited in this application.

[0023] The temporary storage lamina 120 may be located on any layer of the shelf 100, and the embodiment of the present application does not limit the location of the temporary storage lamina 120. Here, if the temporary storage lamina 120 is located on the middle layer of the shelf 100, the storage lamina 130 may be located above and below the temporary storage lamina 120, thereby shortening the distance between the temporary storage lamina 120 and the storage lamina 130 and improving the efficiency of transporting cargo between the temporary storage lamina 120 and the storage lamina 130. Here, the cargo may be a box containing cargo such as materials or products, and the box may be a cardboard box or a stock box, and the type of box and the cargo contained therein are not limited in the present application.

[0024] The first robot 200 may be an AGV (Automated Guided Vehicle, abbreviated as AGV) having a fork arm 210, and the fork arm 210 may be provided on the top of the first robot 200 or on the side of the first robot 200, and in the embodiments of the present application, the installation manner of the fork arm 210 of the first robot 200 is not limited.

[0025] In this embodiment, the temporary storage tier 120 provides fork pockets 121 for mating with the fork arms 210 of the first robot 200, allowing the fork arms 210 of the first robot 200 to directly insert into the fork pockets 121 of the temporary storage tier 120, thereby allowing the first robot 200 to directly load and unload cargo on the temporary storage tier 120, eliminating the need to extend the robot arm above the shelf 100 and improving cargo loading and unloading efficiency. In addition, the temporary storage tier 120 can temporarily store cargo, and the storage tier 130 provides a storage location where cargo can be stored for a long period of time, facilitating coordination between the temporary storage tier 120 and the storage tier 130 and improving cargo loading and unloading efficiency.

[0026] For example, a cargo loading / unloading passage 140 is formed below the temporary storage tier 120, where the first robot 200 is placed. When loading / unloading cargo, when the first robot 200 is positioned in the cargo loading / unloading passage 140, the fork pocket 121 can engage with the fork arm 210 on the first robot 200 to load / unload the cargo.

[0027] For example, when storing cargo, the first robot 200 aligns the fork arm 210 with the fork pocket 121 from the first outer side of the temporary storage tier 120, travels to the cargo loading / unloading aisle 140, and directly inserts the fork arm 210 into the fork pocket 121, thereby placing the cargo on the temporary storage tier 120, and then lowers the fork arm 210 to leave the cargo box on the temporary storage tier 120. When unloading cargo, the first robot 200 travels to the bottom of the cargo loading / unloading aisle 140, aligns the fork arm 210 with the fork pocket 121 from below the temporary storage tier 120, and raises the fork arm 210 to jack up the cargo box, and then travels away from the first outer side of the temporary storage tier 120, exits the cargo loading / unloading aisle 140, and removes the cargo box. In this way, the first robot 200 can directly load and unload cargo without stopping or temporarily halting its travel, eliminating the need to control the robot arm to extend up to the tier, improving the efficiency of loading and unloading cargo boxes, and enabling loading and unloading below the temporary storage tier 120, thereby making effective use of the space on the shelf 100.

[0028] For example, the cargo loading / unloading aisle may be used for the first robot 200 to travel when it is unloaded. For example, when the first robot 200 is unloaded (i.e., when the first robot 200 is not carrying cargo), the first robot 200 can travel directly through the cargo loading / unloading aisle 140, thereby improving the efficiency of cargo transportation.

[0029] In one embodiment, the support posts 110 are provided on the outer periphery of the storage lamella 130, and a first running passage 141 is formed between the temporary storage lamella 120 and the support posts 110 located on the first outer side of the temporary storage lamella 120.

[0030] In one example, when the temporary storage lamina 120 is located on the lowest layer of the support 110, the temporary storage lamina 120, together with the support 110 located on a first outer side of the temporary storage lamina 120 and the ground, can form a first running path 141 along which the first robot 200 runs. Alternatively, when the temporary storage lamina 120 is located on a layer other than the lowest layer of the support 110, the temporary storage lamina 120, together with the support 110 located on the first outer side of the temporary storage lamina 120 and the storage lamina 130 located on the layer immediately below the layer on which the temporary storage lamina 120 is located, can form a first running path 141 along which the first robot 200 runs.

[0031] In this embodiment, a first travel path 141 for the first robot 200 to travel along is formed between the temporary storage tier 120 and a support 110 located on the first outer side of the temporary storage tier 120, so that the first robot 200 can travel along any layer of the shelf 100, thereby facilitating cooperation between the first robot 200 and the temporary storage tier 120 and preventing the first robot 200 from occupying the path on the outside of the shelf 100.

[0032] In one example, as shown in FIG. 1, the shelf 100 further includes a horizontally arranged cross beam 150 for fixing the short sides of the temporary storage tier 120 and the storage tier 130 to the support 110.

[0033] FIG. 2 is a schematic diagram illustrating the configuration of a shelf 100 according to a first embodiment of the present invention. The configuration of this shelf 100 is similar to the configuration of the shelf 100 in FIG. 1, except that, as shown in FIG. 2, a second travel path 142 for the first robot 200 to travel is formed between the temporary storage tier 120 and the support 110 located on the third outer side of the temporary storage tier 120. In this way, the first robot 200 can traverse the shelf 100 from the second travel path 142, thereby shortening the travel distance of the first robot 200 and improving the efficiency of transporting containers.

[0034] In one example, the shelf 100 can further include a support post 160 provided on a third outer side of the temporary storage lamina 120 for support.

[0035] 1 to 4, the temporary storage tier 120 includes a plurality of temporary storage plates 122, each of which is provided with a fork pocket 121, and a third travel path (see third travel path 143 in FIG. 9) along which the first robot 200 travels is formed between at least two of the temporary storage plates 122. In this way, the first robot 200 can traverse the shelf 100 from between any two of the temporary storage plates 122 of the temporary storage tier 120, thereby shortening the travel distance of the first robot 200 and improving the efficiency of transporting containers.

[0036] In one example, each buffer board 122 corresponds to one buffer location such that cargo can be stored on each buffer board 122 .

[0037] In one embodiment, the width of the temporary storage lamina 120 is equal to or less than half the width of the storage lamina 130. For example, as shown in FIGS. 1 to 4, the shelf 100 may be a double-row shelf, the temporary storage lamina 120 is located in one row of the double rows of shelves, the storage lamina 130 extends horizontally from one row to the other row of the double rows of shelves, and the width of the temporary storage lamina 120 is set to be equal to or less than half the width of the storage lamina 130.

[0038] In this embodiment, the width of the cargo passage is larger than the width of the first robot 200, so by setting the width of the temporary storage tier 120 to be less than half the width of the storage tier 130, the width of the first traveling passage 141 can be made larger than the width of the storage tier 130, providing a passage wide enough for the first robot 200 to transport cargo. In addition, because the width of the storage tier 130 is more than twice the width of the temporary storage tier 120, the storage tier 130 can store cargo that is slightly larger than the size of the temporary storage location.

[0039] Fig. 5 is a schematic diagram 1 showing the configuration of a warehouse apparatus according to Example 1 of the present application. Fig. 6 is a side view of Fig. 5. As shown in Figs. 5 and 6, the warehouse apparatus 1000 includes a plurality of shelves 100 according to any of the above-described embodiments, wherein the temporary storage tiers 120 of the shelves 100 are for providing a plurality of temporary storage positions, and a second robot passage 310 is formed between adjacent shelves 100 along which a second robot 300 travels to transport cargo between the temporary storage tiers 120 and the storage tiers 130.

[0040] The number of shelves 100 in this warehouse apparatus 1000 may be two or more, and is not limited to the embodiment of the present application.

[0041] The second robot 300 may be an AGV vehicle equipped with a lifting mechanism 320 and a loading / unloading mechanism 330, or may be a stacker crane, etc. In the embodiments of the present application, the type of second robot 300 is not limited as long as it has the function of loading and unloading cargo and transporting cargo.

