TEMPORARY STORAGE SHELVING BOARD, GOODS SHELVING, CONTROL METHOD AND DEVICE, APPARATUS AND SYSTEM.

Abstract

A temporary storage shelving board, a goods rack, a control method, an apparatus, and a system are disclosed. The temporary storage shelving board (120) is used to provide multiple temporary storage positions. The temporary storage shelving board is provided with a fork inlet (121), and the fork inlet is used to cooperate with a fork arm (210) of a first robot (200). A goods storage and retrieval channel (140) of the first robot is formed below the temporary storage shelving board. When goods are stored and retrieved, the first robot is positioned in the goods storage and retrieval channel, and the fork inlet cooperates with the fork arm of the first robot to store and retrieve the goods.According to the temporary storage shelving board, the goods shelving, the control method, the apparatus and the system, the efficiency of goods storage and retrieval can be improved.

Description

TEMPORARY STORAGE SHELVING BOARD, GOODS SHELVING, CONTROL METHOD AND DEVICE, APPARATUS AND SYSTEM This disclosure claims priority to Chinese patent application No. 202010231552.9, filed with the Chinese Patent Office on March 27, 2020, under the name SHELVING AND STORAGE APPARATUS, which is incorporated herein by reference in its entirety. This disclosure also claims priority to Chinese patent application No. 202021892576.0, filed with the Chinese Patent Office on September 2, 2020, under the utility model name SHELVING AND STORAGE APPARATUS, which is incorporated herein by reference in its entirety. This disclosure claims priority to Chinese patent application No. 202010231545.9, filed with the Chinese Patent Office on March 27, 2020, entitled STORAGE APPARATUS, SYSTEM AND CONTROL METHOD, which is incorporated herein by reference in its entirety. This disclosure claims priority to Chinese patent application No. 202010232310.1, filed with the Chinese Patent Office on March 27, 2020, and entitled "WAREHOUSE AND OUTSIDE WAREHOUSE CONTROL METHODS AND APPARATUS, READING STORAGE DEVICE AND MEDIUM," which is incorporated herein by reference in its entirety. Furthermore, this disclosure claims priority from Chinese patent application No. 202022292766.5, filed with the Chinese Patent Office on October 15, 2020. utility model name SUPPORT PLATFORM AND WORKSTATION, which is incorporated herein by reference in its entirety. TECHNICAL FIELD This disclosure relates to the field of storage technologies, and in particular to a temporary storage layer board, shelving unit, a control method and apparatus, a device, and a system. BACKGROUND A shelving unit is a three-dimensional storage facility for loads, and can increase the efficiency of a warehouse. The existing warehousing industry mostly uses an integrated robot with automated climbing and movement capabilities to access and transfer loads. However, the robot needs to stop and extend a robotic arm to reach a shelf in a rack when accessing loads, which takes time and reduces load access efficiency. SUMMARY The realizations of this disclosure provide a temporary storage layer board, shelving unit, control method and apparatus, device, and system for solving or alleviating one or more technical problems in the related art. To achieve the above purpose, this disclosure adopts the following technical solutions: As a first aspect of the embodiments of the present disclosure, one embodiment of the present disclosure provides a temporary storage layer board, used to provide a plurality of temporary storage positions, wherein the temporary storage layer board is provided with a furcal slot, and the furcal slot is used to cooperate with a furcal arm of a first robot; a payload access channel for the first robot is formed under the temporary storage layer board, in a case of payload access, the first robot is in the payload access channel, and the furcal slot cooperates with the furcal arm on the first robot to access the payload. As a second aspect of the embodiments of the present disclosure, an embodiment of the present disclosure provides a shelving unit, comprising: a plurality of columns arranged at intervals in a horizontal direction; at least one temporary storage layer board of any of the above embodiments; and at least one storage layer board, arranged at intervals with the temporary storage layer board in a vertical direction through the columns, wherein the storage layer board is used to provide a plurality of storage positions. As a third aspect of the realizations of this disclosure, one embodiment of this disclosure provides a method of control within the warehouse, which includes: determine a target temporary storage position according to a target storage position of a target load; instruct a first robot to transfer the target payload to the target temporary storage position; and in the event that a transfer completion signal is received from the first robot, instruct a second robot to transfer the target payload from the target temporary storage position to the target storage position As a fourth aspect of the realizations of this disclosure, one embodiment of this disclosure provides an off-warehouse control method, which includes: instruct a second robot to transfer a target load out of a current storage position; determine a target temporary storage position according to a position of the second robot; instruct the second robot to transfer the target load to the target temporary storage position; and in the event that a transfer completion signal is received from the second robot, instruct a first robot to transfer the target load out of the target temporary storage position. As a fifth aspect of the realizations of this disclosure, one embodiment of this disclosure provides a control apparatus within the warehouse, which includes: a first determination module, configured to determine a target temporary storage position according to a target storage position of a target load; a first instruction module, configured to instruct a first robot to transfer the target load to the target temporary storage position; and a second instruction module, configured to, in the event that a transfer completion signal is received from the first robot, instruct a second robot to transfer the target load from the target temporary storage position to the target storage position. As a sixth aspect of the realizations of this disclosure, one embodiment of this disclosure provides an off-warehouse control apparatus, which includes: a first instruction module, configured to instruct a second robot to transfer a target load out of a current storage position; a first determination module, configured to determine a target temporary storage position according to a position of the second robot; a second instruction module, configured to instruct the second robot to transfer the target load to