[0042] As shown in FIGS. 5 to 9, the shelves 100 can be arranged in columns, rows, or matrices, and the arrangement of the shelves 100 is not limited in this embodiment.

[0043] In this embodiment, by forming a second robot passage 310 between adjacent shelves 100, the second robot 300 can transport cargo between the temporary storage tier 120 and the storage tier 130 by traveling along the second robot passage 310. By transporting cargo temporarily stored on the temporary storage tier 120 to the storage tier 130 for storage, or transporting cargo stored on the storage tier 130 to the temporary storage tier 120 for retrieval, the efficiency of cargo loading and unloading and the efficiency of storage and retrieval can be improved. Furthermore, because the second robot passage 310 does not coincide with the travel path of the first robot 200, the first robot 200 and the second robot 300 can avoid sharing a travel path, which improves the efficiency of cooperation between the first robot 200 and the second robot 300 and improves the efficiency of storage and retrieval.

[0044] In one embodiment, the warehouse equipment 1000 may include a first robot aisle along which the first robot 200 travels, where the first robot 200 places and removes cargo on the temporary storage tier 120 by engaging its fork arm 210 with the fork pocket 121. Here, the first robot aisle may be defined by the configuration of the shelf 100, or may be located on one side outside the shelf 100. By locating the second robot aisle on the other side outside the shelf 100, the first robot aisle and the second robot aisle can be installed separately, thereby avoiding aisle monopoly.

[0045] In this embodiment, by forming the first robot passage and the second robot passage separately, it is possible to avoid the first robot 200 and the second robot 300 sharing a travel passage, thereby improving the travel efficiency of the first robot 200 and the second robot 300, and ultimately improving the efficiency of loading and unloading.

[0046] In the warehouse equipment 1000, the second robot 300, which is an integrated lifting mechanism 320 and loading / unloading mechanism 330, is normally used to transport and load cargo. However, the cost of the second robot 300 is high, and the cargo connection port 400 is far from each temporary storage position and storage position within the shelf 100, so the loading / unloading of cargo per unit time is costly and inefficient.

[0047] In the warehouse apparatus 1000 according to the embodiment of the present application, by forming a second robot passage 310 between adjacent shelves 100, the second robot 300 can be arranged to transport cargo between the temporary storage tier 120 and the storage tier 130, and the first robot 200 is arranged to transport cargo on the temporary storage tier 120 and to take cargo in and out. The first robot 200 does not need to have a lifting mechanism and is significantly less expensive than the second robot 300. In this way, multiple first robots 200 can be assigned to one second robot 300 to work together to take in and out cargo, thereby reducing the cost of taking in and out cargo per unit time and improving the efficiency of taking in and out cargo.

[0048] 9, the temporary storage tier includes a plurality of temporary storage plates, and a third traveling path 143 for the first robot 200 to travel along is formed between at least two of the temporary storage plates. The width of the third traveling path 143 may be the width of one, two, three, or more temporary storage plates, and the present application is not limited thereto. For example, the third traveling path 143 may be formed by removing a temporary storage plate from the temporary storage tier. In this way, the first robot 200 can traverse the shelves from the third traveling path 143, improving traveling efficiency.

[0049] 9, a fourth traveling path 144 along which the first robot 200 travels is formed between two adjacent shelves 100, and connects two third traveling paths 143 or two second traveling paths 142. In this way, the first robot 200 can travel across a shelf 100 via the third traveling path 143 and then travel to an adjacent shelf 100 along the fourth traveling path 144, thereby shortening the traveling distance of the first robot 200 and improving cargo transport efficiency.

[0050] In one embodiment, the warehousing apparatus 1000 further includes a connection platform 400 (the connection platform 400 is also referred to as a connection port). A second travel path 142 for the first robot 200 to travel is formed between the temporary storage tier and a support 110 located on the third outer side of the temporary storage tier. A fifth travel path 145 for the first robot 200 to travel is formed between the connection platform 400 and the shelf 100. For example, the fifth travel path 145 for the first robot 200 to travel is formed between the connection platform 400 and a support located on the fourth outer side of the temporary storage tier. In this way, the first robot 200 can travel directly to the first travel path 141 of the first robot 200 within the shelf 100 along the fifth travel path 145 via the connection platform 400, thereby quickly reaching the temporary storage tier 120 and improving coordination efficiency.

[0051] In one example, the fifth running path 145, the first running path 141, the second running path 142 / the fourth running path 144 may form a first running circular line (the line segment circular line with an arrow in Figure 9) for the first robot 200 to run on.

[0052] In one example, the cargo loading / unloading passage 140 below the temporary storage tier may form a second running loop (dashed line with arrows in Figure 9) for the first robot 200 to run along when unloaded.

[0053] In one example, the first robot path includes a cargo loading / unloading path 140, a first robot running path 141, a second running path 142, a third running path 143, a fourth running path 144, and a fifth running path 145.

[0054] In one example, the second robot path 310 of the second robot 300 may form a loop line (dotted arrow line in FIG. 9) for the second robot 300 to travel along.

[0055] By setting the first traveling loop line, the second traveling loop line, and the loop line on which the second robot 300 travels in the above example, it is possible to prevent the first robot 200 and the second robot 300 from monopolizing each other's traveling paths, improving the efficiency of cooperation between the two. This makes it possible to set up multiple first robots 200 and multiple second robots 300 to realize the storage and retrieval of cargo, improving the efficiency of storage and retrieval.

[0056] Example 2 Fig. 10(A) is a schematic diagram 1 showing the configuration of a shelf according to Example 2 of the present application. Fig. 10(B) is a schematic diagram showing the configuration of the temporary storage lamina of Fig. 10(A). As shown in Figs. 10A and 10B, this shelf 500 differs from the above-described shelf 100 in that the temporary storage lamina 520 includes a cross beam 521 arranged along the horizontal direction and a plurality of temporary storage members 522 arranged at intervals inside the cross beam 521.

[0057] For example, both ends of the cross beam 521 may be fixed to one support 510, and for example, the temporary storage member 522 may be screwed between the inside of the cross beam 521 and the inside of the cross beam 521, and between both ends of the cross beam 521 and the support 510 with bolts and nuts, and the temporary storage member 522 has two support arms 522A and a fork pocket 522B formed between the two support arms 522A. Here, the temporary storage position 523 may be formed by a temporary storage member 522, for example, the two support arms 522A of the temporary storage member 522 and the area surrounded by them may form one temporary storage position 523, and the fork pocket 522B may be located in the middle of the temporary storage position 523 to facilitate engagement with a single fork arm, and multiple temporary storage members 522 may provide multiple temporary storage positions 523, and when the temporary storage member 522 temporarily stores cargo, the two support arms 522A of the temporary storage member 522 jointly transport the cargo to temporarily store the cargo on the temporary storage position 523.

[0058] Preferably, the support arms 522A of the temporary storage member 522 can be made of square steel, so that the strength of the temporary storage member 522 is sufficient for transporting cargo, consumables are minimal, and manufacturing costs can be reduced. Fork pockets 522B formed between the support arms 522A can be fitted with fork arms used to transport cargo, and the fork arms can be directly fitted into the fork pockets 522B to load and unload cargo, reducing the need for inserting and unloading the fork arms and improving the speed and efficiency of loading and unloading cargo.

[0059] Storage tiers 530 are mounted vertically on supports 510 at spaced intervals from temporary storage tiers 520, and storage tiers 530 provide a plurality of storage locations 533 for long term storage of cargo. Here, the temporary storage tier 520 may be located on any layer of the shelf 500. For example, the temporary storage tier 520 may be located on the lowest layer of the shelf 500. In this case, the storage tier 530 is located above the temporary storage tier 520, which is advantageous for temporarily storing cargo on the lowest layer of the shelf 500. Alternatively, the temporary storage tier 520 may be located on the highest layer of the shelf 500. In this case, the storage tier 530 is located below the temporary storage tier 520, which is advantageous for temporarily storing cargo on the highest layer of the shelf 500. The temporary storage tier 520 may be located on an intermediate layer of the shelf 500. In this case, the storage tier 530 is located above or below the temporary storage tier 520, which can improve the efficiency of transporting cargo between the temporary storage tier 520 and the storage tier 530.

[0060] 10A and 10B, the storage tier 530 includes a horizontally disposed cross beam 531 and a plurality of support plates 532 disposed at intervals on the cross beam 531, where the cross beam 531 is disposed around the periphery of the plurality of support plates 532, with the two short sides of each support plate 532 connected to the inside of the cross beam 531, and each support plate 532 is disposed parallel to the adjacent support arm 522A of the adjacent temporary storage member 522, and the opposite edges of the adjacent support plates 532 and the area surrounded thereby can be used as a storage position 533. In this way, the center of the storage position 533 is openworked, which reduces the weight of the storage tier 530 and reduces manufacturing costs.

[0061] In this embodiment, the temporary storage tier 520 provides a temporary storage element 522 for temporarily storing cargo. Between the two support arms 522A of the temporary storage element 522, a fork pocket 522B is formed, which can be fitted with a fork arm. This allows the fork arm to be directly inserted into the fork pocket 522B of the temporary storage element 522, thereby allowing cargo to be directly loaded and unloaded on the temporary storage tier 520. This eliminates the need to extend the fork arm above the shelf 500, improving the efficiency of loading and unloading cargo. Furthermore, the temporary storage tier 520 can temporarily store cargo, and the storage position provided by the storage tier 530 can store cargo for a relatively long period of time. This facilitates coordination between the temporary storage tier 520 and the storage tier 530, thereby improving the efficiency of cargo retrieval.

[0062] In one embodiment, the support posts 510 may be installed at the apex positions of the temporary storage plates 520 and 530, or may be installed at the edges of the temporary storage plates 520 and 530, and this embodiment is not limited to the installation positions of the support posts 510. The temporary storage plates 520 and 530 can be screwed to the support posts 510 with bolts and nuts.

[0063] 10B, the inner side of the cross beam 521 is fixedly connected to the first end of the support arm 522A, and the temporary storage member 522 includes a plurality of blades 522C respectively connected between the inner side of the cross beam 521 and the inner side of each support arm 522A, thereby enhancing the strength between the support arm 522A and the cross beam 521.

[0064] Specifically, as shown in Figures 10B and 10C, the cross section of the cross beam 521 is L-shaped, and the cross beam 521 includes a horizontal beam 521A and a vertical beam 521B, with the outside of the vertical beam 521B being the outside of the cross beam 521 and the inside of the vertical beam 521B being the inside of the cross beam 521, the horizontal beam 521A being arranged on the inside of the vertical beam 521B, the first end of the support arm 522A can be fixedly connected on the horizontal beam 521A, and the end face of the first end of the support arm 522A can be fixedly connected to the inside of the vertical beam 521B, and a blade 522C is respectively connected between the inside of the vertical beam 521B and the inside of the support arm 522A.

[0065] Furthermore, by forming a protrusion 521C on the inner apex of the vertical beam 521B, the vertical beam 521B and the horizontal beam 521A jointly form an engagement groove (not shown) of the cross beam 521, and the first end of the support arm 522A can be fitted into the engagement groove of the cross beam 521, thereby improving the robustness of the connection between the support arm 522A and the cross beam 521.

[0066] In one embodiment, the blade 522C is a right-angled triangle, with a first right-angled side of the blade 522C disposed along the inner side of the cross beam 521 and a second right-angled side of the blade 522C disposed along the inner side of the support arm 522A. For example, the first right-angled side of the blade 522C may be disposed along the inner side of the vertical beam 521B, and the first right-angled side of the blade 522C may be inserted into a fitting groove of the cross beam 521.

[0067] In one example, the length of the first perpendicular side of the blade 522C can be smaller than the length of the second perpendicular side, so that the width of the blade 522C gradually decreases along the first end of the support arm 522A toward the middle of the support arm 522A, thereby preventing the blade 522C from interfering with the operation of the fork arm.

[0068] As a result, since the blades 522C are in the shape of a right triangle, the stability of the connection between the support arms 522A and the cross beam 521 can be improved.

[0069] In one embodiment, the temporary storage layer 520 further includes a plurality of fixing plates 522D, each fixed plate 522D being connected between adjacent temporary storage members 522 and connected to the inside of the cross beam 521. This not only strengthens the strength between the temporary storage members 522 and the cross beam 521, but also improves the stability of the temporary storage members 522, and therefore the stability of the temporary storage layer 520.

[0070] Specifically, the fixed plate 522D is rectangular, the long side of the fixed plate 522D is set as the side of the fixed plate 522D, and the short side of the fixed plate 522D is set as the end of the fixed plate 522D, and both sides of the fixed plate 522D can be connected between the outside of the adjacent support arm 522A of the adjacent temporary storage member 522, one end of the fixed plate 522D is connected to the inside of the vertical beam 521B, and a weight reduction groove 524 is formed at the other end of the fixed plate 522D, and the groove width of the weight reduction groove 524 gradually increases from the groove bottom on the side closer to the cross beam 521 to the groove opening on the side farther from the cross beam 521.

[0071] 10B and 10C , the temporary storage lamina 520 further includes a plurality of wedge plates 522E, each of which is connected between adjacent temporary storage members 522 and located adjacent to the second end of the support arm 522A. For example, by connecting the wedge plates 522E between the outer sides of the adjacent support arms 522A of the adjacent temporary storage members 522, the connection strength between the adjacent support arms 522A of the adjacent temporary storage members 522 can be increased, and the supporting capacity of the temporary storage members 522 can be improved.

[0072] 10A and 10C , the shelf 500 may further include two support plates 540. The support plates 540 are connected to the ends of the cross beam 521 and are positioned between the support arms 522A located at the ends of the cross beam 521 and the support posts 510. This increases the strength of the support arms 522A located at the ends of the cross beam 521 and improves their robustness. For example, the support plate 540 may be a right-angled trapezoid, with the right angled end of the support plate 540 connected to the inside of the end of the cross beam 521, the short bottom edge of the support plate 540 connected to the outside of the support arms 522A located at the ends of the cross beam 521, and the long bottom edge of the support plate 540 connected to the support posts 510, where the length of the support arms 522A may be shorter than the length of the long bottom edge of the support plate 540.

[0073] In one embodiment, as shown in FIGS. 10A and 10B, a cargo loading / unloading aisle 550 for placing a first robot is formed under the temporary storage tier 520, and when loading / unloading cargo, when the first robot is positioned in the cargo loading / unloading aisle 550, the fork pocket 522B can be engaged with the fork arm 210 on the first robot 200 to load / unload cargo. Specifically, when storing cargo (see FIG. 12C), the first robot aligns fork arm 210 with fork pocket 522B from the first outer side of temporary storage tier 520 and travels to cargo loading / unloading aisle 550, and directly inserts the fork arm into fork pocket 522B, thereby placing the cargo on temporary storage tier 520, and then lowers the fork arm to leave the cargo box on temporary storage tier 520. When unloading cargo, the first robot travels to the bottom of cargo loading / unloading aisle 550, aligns the fork arm with fork pocket 522B from below temporary storage tier 520, and raises the fork arm to jack up the cargo box, and then travels away from the first outer side of temporary storage tier 520, exits cargo loading / unloading aisle 550, and removes the cargo box. In this way, the first robot can directly load and unload cargo without stopping or temporarily halting its travel, eliminating the need to control the robot arm to extend up to the tier, improving the efficiency of loading and unloading cargo boxes, and enabling loading and unloading below the temporary storage tier 520, thereby making effective use of the space on the shelf 100.