the target temporary storage position; and a third instruction module, configured to, in the event that a transfer completion signal is received from the second robot, instruct a first robot to transfer the target load out of the target temporary storage position. As a seventh aspect of the embodiments of the present disclosure, an embodiment of the present disclosure provides a control device, which includes: a processor and a memory, wherein the memory stores instructions, and the instructions, when loaded and executed by the processor, implement the method of any of the above embodiments. As an eighth aspect of the realizations of this disclosure, one embodiment of this disclosure provides a storage system, which includes: the temporary storage layer board of any of the above embodiments; and the control device of any of the above embodiments. As the ninth aspect of the embodiments of this disclosure, one embodiment provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a computer, implements the method of any of the above implementations. One of the above technical solutions has the following advantages or beneficial effects: the temporary layer storage board provides a furcal slot to cooperate with the furcal arm of the first robot, so that the furcal arm of the first robot can be inserted directly into the furcal slot of the temporary layer storage board, and the first robot can directly access the loads on the temporary layer storage board, thus avoiding the operation of extending the robot arm to a shelf, and improving the efficiency of accessing the loads;Furthermore, the temporary storage layer board can temporarily store loads, and the storage positions provided by the storage layer board can store loads for a long time, which is convenient for cooperating the temporary storage layer board with the storage layer board to improve the efficiency of loads outside and inside the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS To describe the technical solutions of the embodiments of this disclosure or of the related art more clearly, the accompanying drawings necessary to illustrate the embodiments or the related art are briefly described below. Apparently, the drawings accompanying the following description are merely some of the embodiments described in the embodiments of this disclosure, and a person of ordinary skill in the art can derive other drawings from these accompanying drawings. FIG. 1 shows a first schematic structural diagram of a shelving unit according to embodiment 1 of the present disclosure. FIG. 2 shows a second schematic structural diagram of the shelving in accordance with embodiment 1 of the present disclosure. FIG. 3 shows a schematic structural diagram of a first robot according to Realization 1 of the present disclosure. FIG. 4 shows a schematic diagram of the cooperation between a furcal slot of a temporary storage-layer board and a furcal arm of a first robot according to embodiment 1 of the present disclosure. FIG. 5 shows a first schematic structural diagram of a storage apparatus according to embodiment 1 of the present disclosure. FIG. 6 shows a schematic side view of FIG. 5. FIG. 7 shows a second schematic structural diagram of the storage apparatus according to embodiment 1 of the present disclosure. FIG. 8 shows a schematic structural diagram of a second robot according to embodiment 1 of the present disclosure. FIG. 9 shows a schematic diagram of the projection of the cargo boxes, located on the temporary layer storage board, in the storage apparatus according to embodiment 1 of the present disclosure. FIG. 10A shows a first schematic structural diagram of a shelving unit according to embodiment 2 of the present disclosure. FIG. 10B shows a schematic structural diagram of a temporary storage layer board from FIG. 10A. FIG. 10C shows a schematic structural diagram of a cross beam from FIG. 10A. FIG. 11 shows a second schematic structural diagram of the shelving in accordance with embodiment 2 of the present disclosure. FIG. 12A shows a third schematic structural diagram of the shelving in accordance with embodiment 2 of the present disclosure. FIG. 12B shows a schematic structural diagram of a temporary storage layer board from FIG. 12A. FIG. 12C shows a schematic diagram of the cooperation between a first robot and a bookshelf of FIG. 12A. FIG. 22 shows a schematic structural diagram of an out-of-warehouse control apparatus in accordance with embodiment 4 of this disclosure. DETAILED DESCRIPTION The following are brief descriptions of some exemplary embodiments. As a person skilled in the art will realize, the embodiments described can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and descriptions are considered illustrative and not restrictive. Embodiment 1 FIG. 1 shows a first schematic structural diagram of a shelving unit according to Embodiment 1 of this disclosure. As shown in FIG. 1, FIG. 3, and FIG. 4, the shelving unit 100 may include a plurality of columns 110 arranged at intervals in a horizontal direction; at least one temporary storage layer board 120, wherein the temporary storage layer board 120 is provided with a fork groove 121, and the fork groove 121 is used to cooperate with a fork arm 210 of the first robot 200; at least one storage layer board 130, wherein the storage layer board 130 is arranged at intervals with the temporary storage layer board 120 in a vertical direction through the columns 110, and the storage layer board 130 is used to provide a plurality of storage positions. Shelf 100 can be a single-row shelf, a two-row shelf, or a multi-row shelf, and the number of rows of shelf 100 is not limited in this disclosure. In one example, the plurality of columns 110 can enclose a rectangular area in which the temporary storage layer board 120 and the storage layer board 130 are mounted, such that the temporary storage layer board 120 and the storage layer board 130 are arranged at intervals in the vertical direction through the columns 110. However, the arrangement positions of the columns 110 are not limited in this embodiment, as long as the temporary storage layer board 120 and the storage layer board 130 can be arranged at intervals in the vertical direction. For example, the columns 110 can also pass through the middle of the temporary storage layer board 120 and the storage layer board 130 in the vertical direction, instead of through an edge of the temporary storage layer board 120 and the storage layer board 130. For ease of description, in the following embodiments, two long sides of the temporary storage layer board 120 are established as a first side and a second side of the temporary storage layer board 120 respectively, the outer sides of the two long sides of the temporary storage layer board 120 are established as a first outer side and a second outer side of the temporary storage layer board 120 respectively, two short sides of the temporary storage layer board 120 are established as a third side and a fourth side of the temporary storage layer board 120 respectively (the two short sides of the temporary storage layer board 120 may also be referred to as a first end and a second end of the temporary storage layer board 120 respectively),and the outer sides of the two short sides of the temporary storage layer board 120 are established as a third outer side and a fourth outer side of the temporary storage layer board 120 respectively. In this case, the first outer side of the temporary storage layer board 120 may also be referred to as the first outer side of the temporary storage layer board 120. On the temporary storage layer board 120 there may be a plurality of temporary storage positions, and the plurality of temporary storage positions includes two or more temporary storage positions; a furcal slot 121 is arranged under each temporary storage position, and the shape of the furcal slot 121 may be U-shaped, C-shaped, I-shaped, V-shaped, or similar. The shape of the furcal slot 121 is not limited in this disclosure, provided that the furcal slot 121 can cooperate with the furcal arm 210 of the first robot 200. Temporary storage layer board 120 can be located on any layer of shelving 100, which is not a limitation for the purposes of this disclosure. In a case where temporary storage layer board 120 is located on a middle layer of shelving 100, storage layer board 130 is positioned above and below temporary storage layer board 120. This can shorten the distance between temporary storage layer board 120 and storage layer board 130, and improve the efficiency of load transfer between them. Loads can be boxes containing items such as materials, products, and the like.The boxes may be cardboard boxes or boxes of material, and the type of boxes and items contained therein are not limited in this disclosure. The first robot 200 may be an AGV (Automated Guided Vehicle) with the fork arm 210, and the fork arm 210 of the first robot 200 may be arranged on the top of the first robot 200, and it may also be arranged on the side of the first robot 200. The arrangement of the fork arm 210 of the first robot 200 is not limited in the making of this disclosure. In this embodiment, the temporary storage layer board 120 provides the furcal slot 121 used to cooperate with the furcal arm 210 of the first robot 200, so that the furcal arm 210 of the first robot 200 can be inserted directly into the furcal slot 121 of the temporary storage layer board 120 and then the first robot 200 can directly access the loads on the temporary storage layer board 120, thus avoiding the operation of extending the robot arm to the shelf 100, and improving the efficiency of accessing the loads;Furthermore, the temporary storage layer board 120 can temporarily store loads, and the storage positions provided by the storage layer board 130 can store loads for a long time, which is convenient for cooperating the temporary storage layer board 120 with the storage layer board 130 to improve the efficiency of outside and outside the warehouse of the loads. For illustration, the load access channel 140 for placing the first robot 200 is formed below the temporary storage layer board 120. In a load access case, and when the first robot 200 is in the load access channel 140, the furcal slot 121 cooperates with the furcal arm 210 of the first robot 200 to access the loads. In one example, in a load storage case, the first robot 200 aligns the furcal arm 210 with the furcal slot 121 on the first outer side of the temporary storage layer board 120 and drives the load access channel 140 so that the furcal arm 210 is inserted directly into the furcal slot 121, and the loads are placed on the temporary storage layer board 120, and then the furcal arm 210 is lowered so that the load box is placed on the temporary storage layer board 120;In a load retrieval scenario, the first robot 200 moves to the underside of the load access channel 140, aligns its fork arm 210 with the fork slot 121 beneath the temporary storage layer board 120, and raises the fork arm 210 to lift the load box. It then moves outward from the outer side of the temporary storage layer board 120, exiting the load access channel 140, and retrieves the load box. This allows the first robot 200 to directly insert and retrieve loads without stopping or pausing, eliminating the need to manually extend the robot arm to the layer board. This improves the efficiency of load box access, and both access and retrieval are performed from beneath the temporary storage layer board 120, effectively utilizing the space of the shelving unit 100. For example, the load access channel can be used to allow the first robot to drive in a case where the first robot is unloaded. For instance, if the first robot 200 is unloaded (i.e., not carrying a load), it can drive directly into load access channel 140, which can improve load transfer efficiency. In one embodiment, the columns 110 are arranged on the outer periphery of the storage layer board 130, and a first driving channel 141 is formed for the first robot 200 to drive between the temporary storage layer board 120 and the columns 110 located on the first outer side of the temporary storage layer board 120. In one example, where the temporary storage layer board 120 is located on the bottom layer of columns 110, the temporary storage layer board 120, the columns 110 located on the first outer side of the temporary storage layer board 120, and the floor can form the first driving channel 141 for the first robot 200 to drive. Furthermore, where the temporary storage layer board 120 is located on an additional layer other than the bottom layer of columns 110, the temporary storage layer board 120, the columns 110 located on the first outer side of the temporary storage layer board 120, and a storage layer board 130 located on a lower layer adjacent to the layer containing the temporary storage layer board 120 can form the first driving channel 141 for the first robot 200 to drive. In this embodiment, the first driving channel 141 for the first robot 200 to drive is formed between the temporary storage layer board 120 and the columns 110 located on the first outer side of the temporary storage layer board 120, so that the first robot 200 can drive on any layer of the shelf 100, which is convenient for the first robot 200 to cooperate with the temporary storage layer board 120, and avoids occupying a channel outside of the shelf 100. In one example, as shown in FIG. 1, the shelving unit 100 may further include: crossbeams 150, wherein each of the crossbeams 150 is arranged in a horizontal direction and is used to fix the short sides of the temporary storage layer board 120 and the storage layer board 130 to the columns 110. Figure 2 shows a second schematic structural diagram of a shelving unit according to Implementation 1 of this disclosure. The shelving unit structure is similar to that in Figure 1, the difference being that, as shown in Figure 2, a second driving channel 142 for the first robot 200 is formed between the temporary storage layer board 120 and the columns 110 located on the outer third side of the temporary storage layer board 120. In this way, the first robot 200 can pass through the shelving unit 100 in the second driving channel. 