[0074] In one embodiment, the cargo loading / unloading aisle 550 may be used for the first robot to travel when it is unloaded. For example, when the first robot is in an unloaded state (i.e., when the first robot is not carrying any cargo), the first robot can travel directly within the cargo loading / unloading aisle 550, thereby improving the efficiency of cargo transportation.

[0075] FIG. 11 is a schematic diagram 2 showing the configuration of a shelf according to a second embodiment of the present invention. As shown in FIG. 11, the shelf 500 differs from the above-described embodiments in that support columns 510 are provided on the outer periphery of a storage tier 530, and a first travel path 610 along which a first robot travels is formed between a temporary storage tier 520 and the support columns 510 located on the first outer side of the temporary storage tier 520. The first robot may be an AGV (Automated Guided Vehicle, abbreviated as AGV) with a fork arm, and the fork arm may be provided on the top or side of the first robot. The embodiment of the present invention does not limit the method of installing the fork arm of the first robot.

[0076] For example, when the temporary storage layer 520 is located at the lowest layer of the support 510, the temporary storage layer 520, together with the support 510 located on the first outer side of the temporary storage layer 520 and the ground, can form a first running path 610 for the first robot to run on.

[0077] For example, when the temporary storage layer 520 is located on a layer other than the bottom layer of the support 510, the temporary storage layer can form a first running passage 610 along which the first robot runs, together with the support 110 located on the first outer side of the temporary storage layer 520 and the storage layer 530 located on the layer immediately below the layer on which the temporary storage layer 520 is located.

[0078] In this embodiment, a first travel path 610 for the first robot to travel is formed between the temporary storage tier 520 and a support 510 located on the first outside of the temporary storage tier 520 so that the first robot can travel on any layer of the shelf 500, thereby facilitating coordination between the first robot and the temporary storage tier 520 and preventing the first robot from occupying the path on the outside of the shelf 500.

[0079] In one embodiment, the width of the temporary storage lamina 520 is equal to or less than half the width of the storage lamina 530. For example, the shelf 500 may be a two-row shelf 500, the temporary storage lamina 520 is located in one row of the two-row shelf 500, and the storage lamina 530 extends horizontally from one row to the other row of the two-row shelf, and the width of the temporary storage lamina 520 may be equal to or less than half the width of the storage lamina 530. The temporary storage tier 520 can only be used for temporarily storing cargo for a short period of time, while the storage tier 530 can be used for long-term storage of cargo. By setting the width of the temporary storage tier 520 to be less than half the width of the storage tier 530, cargo can be temporarily stored in one row on the temporary storage tier 520 and in two rows on the storage tier 530, which is suitable for temporary storage of cargo. Furthermore, since the width of the storage tier 530 is more than twice the width of the temporary storage tier 520, the storage tier 530 can store cargo that is slightly larger in size than the temporary storage position 523. In addition, by setting the width of the temporary storage tier 520 to less than half the width of the storage tier 530, it is also advantageous to form a first running path 610 for the first robot to run along between the first outer side of the temporary storage tier 520 and the support 510, and by making the width of the first running path 610 larger than the width of the temporary storage tier 520, a path wide enough for the first robot to transport cargo can be provided.

[0080] 12A is a schematic diagram 3 showing the configuration of a shelf according to Example 2 of the present application, and as shown in Figures 12A and 12B, shelf 500 differs from the above-described examples in that temporary storage positions 523 of primary storage tier 520 are formed by adjacent support arms 522A of adjacent temporary storage members 522 and the area surrounded thereby, and fork pockets 522B of temporary storage tier 520 are located on both sides of temporary storage position 523, which makes shelf 500 advantageous for cooperation with a first robot having double fork arms. Specifically, as shown in Figures 12A to 12C, when temporarily storing cargo, first robot 700 aligns two fork arms 701 from the first outer side of temporary storage tier 520 with fork pockets 522B on both sides of temporary storage position 523, and inserts both fork arms 701 directly into both fork pockets 522B to load and unload cargo.

[0081] In one embodiment, a support 710 for supporting the cross beam 521 is further provided at the middle of the cross beam 521 of the temporary storage lamina 520 .

[0082] 12B , mounting plates 720 may be provided on both the top and bottom of both ends of cross beams 521 of temporary storage layer board 520, and cross beams 521 may be attached to support posts 510 by these mounting plates 720, thereby increasing the attachment strength between cross beams 521 and support posts 510. In addition, mounting plate 720 may be in the shape of a right triangle, with a first right-angled side of mounting plate 720 connected to the side side of cross beam 521 and an edge of a second right-angled side of mounting plate 720 screwed to support posts 510 with bolts and nuts.

[0083] As shown in Figures 13A and 13B, the present application further provides a warehouse device 800, which includes a plurality of shelves 500 of any of the above-mentioned embodiments and a second robot passage 810 formed between adjacent shelves 500 for a second robot to travel through, and the second robot is for transporting cargo between the temporary storage tier 520 and the storage tier 530.

[0084] The number of shelves 500 in the warehouse equipment 800 is two or more, and the number of shelves 500 in the warehouse equipment 800 is not limited in this embodiment.

[0085] This second robot may be an AGV vehicle equipped with a lifting mechanism and a loading / unloading mechanism, or may be a stacker crane, etc. In the embodiments of the present application, the type of second robot is not limited as long as it has the function of loading and unloading cargo and transporting cargo.

[0086] The shelves 500 may be arranged in columns (as shown in FIG. 13A), rows (as shown in FIG. 13B), or matrices. In the embodiment of the present application, the arrangement of the shelves 500 is not limited.

[0087] In this embodiment, a second robot passage 810 is formed between adjacent shelves 500, allowing the second robot to travel along the second robot passage 810. This allows cargo to be transported between the temporary storage tier 520 and the storage tier 530, cargo temporarily stored on the temporary storage tier 520 to be transported to the storage tier 530 for storage, and cargo stored on the storage tier 530 to be transported back to the temporary storage tier 520 for removal and temporary storage, thereby improving the efficiency of cargo loading and unloading and the efficiency of storage and retrieval. Furthermore, because the second robot passage 810 does not coincide with the path of the first robot, the first robot and the second robot can avoid sharing a path of travel, improving the efficiency of cooperation between the first robot and the second robot, and ultimately improving the efficiency of storage and retrieval.

[0088] Example 3 The present embodiment also provides a warehousing control method, which can be applied to the temporary storage shelf 120, the shelf 100, or the warehouse apparatus 1000 of any of the embodiments of the above-described embodiment 1, or the warehouse apparatus 800 of any of the embodiments of the embodiment 2. In the third embodiment, the warehouse apparatus 1000 will be described as an example.

[0089] 14 is a schematic diagram showing the flow of a warehousing control method according to Example 3 of the present application. As shown in FIG. 14, the warehousing control method may include the following steps.

[0090] In S1001, a target temporary storage location is determined based on the target storage location of the target cargo.

[0091] In S1002, the first robot is instructed to transport the target cargo to the target temporary storage position.

[0092] In S1003, when a transport completion signal transmitted from the first robot is received, the second robot is instructed to transport the target cargo from the target temporary storage location to the target storage location, where the target storage location is located on a different layer from the target temporary storage location.

[0093] Here, referring to FIG. 1 of Example 1, as shown in FIG. 1, the temporary storage location may be arranged on the temporary storage tier 120 of the shelf 100, or the storage location may be arranged on the storage tier 130 of the shelf, and the temporary storage location and the storage location may be arranged on different layers on the same shelf 100, or on different layers on adjacent shelves, and the temporary storage location and the storage location may be adjusted and selected according to actual needs, and the embodiments of the present application do not limit the installation method of the temporary storage location and the storage location.

[0094] The target storage location of the target cargo can be determined according to the type of the target cargo. For example, if the type of target cargo is the best-selling type of cargo, a storage location on the shelf with the shortest transport time may be assigned as the target storage location for the target cargo. For example, if the temporary storage location is located on the lowest level of the shelf, the storage location with the shortest transport time is the storage location that is closest to the connecting platform and located on the level immediately above the level on which the temporary storage location is located. In this way, a storage location with a corresponding required time can be determined as the target storage location according to the sales level of the target cargo.