142, so that the driving distance of the first robot 200 can be shortened, and the transfer efficiency of the cargo boxes can be improved. In one example, the shelving unit 100 can also include: a support column 160 arranged on the third outer side of the temporary storage layer board 120 for support. In one embodiment, as shown in FIG. 1 to FIG. 4, the temporary storage layer board 120 includes a plurality of temporary storage boards 122, each of which is provided with a furcal groove 121, and a third driving channel for the first robot 200 to drive (referred to as a third driving channel 143 in FIG. 9) is formed between at least two of the temporary storage boards 122. In this way, the first robot 200 can pass through the shelving 100 between any two temporary storage boards 122 of the temporary storage layer board 120, so that the driving distance of the first robot 200 can be shortened, and the transfer efficiency of the cargo boxes can be improved. In one example, each temporary storage layer board 122 corresponds to a temporary storage position, so a load can be placed on each temporary storage layer board 122. In one embodiment, the width of the temporary storage layer board 120 is less than half the width of the storage layer board 130. For example, as shown in FIG. 1 to FIG. 4, the shelf 100 can be a double-row shelf, the temporary storage layer board 120 can be located in one row of the double-row shelf, the storage layer board 130 extends from the first row of the double-row shelf to the other row of the double-row shelf in the horizontal direction, and the width of the temporary storage layer board 120 is adjusted to less than half the width of the storage layer board 130. In this embodiment, since the width of the channel for the loads is greater than the width of the first robot 200, the width of the temporary storage layer board 120 is set to be less than half the width of the storage layer board 130, the width of the first driving channel 141 can be greater than the width of the storage layer board 130, to provide a channel wide enough for the first robot 200 to transfer the loads; and because the width of the storage layer board 130 is greater than twice the width of the temporary storage layer board 120, the storage layer board 130 can store a load whose size is slightly larger than that of the temporary storage position. FIG. 5 shows a first schematic structural diagram of a storage apparatus according to Embodiment 1 of the present disclosure. FIG. 6 shows a schematic side view of FIG. 5. As shown in FIG. 5 and FIG. 6, the storage apparatus 1000 includes: a plurality of shelves 100 of any of the foregoing embodiments; wherein the temporary storage layer board 120 of the shelves 100 is used to provide a plurality of temporary storage positions; a second robot channel 310 for a second robot 300 to drive is formed between adjacent shelves 100, and the second robot 300 is used to transfer a load between the temporary storage layer board 120 and the storage layer board 130. In this case, the number of shelves 100 in storage appliance 1000 includes two or more, which is not limited in the making of this disclosure. The second robot 300 can be the AGV vehicle with a lifting mechanism 320 and an access mechanism 330, or it can also be a stacking machine, or something similar. The type of the second robot 300 is not limited for the purposes of this disclosure, provided that the second robot 300 has the access and load transfer functions. As shown in Figures 5 through 9, the plurality of shelves 100 can be arranged in columns, rows, or in a matrix. The arrangement of the plurality of shelves 100 is not limited for the purposes of this disclosure. In this embodiment, the second robot channel 310 is formed between the adjacent shelves 100, so that the second robot 300 can drive in the second robot channel 310, to transfer loads between the temporary storage layer board 120 and the storage layer board 130. Loads temporarily stored on the temporary storage layer board 120 are transferred to the storage layer board 130 for storage in the warehouse, or loads stored on the storage layer board 130 are transferred to the temporary storage layer board 120 for temporary storage outside the warehouse, which can improve access efficiency and the efficiency of loads both inside and outside the warehouse.Furthermore, the channel of the second robot 310 does not match the driving channel of the first robot 200, which can prevent the first robot 200 and the second robot 300 from sharing a driving channel, improving the cooperation efficiency of the first robot 200 and the second robot 300, and then improving efficiency outside the warehouse and inside the warehouse. In one embodiment, the storage apparatus 1000 may include: a first robot channel for the first robot 200 to drive, wherein the first robot 200 is used to cooperate with the furcal slot 121 via the furcal arm 210 of the first robot 200, to access the load on the temporary storage layer board 120. In this case, the first robot channel may be defined by the structure of the rack 100, or it may be located on one side outside the rack 100. The second robot channel may be located on the other side outside the rack 100, to separate the first robot channel from the second robot channel to avoid channel occupancy. In this embodiment, the formation of the first robot channel and the second robot channel respectively can further prevent the first robot 200 and the second robot 300 from sharing a driving channel, which can improve the driving efficiency of the first robot 200 and the second robot 300, and thus improve efficiency outside the warehouse and inside the warehouse. It should be noted that, in storage unit 1000, the second robot 300, integrated with a lifting mechanism 320 and an access mechanism 330, is generally used to transfer and access loads. However, because the cost of the second robot 300 is relatively high, and there are relatively long distances between a docking platform 400 for the loads and each temporary storage position and each storage position on the rack 100, the costs of moving loads in and out per unit of time are relatively high, and the efficiency is relatively low. By forming the second robot channel 310 between adjacent shelving units 100, the storage apparatus 1000 of the implementation of the present disclosure can be configured with the second robot 300 to transfer loads between the temporary storage layer board and the storage layer board and can be configured with the first robot 200 to transfer and access loads on the temporary storage layer board, where the first robot 200 may not have a lifting mechanism, and the cost of the first robot 200 is much lower than that of the second robot 300. Thus, a second robot 300 can be equipped with a plurality of first robots 200 to coordinate load access, which can reduce the costs outside and inside the warehouse of loads per unit of time and can improve the efficiency outside and inside the warehouse of loads. In one embodiment, as shown in FIG. 9, the temporary storage layer board includes a plurality of temporary storage boards. A third driving channel 143 for the first robot 200 to drive is formed between at least two of the temporary storage boards. The width of the third driving channel 143 can be one, two, three, or more times the width of the temporary storage board, which is not limited in this disclosure. For example, temporary storage boards can be removed from the temporary storage layer board to form the third driving channel 143. In this way, the first robot 200 can pass through the shelving in the third driving channel 143 to improve driving efficiency. In one embodiment, as shown in FIG. 9, a fourth driving channel 144 for the first robot 200 to drive is formed between two adjacent shelves 100, and connects two third driving channels 143 or two second driving channels 142. In this way, the first robot 200 can pass through shelf 100 via the third driving channel 143 and then drive along the fourth driving channel 144 to an adjacent shelf 100, thereby shortening the driving distance of the first robot 200 and improving the efficiency of load transfer. In one embodiment, the storage unit 1000 further includes a docking platform 400 (the docking platform 400 may also be referred to as a docking port). A second drive channel 142 for the first robot 200 to drive is formed between the temporary storage layer board and the columns on the third outer side of the temporary storage layer board, and a fifth drive channel 145 for the first robot 200 to drive is formed between the docking platform 400 and the shelving unit 100. For example, a fifth drive channel 145 is formed for the first robot 200 to drive between the docking platform 400 and the columns located on the fourth outer side of the temporary storage layer board.In this way, the first robot 200 can drive directly from the docking platform 400 along the fifth driving channel 145 to the first driving channel 141, for the first robot. 200, on the shelf 100, and can quickly reach the temporary layer storage board, thus improving cooperation efficiency. In one example, the fifth drive channel 145, the first drive channel 141, and the second drive channel 142 / the fourth drive channel 144 form a first drive loop for the first robot 200 to drive (a line segment loop with arrows in FIG. 9). In one example, the load access channel 140 below the temporary storage layer board can form a second driving loop (a dashed line with arrows in FIG. 9) for the first robot to drive, so that the first robot 200 drives in the event of being unloaded. In one example, the first robot channel includes the load access channel 140, and the first drive channel 141, the second drive channel 142, the third drive channel 143, the fourth drive channel 144, and the fifth drive channel 145 for the first robot. In one example, the second drive channel 310 of the second robot 300 can form a loop (a dotted line with arrows in FIG. 9) for the second robot 300 to drive. By arranging the first driving loop, the second driving loop, and the loop for the second 300 robot to drive, as in the previous examples, the first 200 robot and the second 300 robot can be prevented from occupying each other's driving channel, thus improving the efficiency of cooperation between them. In this way, multiple first 200 robots and multiple second 300 robots can be arranged to implement out-of-warehouse and in-warehouse loading, improving both out-of-warehouse and in-warehouse efficiency. Implementation 2 Figure 10A shows a first schematic structural diagram of a shelving unit according to Realization 2 of this disclosure. Figure 10B shows a schematic structural diagram of a temporary layered storage board of Figure 10A. As shown in Figure 10A and Figure 10B, the difference between the shelving unit 500 and the shelving unit 100 above is that the temporary layered storage board 520 includes a crossbeam 521 arranged in a horizontal direction and a plurality of temporary storage members 522 arranged at intervals on an inner side of the crossbeam 521. For example, each of the two ends of the crossbeam 521 can be fixed to a column 510. For instance, the temporary storage members 522 can be bolted and fixed to the inside of the crossbeam 521 using bolts and nuts, just as the two ends of the crossbeam 521 can be bolted and fixed to the columns 510 using bolts and nuts. The temporary storage member 522 includes two support arms 522A and a furrow 522B formed between the two support arms 522A. In this case, the temporary storage position 523 can be formed by the temporary storage member 522.For example, the two support arms 522A of the temporary storage member 522 and the area surrounded by the two support arms 522A of the temporary storage member 522 can form a temporary storage position 523, and the fork slot 522B is located in the center of the temporary storage position 523, which can be beneficial for cooperating with a single fork arm. A plurality of temporary storage members 522 can provide a plurality of temporary storage positions 523. When the temporary storage member 522 temporarily stores a load, the two support arms 522A of the temporary storage member 522 jointly support the load, so that the load is temporarily stored in the temporary storage position 523. Preferably, the support arm 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 to support loads and requires fewer consumables, thus saving manufacturing costs. The fork groove 522B formed between two support arms 522A can be fitted with the load-bearing fork arm, and the fork arm can be inserted directly into the fork groove 522B for load access, reducing the number of insertion and retrieval operations of the fork arm and improving the speed and efficiency of load access. The storage layer board 530 is arranged at intervals with the temporary storage layer board 520 in a vertical direction across the columns 510. The storage layer board 530 provides multiple storage positions 533 for long-term storage of a load. In this configuration, the temporary storage layer board 520 can be placed on any layer of the racking 500. For example, the temporary storage layer board 520 could be placed on the bottom