[0095] In one example, since the target temporary storage location can temporarily store the target cargo, when a transfer completion signal transmitted from the first robot is received, the second robot may be immediately instructed to transfer the cargo from the target temporary storage location to the target storage location, or the second robot may perform another task and then instruct the second robot to transfer the cargo from the target temporary storage location to the target storage location. In this way, the first robot and the second robot can independently transfer the target cargo using the temporary storage location, and the first robot and the second robot do not need to directly coordinate the delivery of the target cargo, allowing them to travel efficiently and improving cargo warehousing efficiency.

[0096] In one example, the warehousing control method can determine target temporary storage locations for each of a plurality of target cargoes, instruct a plurality of first robots to transport the plurality of target cargoes to the corresponding target temporary storage locations, and, when receiving transport completion signals transmitted from the plurality of first robots, instruct a second robot to transport the plurality of target cargoes from the corresponding target temporary storage locations to the corresponding target storage locations.

[0097] In the warehousing control method according to an embodiment of the present application, the target temporary storage location is determined by the target storage location of the target cargo, and by instructing the first robot to transport the target cargo to the target temporary storage location and temporarily store it, and the second robot to transport the target cargo from the target temporary storage location to the target storage location, the transport of the target cargo on the ground and the transport of the target cargo between the temporary storage location and the storage location can be separated, and the first robot can independently complete the transport of the target cargo on the ground, while the second robot can independently complete the transport of the target cargo between the temporary storage location and the storage location. This eliminates the need for the first robot and the second robot to directly hand over the target cargo, and prevents the first robot and the second robot from having to wait for each other, thereby improving the efficiency of cargo warehousing.

[0098] In one embodiment, the running speed of the first robot may be greater than the running speed of the second robot.

[0099] In warehousing control, the first robot typically transports the target cargo from the connecting platform to a target temporary storage location on the shelf, and the second robot typically transports the target cargo from the target temporary storage location to the target storage location on one side of the shelf. The distance between the connecting platform and the shelf is much greater than the length of the shelf. Therefore, by making the running speed of the first robot greater than the running speed of the second robot, the number of target cargoes that the first robot can transport to the target temporary storage location can be matched with the number of target cargoes that the second robot can transport from the target temporary storage location. This allows the transport efficiency of the first robot to be matched with the transport efficiency of the second robot, thereby improving the efficiency of warehousing of the target cargo.

[0100] In one example, the warehousing control method can be configured to coordinate multiple first robots with multiple second robots to match the transport efficiency of the multiple first robots with the transport efficiency of the second robots, or by configuring multiple first robots and multiple second robots to coordinate with each other, the transport efficiency of the multiple first robots can be matched with the transport efficiency of the multiple second robots, thereby improving the warehousing efficiency of the target cargo. The number of first robots and second robots can be adjusted and selected according to actual needs, and is not limited thereto in the embodiments of the present application.

[0101] Illustratively, as shown in FIG. 15, in step S1001, determining a target temporary storage location based on a target storage location of a target cargo may include the following steps:

[0102] In S1101, a first idle temporary storage location closest to the target storage location is determined.

[0103] In S1102, the first robot is instructed to travel toward the first idle temporary storage location.

[0104] In S1103, while the first robot is traveling, the occupancy status of each temporary storage location is updated at preset time intervals.

[0105] In S1104, if the time taken for the first robot to travel to the first idle temporary storage position is greater than the first preset time threshold, it is determined whether or not a second idle temporary storage position closest to the target storage position exists based on the occupancy status of each temporary storage position after the update.

[0106] In S1105, if the second idle temporary storage location exists, the second idle temporary storage location is determined as the target temporary storage location.

[0107] For example, as shown in FIG. 1, if the temporary storage position provided by temporary storage plate 122 below the target storage position provided by target storage plate 131 is occupied, the temporary storage position provided by temporary storage plate 123 in the row adjacent to target storage plate 131 or the temporary storage position provided by temporary storage plate 124 may be determined as the first idle temporary storage position, and the first robot may be instructed to travel toward the first idle temporary storage position. If, while the first robot is traveling, the temporary storage position provided by temporary storage plate 122 is updated to an idle state, and the time it takes for the first robot to travel to the first idle temporary storage position is greater than a first preset time threshold, the temporary storage position provided by temporary storage plate 122 is determined as the second idle temporary storage position and set as the target temporary storage position. In this way, while the first robot is traveling, the target temporary storage layer can be dynamically adjusted so that the transport distance between the target temporary storage position and the target storage position is shorter than the transport distance between the first idle temporary storage position and the target temporary storage position, thereby shortening the transport distance of the target cargo and improving the efficiency of cargo storage.

[0108] 16 , if the target storage position is located above or below the fifth temporary storage position 415 on the first shelf 410, the first idle temporary storage position can be the fifth temporary storage position 415 on the first shelf 410 or the fifth temporary storage position 425 on the second shelf 420. In this way, the storage positions located on both sides of the second robot travel path 440 can share a temporary storage position on the first shelf 410.

[0109] Here, the update of the temporary storage position below the target storage position to the idle state can be triggered by the second robot removing the cargo temporarily stored in the temporary storage position.

[0110] In one embodiment, if the second idle buffer location does not exist, the first idle buffer location is determined as the target buffer location. In this manner, the target buffer location can be determined directly based on the target buffer location.

[0111] In one embodiment, instructing the first robot to transport the target cargo to the target staging location comprises: determining a first transport route from among preset first robot paths based on position information between the first robot and the target temporary storage position, the first robot path including a first travel path located on a first outer side of the temporary storage tier where the target temporary storage position is located, and the first travel path is located within a vertical projection area of ​​the storage tier where the target storage position is located; and instructing the first robot to travel along the first transport route to below the target temporary storage location.

[0112] 16 is a diagram illustrating an example of a warehousing / retrieval control method according to an embodiment of the present application, in which a line segment with an arrow indicates a first travel path 430 (see first travel path 141 in FIG. 4 ) located on the first outer side of the temporary storage tier where the target temporary storage location is located. When the fifth temporary storage location 415 on the first shelf 410 is the target temporary storage location, a first transfer route 431 is determined from the first travel path 430, and the first robot 200 is instructed to travel along the first transfer route 431 to below the fifth temporary storage location 415. In this way, the first robot 200 can travel along the predetermined first travel path 430, and the first robot 200 can avoid occupying the travel path of the second robot 300, improving the travel efficiency between the first robot 200 and the second robot 300, thereby improving warehousing efficiency.

[0113] In one embodiment, instructing the second robot to transport the target cargo from the target staging location to the target storage location includes: determining a second transfer route from among a second robot passage set in advance based on position information between the second robot and the target temporary storage position, and the second robot passage is located outside the vertical projection area; and instructing the second robot to travel along the second transport route to a side of the target temporary storage location.

[0114] In one example, as shown in FIG. 16, the second robot passage 440 (dotted line with arrow) can be located outside the vertical projection area of ​​the shelf, and when the second robot 300 is located on the side of the second temporary storage position 412 on the first shelf 410, based on the position information between the second robot 300 and the target temporary storage position (i.e., the fifth temporary storage position 415), a second transport route 441 between the side of the second temporary storage position 412 and the side of the fifth temporary storage position 415 is determined, and the second robot 300 is instructed to travel along the second transport route 441 to the side of the fifth temporary storage position 415, and retrieve the target cargo from the fifth temporary storage position 415.

[0115] In one embodiment, a second travel path is formed on a third outer side or a fourth outer side of the temporary storage lamina. The temporary storage lamina includes a plurality of temporary storage plates for providing temporary storage positions, a third travel path is formed between at least two of the temporary storage plates, and the first robot path includes the second travel path and the third travel path.