layer of the racking 500, and the storage layer board 530 could be placed above it, which is advantageous for temporarily storing a load on the bottom layer of the racking 500.The temporary storage layer board 520 can be placed on the top layer of the 500 shelving unit, and the storage layer board 530 is placed below the temporary storage layer board 520, which is beneficial for temporarily storing a load on the top layer of the 500 shelving unit. The temporary storage layer board 520 can also be placed on an intermediate layer of the 500 shelving unit, and the storage layer board 530 is placed above and below the temporary storage layer board 520, which can improve the efficiency of load transfer between the temporary storage layer board 520 and the storage layer board 530. In one example, as shown in FIG. 10A and FIG. 10B, the storage layer board 530 includes crossbeams 531 arranged in a horizontal direction and a plurality of support plates 532 arranged at intervals on the crossbeams 531, wherein the crossbeams 531 are arranged around the outer periphery of the plurality of support plates 532, two short sides of each support plate 532 are respectively connected to the inner side of the crossbeam 531, and each support plate 532 is arranged parallel to the adjacent support arms 522A of the adjacent temporary storage members 522, and the edges on opposite sides of the adjacent support plates 532 and the area enclosed by them can form a storage position 533.Thus, the central portion of storage position 533 is hollow, which can reduce the weight of the storage layer board 530 and lower manufacturing costs. In this embodiment, the temporary storage layer board 520 provides a temporary storage member 522 for temporarily storing loads, and a fork slot 522B, which can cooperate with the fork arm, is formed between two support arms 522A of the temporary storage member 522. The fork arm can be inserted directly into the fork slot 522B of the temporary storage member 522, allowing direct access to loads on the temporary storage layer board 520. This avoids the insertion and retrieval operation of extending the fork arm to the rack 500, thus improving load access efficiency.In addition, the 520 temporary storage layer board can temporarily store loads, and the storage position provided by the 530 storage layer board can store loads for a long time, which is convenient for the cooperation of the 520 temporary storage layer board and the 530 storage layer board to improve the efficiency outside the warehouse and inside the warehouse of the loads. In one embodiment, the 510 columns may be arranged at the upper corner positions of the temporary storage layer board 520 and the storage layer board 530, or they may be arranged at the edges of the temporary storage layer board 520 and the storage layer board 530. The arrangement positions of the 510 columns are not limited in this disclosure. The temporary storage layer board 520 and the storage layer board 530 may be bolted and secured to the 510 columns using bolts and nuts. In one embodiment, as shown in FIG. 10B, the inner side of the crossbeam 521 is fixedly connected to the first end of the support arm 522A; the temporary storage member 522 further includes a plurality of wing plates 522C, each wing plate 522C being connected to the inner side of the crossbeam 521 and to the inner side of each support arm 522A respectively. In this way, the strength between the support arm 522A and the crossbeam 521 can be reinforced. Specifically, as shown in FIGS. 10B and 10C, the crossbeam 521 has an L-shaped cross-section, the crossbeam 521 includes a horizontal beam 521A and a vertical beam 521B, and the outer side of the vertical beam 521B is set as the outer side of the crossbeam 521, the inner side of the vertical beam 521B is set as the inner side of the crossbeam 521, the horizontal beam 521A is arranged on the inner side of the vertical beam 521B, and the first end of the support arm 522A can be fixedly connected to the horizontal beam 521A. The end surface of the first end of the support arm 522A can be fixedly connected to the inner side of the vertical beam 521B, and the wing plate 522C is respectively connected between the inner side of the vertical beam 521B and the inner side of the support arm 522A. Furthermore, a projection 521C is formed on the top of the inner side of the vertical beam 521B, so that the vertical beam 521B and the horizontal beam 521A can together form a clamping groove (not marked on the drawings) for the transverse beam 521, so that the first end of the support arm 522A is secured in the clamping slot of the crossbeam 521, which can improve the firmness of the connection between the support arm 522A and the crossbeam 521. In one example, the length of the first right-angle side of the wing plate 522C may be less than the length of the second right-angle side, so that the width of the wing plate 522C is narrower and the width of the wing plate 522C is gradually reduced along the first end of the support arm 522A towards the middle portion of the support arm 522A, so that the wing plate 522C can be prevented from obstructing the operation of the fork arm. Based on this, since the wing plate 522C is a right triangle, the stability of the connection between the support arm 522A and the crossbeam 521 can be improved. In one embodiment, the temporary storage layer board 520 may further include a plurality of fixing plates 522D, each fixing plate 522D being connected respectively between adjacent temporary storage members 522 and connected to the inner side of the crossbeam 521. This may not only strengthen the strength between the temporary storage member 522 and the crossbeam 521, but also improve the stability of the temporary storage member 522, thereby increasing the stability of the temporary storage layer board 520. Specifically, the fixing plate 522D is rectangular; the long side of the fixing plate 522D is set as one side of the fixing plate 522D, the short side of the fixing plate 522D is set as one end of the fixing plate 522D, and two sides of the fixing plate 522D can be connected between the outer sides of the adjacent support arms 522A of the adjacent temporary storage members 522. One end of the fixing plate 522D is connected to the inner side of the vertical beam 521B, the other end of the fixing plate 522D is provided with a weight reduction groove 524, and the width of the weight reduction groove 524 gradually increases from the bottom of the groove to the recess.In this case, the bottom of the weight reduction slot 524 is the side of the weight reduction slot 524 near the crossbeam 521, and the recess of the weight reduction slot 524 is the side of the weight reduction slot 524 away from the crossbeam 521. In one embodiment, as shown in FIG. 10B and FIG. 10C, the temporary storage layer board 520 may further include a