[0116] For example, as shown in FIG. 16, a third travel path (not shown) is provided between the fifth temporary storage position 415 and the sixth temporary storage position 416 on the first shelf 410, and between the eighth temporary storage position 418 and the ninth temporary storage position 419, and the first robot 200 can determine a travel path from among the third travel path, allowing a short travel path to be planned for the first robot 200, thereby improving the travel efficiency of the first robot 200.

[0117] In one embodiment, the first robot aisle includes a cargo loading / unloading aisle located below the temporary storage tier, and the method further includes, when the first robot is unloaded, determining an unloaded travel route from within the first robot aisle and instructing the first robot to travel along the unloaded travel route.

[0118] 23, the first robot aisle includes a cargo loading / unloading aisle 450 located below the temporary storage tier (which can refer to cargo loading / unloading aisle 140 of shelf 100 in FIG. 4), i.e., the dashed line with arrows in FIG. 1. When the first robot is unloaded (i.e., the first robot has no cargo), the first robot can travel through first travel aisle 430, second travel aisle, and cargo loading / unloading aisle 450.

[0119] The present embodiment also provides a shipping control method, which can be applied to the warehouse apparatus 1000 according to any of the embodiments of the above-described embodiment 1 or the warehouse apparatus 800 according to any of the embodiments of the embodiment 2. In the third embodiment, the warehouse apparatus 1000 will be described as an example.

[0120] 17 is a schematic diagram showing the flow of a delivery control method according to Example 3 of the present application. As shown in FIG. 17, the delivery method may include the following steps.

[0121] In S1301, the second robot is instructed to remove the target cargo from the current storage position.

[0122] In S1302, a target temporary storage location is determined based on the position of the second robot, where the current storage location and the target temporary storage location are located on different layers.

[0123] In S1303, the second robot is instructed to transport the target cargo to the target temporary storage position.

[0124] In S1304, when the transfer completion signal transmitted from the second robot is received, the first robot is instructed to transfer the target cargo from the target temporary storage position.

[0125] Here, the method of setting the temporary storage location and the storage location in the outgoing control method can be the same as that in the incoming control method, and the method of setting the temporary storage location and the storage location will not be mentioned here.

[0126] The current storage location of the target cargo can be determined based on the identification information of the target cargo in the shipping list. For example, a relationship mapping table between the current storage location of the target cargo and the identification information of the target cargo may be stored in advance, and when the identification information of the target cargo is obtained from the shipping list, the current storage location of the target cargo may be referenced in the relationship mapping table. The current storage location of the target cargo may also be determined by other methods, and the embodiment of the present application does not limit the method of determining the current storage location of the target cargo.

[0127] In one example, since the target temporary storage location can temporarily store the target cargo, when the transfer completion signal transmitted from the second robot is received, the first robot may be immediately instructed to transfer the target cargo from the target temporary storage location, or the first robot may perform another task and then instruct the first robot to transfer the target cargo from the target temporary storage location. In this way, the first robot and the second robot can independently transfer the target cargo using the temporary storage location, and the first robot and the second robot do not need to directly coordinate the delivery of the target cargo, allowing them to travel efficiently and improving retrieval efficiency.

[0128] In one example, the warehousing control method can instruct a second robot to remove multiple target cargoes from their current storage locations, determine corresponding target temporary storage locations based on the position of the second robot, and instruct the second robot to transport the target cargoes to the corresponding target temporary storage locations, thereby transporting the multiple target cargoes to the corresponding target temporary storage locations.

[0129] The retrieval control method according to an embodiment of the present application determines a target temporary storage location based on the position of the second robot, instructs the second robot to transport the target cargo to the target temporary storage location, and instructs the first robot to remove the target cargo from the target temporary storage location, thereby separating the transport of the target cargo between temporary storage locations from the transport of the target cargo on the ground, allowing the second robot to independently complete the transport of the target cargo between the storage location and the temporary storage location, and the first robot to independently complete the removal of the target cargo from the target temporary storage location, eliminating the need for the first robot and the second robot to directly coordinate the handover of the target cargo, thereby avoiding the first robot and the second robot having to wait for each other and improving the efficiency of retrieval of cargo.

[0130] In addition, storage and retrieval control methods typically use robots that integrate a lifting mechanism and a loading and unloading mechanism to transport and load cargo, but such robots are expensive and the distance between the cargo connection platform and each temporary storage position and storage position on the shelf is long, resulting in high cargo storage and retrieval costs per unit time and low efficiency.

[0131] The warehousing and unloading control method according to an embodiment of the present application separates the on-ground transportation of the target cargo from the transportation of the target cargo between the temporary storage location and the storage location, allowing the first robot to centrally complete the on-ground transportation of the target cargo, and the second robot to centrally transport the target cargo between the temporary storage location and the storage location, where the first robot does not need to have a lifting mechanism, and its cost is much lower than that of the second robot. This allows one second robot and multiple first robots to indirectly cooperate to control the warehousing and unloading of the target cargo, reducing the warehousing and unloading cost of the target cargo per unit time and improving the efficiency and capacity of warehousing and unloading of cargo.

[0132] In one embodiment, the running speed of the first robot is greater than the running speed of the second robot.

[0133] In retrieval control, the first robot typically transports the target cargo from the target temporary storage location on the shelf to the connecting platform, and the second robot typically transports the target cargo on one side of the shelf from its current storage location to the target temporary storage location. Because the distance between the connecting platform and the shelf is much greater than the length of the shelf, the first robot's running speed can be made faster than the second robot's, allowing the number of target cargoes that the second robot transports to the target temporary storage location to match the number of target cargoes that the first robot removes from the target temporary storage location. This combines the transport efficiency of the second robot with the transport efficiency of the first robot, improving the retrieval efficiency of the target cargo.

[0134] In one example, the warehousing control method can further arrange a plurality of first robots that cooperate with the second robot to match the target cargo outgoing temporary storage flow rate with the outgoing storage flow rate.

[0135] Exemplarily, as shown in FIG. 18, step S1302 of determining a target temporary storage location based on the position of the second robot may further include the following steps.

[0136] In S1401, the first idle temporary storage location closest to the second robot is determined.

[0137] In S1402, the second robot is instructed to travel toward the first idle temporary storage location.

[0138] In S1403, while the second robot is traveling, the occupancy status of each temporary storage location is updated at preset time intervals.

[0139] In S1404, if the time taken for the second robot to travel to the first idle temporary storage location is greater than a second preset time threshold, it is determined whether a second idle temporary storage location closest to the second robot exists based on the occupancy status of each temporary storage location after the update.

[0140] In S1405, if the second idle temporary storage location exists, the second idle temporary storage location is determined as the target temporary storage location.

[0141] 16 , when the second robot 300 is located on one side of the second temporary storage position 412 on the first shelf 410, the fifth temporary storage position 415 on the first shelf 410 can be determined as the first idle temporary storage position for the second robot 300. If the occupancy status of the fourth temporary storage position 414 on the first shelf 410 is updated to idle while the second robot 300 is traveling toward the first idle temporary storage position, and if the time it takes the second robot 300 to travel to the fifth temporary storage position 415 is greater than a second preset time threshold, the fourth temporary storage position 414 is determined as the second idle temporary storage position closest to the second robot 300 and as the target temporary storage position. In this way, the target temporary storage position can be dynamically adjusted while the second robot 300 is transporting the target cargo, thereby shortening the transport distance of the second robot 300 and improving cargo retrieval efficiency.

[0142] Here, the update of the temporary storage position below the target storage position to the idle state can be triggered by the first robot removing the cargo temporarily stored in the temporary storage position.

[0143] In one embodiment, if the second idle buffer location does not exist, the first idle buffer location is determined as the target buffer location, and the target buffer location can be determined directly.