plurality of wedge plates 522E. Each wedge plate 522E is connected between adjacent temporary storage members 522, and the wedge plate 522E is arranged near the second end of the support arm 522A. For example, the wedge plate 522E is connected between the outer sides of the adjacent support arms 522A of adjacent temporary storage members 522, so that the connection strength between the adjacent support arms 522A of adjacent temporary storage members 522 can be increased, which is beneficial for improving the load-bearing capacity of the temporary storage member 522. In one embodiment, as shown in FIG. 10A to FIG. 10C, the shelving unit 500 may further include two support plates 540, each of which is connected to the end of the crossbeam 521 and is located between the support arm 522A at the end of the crossbeam 521 and the columns 510. In this way, the strength of the support arm 522A at the end of the crossbeam 521 can be increased, and the stability of the support arm 522A can also be improved.For example, the support plate 540 may be in the shape of a right-angled trapezoid, the right-angled waist of the support plate 540 is connected to the inner side of the end of the crossbeam 521, the short bottom side of the support plate 540 is connected to the outer side of the support arm 522A located at the end of the crossbeam 521, and the long bottom side of the support plate 540 is connected to the columns 510; in this case, the length of the support arm 522A may be less than the length of the long bottom side of the support plate 540. In one embodiment, as shown in FIG. 10A and FIG. 10B, a load access channel 550 is formed to position the first robot under the temporary storage layer board 520. In a load access case, when the first robot is in the load access channel 550, the furcal slot 522B cooperates with the furcal arm of the first robot to access the load. Specifically, when a load is stored (refer to FIG.12C), the first robot aligns the furcal arm with the furcal slot 522B from the first outer side of the temporary storage layer board 520 and leads to the cargo access channel 550, so that the furcal arm is inserted directly into the furcal slot 522B, and the cargo is placed on the temporary storage layer board 520, and then the furcal arm is lowered so that the cargo box is on the temporary storage layer board 520; and in a case of cargo collection, the first robot goes to the lower side of the cargo access channel 550, aligns the furcal arm 520 with the furcal slot 522B under the temporary storage layer board 520 and raises the furcal arm to lift the cargo box, and then goes in a direction away from the first outer side of the temporary storage layer board 520 to leave the cargo access channel 550, to take the cargo box away.In this way, the first robot can directly insert and pick up loads without stopping driving or stopping driving for a short time, eliminating the operation of controlling the robot arm to extend to the layer board, which can improve the efficiency of access to the cargo box, and access and picking are carried out below the temporary storage layer board 520, which can effectively utilize the shelf space 500. In one embodiment, the load access channel 550 can be used to drive the first robot in a case where the first robot is unloaded. For example, when the first robot is unloaded (i.e., not carrying a payload), it can drive directly in the load access channel 550, which can improve load transfer efficiency. Figure 11 shows a second schematic structural diagram of the shelving unit according to Embodiment 2 of this disclosure. As shown in Figure 11, the difference between shelving unit 500 and the previous embodiment is that the columns 110 are arranged on the outer periphery of the storage layer board 130, and a first driving channel 610 for the first robot is formed between the temporary storage layer board 520 and the columns 510 located on the first outer side of the temporary storage layer board 520. In this case, the first robot can be an AGV (Automated Guided Vehicle) with a fork arm, and the fork arm of the first robot can be arranged on top of the first robot or on its side. The arrangement of the fork arm of the first robot is not limited in this disclosure. In one example, in a case where the temporary storage layer board 520 is located on the bottom layer of the columns 510, the temporary storage layer board 520, the columns 510 located on the first outer side of the temporary storage layer board 520, and the floor can form the first driving channel 610 for the first robot to drive. In one example, in a case where the temporary storage layer board 520 is located on a separate layer from the bottom layer of columns 510, the temporary storage layer board, the columns 510 located on the first outer side of the temporary storage layer board 520, and a storage layer board 530 located on a lower layer close to the layer where the temporary storage layer board 520 is located can form the first driving channel 610 so that the first robot can drive. In this embodiment, the first driving channel 610 for the first robot to drive is formed between the temporary storage layer board 520 and the columns 510 located on the first outer side of the temporary storage layer board 520, so that the first robot can drive in any layer of the shelf 500, which is convenient for the first robot to cooperate with the temporary storage layer board 520, and avoids occupying a channel outside of the shelf 500. In one embodiment, the width of the temporary storage layer board 520 is less than half the width of the storage layer board 530. For example, the shelving unit 500 may be a double-row shelving unit 500, the temporary storage layer board 520 may be located in one row of the double-row shelving unit 500, the storage layer board 530 extends horizontally from one row of the double-row shelving unit 500 to the other row, and the width of the temporary storage layer board 520 is set to be less than half the width of the storage layer board 530. The temporary storage layer board 520 may be used to temporarily store loads for a short period of time, and the storage layer board 530 may be used to store loads for a long period of time.The width of the temporary storage layer board 520 is less than half the width of the storage layer board 530; therefore, one row of loads can be temporarily stored on the temporary storage layer board 520, and two rows of loads can be stored on the storage layer board 530, to accommodate both temporary storage and load storage. Furthermore, since the width of the storage layer board 530 is more than twice the width of the temporary storage layer board 520, the storage layer board 530 can store a load whose size is slightly larger than that of the temporary storage position. 