[0144] In one embodiment, instructing the first robot to remove the target cargo from the target staging location comprises: determining a delivery route from among a preset first robot path based on position information between the first robot and the target temporary storage location, the first robot path including a first travel path located on one side of the temporary storage tier where the target temporary storage location is located, the first travel path being located within a vertical projection area of ​​the storage tier where the target storage location is located; and instructing the first robot to travel along the carry-out route to below the target temporary storage location.

[0145] In one example, as shown in FIG. 16, when the first robot 200 is located in a position close to the eighth temporary storage position 428 in the first travel aisle of the second shelf 420 and the target temporary storage position is the fifth temporary storage position 425 of the second shelf 420, an output route 432 between the second robot 200 and the second shelf 420 and the fifth temporary storage position 425 of the second shelf 420 is determined based on position information between the first robot 200 and the target temporary storage position (i.e., the fifth temporary storage position 425 of the second shelf), and the first robot 200 is instructed to travel along the output route 432 to below the target temporary storage position (i.e., the fifth temporary storage position 425 of the second shelf) in order to output the target cargo from the target temporary storage position.

[0146] Fig. 19 is a configuration block diagram of a warehouse system according to Example 3 of the present application. As shown in Fig. 19 and Fig. 20, the warehouse system includes a warehouse apparatus 1000, a control device 1710, a first robot 200 that travels along a first robot path and has a fork arm that engages with a fork pocket, and a second robot 300 that travels along a second robot path, where the control device 1710 includes a processor 1712 and a memory 1711 that stores instructions that are loaded and executed by the processor 1512 to implement the method of any of the above embodiments.

[0147] In one embodiment, the running speed of the first robot 200 is greater than the running speed of the second robot 300 .

[0148] Figure 20 is a configuration block diagram of a control device according to a third embodiment of the present invention. As shown in Figure 20, this control device 1710 includes a memory 1711 and a processor 1712, and the memory 1711 stores a computer program that can be executed on the processor 1712. The processor 1712 executes this computer program to realize the warehousing control method and the warehousing control method in the above-described embodiment. The number of memories 1711 and processors 1712 may be one or more.

[0149] The control device also includes a communication interface 1713 for communicating with external devices and transmitting data to and from them.

[0150] When the memory 1711, the processor 1712, and the communication interface 1713 are implemented independently, the memory 1711, the processor 1712, and the communication interface 1713 are connected to one another via a bus to enable mutual communication. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. This bus can be classified into an address bus, a data bus, a control bus, and the like. In FIG. 20, only thick lines are shown for ease of illustration, but this does not indicate that there is only one bus or that it is one type of bus.

[0151] Alternatively, when the memory 1711, the processor 1712, and the communication interface 1713 are integrated on one chip, the memory 1711, the processor 1712, and the communication interface 1713 can communicate with each other via an internal interface.

[0152] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor may be compatible with the ARM (Advanced RISC machines) architecture.

[0153] Optionally, the memory may include a program storage area for storing an operating system and application programs necessary for at least one function, and a data storage area for storing data generated in response to use of the control device. Furthermore, the memory may include high-speed random access memory, and may include non-transient memory, such as at least one magnetic disk memory device, flash memory device, or other non-transient solid-state memory device. In some embodiments, the memory may optionally include memory located remotely from the processor, and these remote memories may be connected to the control device via a network. Examples of such networks include, but are not limited to, the Internet, a corporate intranet, a local area network, a mobile communications network, and combinations thereof.

[0154] Example 4 Accordingly, the present embodiment further provides an inventory control device that can be applied to the temporary storage tier 120, shelf 100, warehouse device 1000 of any of the embodiments of Example 1 described above, or the warehouse device 800 of any of the embodiments of Example 2.

[0155] Fig. 21 is a block diagram showing the configuration of a warehousing control device according to a fourth embodiment of the present invention. As shown in Fig. 21, the warehousing control device 1800 may include a first determination module 1810 for determining a target temporary storage location based on the target storage location of the target cargo, a first instruction module 1820 for instructing a first robot to transport the target cargo to the target temporary storage location, and a second instruction module 1830 for instructing a second robot to transport the target cargo from the target temporary storage location to the target storage location when a transport completion signal transmitted from the first robot is received, where the target storage location is installed on a different floor from the target temporary storage location.

[0156] In one embodiment, the running speed of the first robot is greater than the running speed of the second robot.

[0157] In one embodiment, the first determination module 1810 may include a first determination unit for determining a first idle temporary storage location closest to the target storage location; a first instruction unit for instructing the first robot to travel toward the first idle temporary storage location; a first updating unit for updating the occupation status of each temporary storage location at a preset time interval while the first robot is traveling; a second determination unit for determining whether a second idle temporary storage location closest to the target storage location exists based on the occupation status of each temporary storage location after the update when the time it takes the first robot to travel to the first idle temporary storage location is greater than a first preset time threshold; and a third determination unit for determining the second idle temporary storage location as the target temporary storage location when the second idle temporary storage location exists, and for determining the first idle temporary storage location as the target temporary storage location when the second idle temporary storage location does not exist.

[0158] In one embodiment, the first instruction module 1820 includes a fourth determination unit for determining a first transport route from among pre-set first robot paths based on position information between the first robot and the target temporary storage location, and a second instruction unit for instructing the first robot to travel along the first transport route to below the target temporary storage location, wherein the first robot path includes a first travel path located on the side of the temporary storage tier on which the target temporary storage location is located, and the first travel path is located within a vertical projection area of ​​the storage tier on which the target storage location is located.

[0159] In one embodiment, the first robot aisle includes a cargo loading / unloading aisle located below the temporary storage tier, and the warehousing control device further includes a second determination module for determining an unloaded traveling route from the first robot aisle when the first robot is unloaded, and a third instruction module for instructing the first robot to travel along the unloaded traveling route.

[0160] In one embodiment, the second instruction module 1830 may include a fifth determination unit for determining a second transport route from a second robot passage located outside a predetermined vertical projection area based on position information between the second robot and the target temporary storage location, and a third instruction unit for instructing the second robot to travel along the second transport route to the side of the target temporary storage location.

[0161] In one embodiment, the second travel path is formed on a third outer side or a fourth outer side of the temporary storage lamina. The temporary storage lamina is formed with a plurality of temporary storage plates for providing temporary storage positions, the third travel path is formed between at least two of the temporary storage plates, and the first robot path includes the second travel path and the third travel path.

[0162] Accordingly, in the embodiment of the present application, a warehousing control device that can be applied to the warehouse apparatus 1000 according to any of the embodiments of the first embodiment or the warehouse apparatus 800 according to any of the embodiments of the second embodiment is provided.

[0163] 22 is a block diagram showing the configuration of a retrieval control device according to Example 4 of the present application. This retrieval control device can be applied to the temporary storage tier 120, shelf 100, and warehouse apparatus 1000 of any of the embodiments of Example 1 described above, or the warehouse apparatus 800 of any of the embodiments of Example 2.

[0164] As shown in FIG. 22, the warehousing control device 1900 includes a first instruction module 1910 for instructing the second robot to remove the target cargo from its current storage location, a first determination module 1920 for determining a target temporary storage location based on the location of the second robot, a second instruction module 1930 for instructing the second robot to transport the target cargo to the target temporary storage location, and a third instruction module 1940 for instructing the first robot to remove the target cargo from the target temporary storage location when a transport completion signal transmitted from the second robot is received, wherein the current storage location and the target temporary storage location are located on different floors.

[0165] In one embodiment, the running speed of the first robot is greater than the running speed of the second robot.

[0166] In one embodiment, the first determination module 1920 includes a first determination unit for determining a first idle temporary storage location closest to the second robot; a first instruction unit for instructing the second robot to run toward the first idle temporary storage location; an update unit for updating the occupation status of each temporary storage location at a preset time interval while the second robot is running; a second determination unit for determining whether a second idle temporary storage location closest to the second robot exists based on the occupation status of each temporary storage location after the update when the time it takes the second robot to run to the first idle temporary storage location is greater than a second preset time threshold; and a third determination unit for determining the second idle temporary storage location as a target temporary storage location when the second idle temporary storage location exists, and for determining the first idle temporary storage location as the target temporary storage location when the second idle temporary storage location does not exist.

[0167] In one embodiment, the third instruction module 1940 includes a fourth determination unit for determining an output route from among a preset first robot path based on position information between the first robot and the target temporary storage location, and a second instruction unit for instructing the first robot to travel along the transport route to below the target temporary storage location, wherein the first robot path includes a first travel path located on one side of the temporary storage tier on which the target temporary storage location is located, and the first travel path is located within a vertical projection area of ​​the storage tier on which the target storage location is located.

[0168] The functions of each module in each device according to the embodiment of the present invention can be referred to the corresponding description in the above method, and will not be further described here.

[0169] Although the storage and retrieval control method and device have been described as an example of a storage and retrieval control method, those skilled in the art will understand that the present application is not limited to this. In fact, users can flexibly configure the storage and retrieval control method and device according to their personal preferences and actual application scenarios, as long as they can improve the efficiency of storage and retrieval.

[0170] In an embodiment of the present invention, a computer-readable storage medium is provided that stores a computer program that, when executed by a processor, realizes the method provided in the embodiment of the present application. Other configurations of the above-described embodiment may employ various technical solutions known to those skilled in the art now and in the future, and will not be described in detail herein.

[0171] In the description of this application, the orientations or positional relationships indicated by terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "up," "down," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used for convenient or easy description of this application based on the orientations or positional relationships shown in the drawings, and are not intended to indicate or imply that the specified devices or components are configured or operated in a particular orientation or in a particular orientation, and should not be construed as limiting this application.

[0172] Furthermore, the terms "first" and "second" are used for descriptive purposes and should not be understood as indicating or implying relative importance or the number of technical features shown. A feature qualified by "first" or "second" expressly or implying that it includes one or more of said features. In the description of this application, unless otherwise clearly and specifically limited, "plurality" means two or more, for example, two, three, etc.

[0173] In the description of this application, unless otherwise clearly specified or limited, the meanings of the terms "attached," "connected to each other," "connection," "coupled," and "fixed" should be broadly understood. For example, they can mean fixed connection, detachable connection, or integration. They can also mean mechanical connection, electrical connection, or communication. They can also mean direct connection, indirect connection via an intermediate medium, internal communication between two components, or an interactive relationship between two elements. Those skilled in the art can understand the specific meanings of the above terms in this application depending on the specific case.

[0174] In this application, unless otherwise clearly specified and limited, a first feature is either in direct contact "above" or "below" a second feature, or indirectly in contact with the second feature via an intermediate medium. Furthermore, a first feature being "above," "above," or "on the upper surface" of a second feature means that the first feature is directly above or diagonally above the second feature, or that the horizontal height of the first feature is higher than that of the second feature. A first feature being "below," "below," or "on the lower surface" of a second feature means that the first feature is directly below or diagonally below the second feature, or that the horizontal height of the first feature is lower than that of the second feature.

[0175] The above disclosure provides many different embodiments or examples for realizing different configurations of the present application. To simplify the disclosure of the present application, specific example components and installations have been described above. Of course, these are merely examples and are not intended to limit the present application. Furthermore, the present application may repeatedly refer to numbers and / or letters in different examples; such repetition is for purposes of brevity and clarity and does not itself indicate a relationship between the various embodiments and / or installations discussed.

[0176] The above specific embodiments do not limit the scope of protection of the present application. It is obvious that those skilled in the art can make modifications, combinations, sub-combinations, and substitutions based on design requirements and other factors. Any changes, equivalent replacements, improvements, etc. in the concept and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A plurality of support columns installed at intervals in the horizontal direction; a temporary storage lamina; at least one storage tier vertically spaced apart from the temporary storage tier via the support posts to provide a plurality of storage locations; The temporary storage lamina is a temporary storage lamina for providing a temporary storage location, the temporary storage tier is provided with a fork pocket for engaging with a fork arm of the first robot; A cargo loading / unloading passage for the first robot is formed below the temporary storage tier, When loading and unloading cargo, the first robot is positioned in the cargo loading and unloading passage, and the fork pockets and the fork arms on the first robot are engaged to load and unload the cargo; The temporary storage tier includes a horizontally installed cross beam and a plurality of temporary storage members installed at intervals inside the cross beam, the temporary storage member comprises two support arms; The fork pocket is formed between the two support arms, The buffer position is formed by the buffer element or by adjacent support arms of adjacent buffer elements. shelf.

2. a first travel path along which the first robot travels is formed on a first outer side and / or a second outer side of the temporary storage lamina; The first outer side and the second outer side are disposed opposite to each other. The shelf of claim 1 .

3. a second travel path along which the first robot travels is formed on a third outer side and / or a fourth outer side of the temporary storage lamina; the second travel path is in contact with the first travel path, The third outer side and the fourth outer side are disposed opposite to each other. The shelf of claim 2.

4. The temporary storage lamina comprises a plurality of temporary storage plates; Each of the temporary storage plates is provided with the fork pocket, a third travel path along which the first robot travels is formed between at least two of the temporary storage plates; The shelf of claim 1 .

5. The inner side of the cross beam is fixedly connected to the first end of the support arm; the buffer member further comprising a plurality of vanes; Each of the vanes is connected between the inner side of the cross beam and the inner side of each of the support arms. The shelf of claim 1 .

6. The temporary storage tier further includes a plurality of fixing plates respectively connected between adjacent temporary storage members and connected to the inner side of the cross beam. The shelf of claim 1 .

7. determining a target temporary storage location based on the target storage location of the target cargo; instructing a first robot to transport the target cargo to the target temporary storage location; instructing a second robot to transport the target cargo from the target temporary storage position to the target storage position when a transport completion signal transmitted from the first robot is received, Instructing the first robot to transport the target cargo to the target temporary storage location includes: determining a first transfer route from within a first robot path based on position information between the first robot and the target temporary storage location; instructing the first robot to travel along the first transport route to below the target temporary storage location; The first robot path includes a first travel path located on a first outer side of the temporary storage tier where the target temporary storage position is located, and the first travel path is located within a vertical projection area of ​​the storage tier where the target storage position is located. Stock entry control method.

8. the first robot passage includes a cargo loading / unloading passage located below the temporary storage tier; The warehousing control method includes: determining an unloaded travel route from within the first robot path when the first robot is unloaded; instructing the first robot to travel along the unloaded travel route. The storage control method according to claim 7.

9. The target storage location is installed on a different layer from the target temporary storage location. The storage control method according to claim 7.

10. A second passage is formed on the third outer side and / or the fourth outer side of the temporary storage lamina; the temporary storage lamina is formed with a plurality of temporary storage plates for providing temporary storage positions; A third travel path is formed between at least two of the temporary storage plates, the first robot path includes the second travel path and the third travel path; The storage control method according to claim 7.

11. instructing the second robot to remove the target cargo from its current storage location; determining a target temporary storage location according to a position of the second robot; instructing the second robot to transport the target cargo to the target temporary storage location; instructing the first robot to transport the target cargo from the target temporary storage position when a transport completion signal transmitted from the second robot is received; Instructing the first robot to remove the target cargo from the target temporary storage location includes: determining a carry-out route from within a first robot passage based on position information between the first robot and the target temporary storage location; instructing the first robot to travel along the carrying-out route to below the target temporary storage position; The first robot path includes a first travel path located on a first outer side of the temporary storage tier where the target temporary storage position is located, and the first travel path is located within a vertical projection area of ​​the storage tier where the target storage position is located. Outgoing control method.

12. A control device comprising a processor and a memory storing instructions that, when loaded and executed by the processor, implement the method of any one of claims 7 to 11.

13. A shelf according to any one of claims 1 to 6; and a control device according to claim 12. Warehouse system.

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