523. Furthermore, the width of the temporary storage layer board 520 is configured to be less than half the width of the storage layer board 530, which is also beneficial in forming a first drive channel 610 so that the first robot can drive between the first outer side of the temporary storage layer board 520 and the columns 510, so that the width of the first drive channel 610 is greater than the width of the temporary storage layer board 520, in order to provide a channel wide enough for the first robot to transfer loads. Figure 12A shows a third schematic structural diagram of the shelving unit according to Embodiment 2 of this disclosure. As shown in Figures 12A and 12B, the difference between the shelving unit 500 and the previous embodiment is that the temporary storage position 523 of the temporary storage layer board 520 is formed by the adjacent support arms 522A of the adjacent temporary storage members 522 and the area enclosed by them. The fork slots 522B of the temporary storage layer board 520 are located on both sides of the temporary storage position 523, which may be advantageous for cooperation with the first robot with two fork arms. Specifically, as shown in Figures 12A to 12B, the fork slots are located on both sides of the temporary storage position 523.12C, in a case of temporary load storage, the first robot 700 aligns the two fork arms 701 with the fork slots 522B on both sides of the temporary storage position 523 from the first outer side of the temporary storage layer board 520, so that the two fork arms 701 are inserted directly into the two fork slots 522B for load access. In one embodiment, a support column 710 is further provided at the center of the crossbeam 521 of the temporary storage layer board 520 to support the crossbeam 521. In one embodiment, as shown in FIG. 12B, mounting plates 720 may be further provided on the upper and lower sides of both ends of the crossbeam 521 of the temporary storage layer board 520, so that the crossbeam 521 can be mounted to the column 510 via the mounting plates 720 to increase the mounting strength between the crossbeam 521 and the column 510. In this case, the mounting plate 720 may be in the form of a right triangle, the first right-angled side of the mounting plate 720 being connected to the side of the crossbeam 521, and the edge of the second right-angled side of the mounting plate 720 being bolted and secured to the column 510 by means of bolts and nuts. As shown in FIG. 13A and FIG. 13B, the present disclosure further provides a storage apparatus 800, which may include: a plurality of shelves 500 of any of the above implementations; and a second robot channel 810 for the second robot to drive, which is formed between adjacent shelves 500. The second robot is used to transfer loads between the temporary storage layer board 520 and the storage layer board 530. In this case, the number of 500 shelves in the 800 storage appliance includes two or more, and the number of 500 shelves in the 800 storage appliance is not limited in the making of this disclosure. The second robot may be an AGV with a lifting and access mechanism, or it may be a stacking machine, or similar. The type of the second robot is not limited for the purposes of this disclosure, provided that the second robot has the functions of access and load transfer. The plurality of shelves 500 can be arranged in columns (as shown in FIG. 13A), arranged in rows (as shown in FIG. 13B, the channel for the second robot can be located on the side of the crossbeam of the temporary storage layer board 520 on the shelves 500), or arranged in an array. The arrangement of the plurality of shelves 500 is not limited in the fulfillment of this disclosure. In this embodiment, the second robot channel 810 is formed between the adjacent 500 shelves, so that the second robot can drive in the second robot channel 810, to transfer loads between the temporary storage layer board 520 and the storage layer board 530.Loads temporarily stored on the temporary storage layer board 520 are transferred to the storage layer board 530 for storage within the warehouse, or loads stored on the storage layer board 530 are transferred to the temporary storage layer board 520 for temporary storage outside the warehouse. This can improve access efficiency and the efficiency of loads both inside and outside the warehouse. Furthermore, the channel of the second robot 810 does not coincide with the driving channel of the first robot, preventing the first and second robots from sharing a driving channel, thus improving the cooperation efficiency of the first and second robots and further improving efficiency both inside and outside the warehouse. Implementation 3 The implementation of this disclosure further provides a method of control within the warehouse, which can be applied to the temporary layered storage board 120, shelving unit 100, and storage unit 1000 of any implementation in the above Implementation 1 or storage unit 800 of any implementation in Implementation 2. In Implementation 3, storage unit 1000 is used as an example for the description. Figure 14 shows a schematic flowchart of a control method in the warehouse in accordance with Realization 3 of this disclosure. As shown in Figure 14, the control method within the warehouse may include S1001-S1003. In S1001, determine a target temporary storage position according to a target storage position of a target load. In S1002, a first robot is instructed to transfer the target load to the target temporary storage position. In S1003, in a case where a transfer completion signal is received from the first robot, instruct a second robot to transfer the target load from the target temporary storage position to the target storage position, where the target storage position and the target temporary storage position are arranged in different layers. In this case, referring to Figure 1 of Embodiment 1, as shown in Figure 1, the temporary storage position can be arranged on the temporary storage layer board 120 of shelving unit 100. The storage position can be arranged on the storage layer board 130 of the shelving unit. The temporary storage position and the storage position can be arranged on different layers of the same shelving unit 100, or they can also be arranged on different layers of adjacent shelving units. The temporary storage position and the storage position can be adjusted and selected according to actual needs, and the arrangement of the temporary storage position and the storage position is not limited in the embodiment of this disclosure. The target storage location for the target load can be determined according to the type of load. For example, if the target load is a common type, the storage location with the shortest transfer time can be assigned to it. Similarly, if the temporary storage location is on the bottom shelf, the storage location with the shortest transfer time would be closer to the docking platform and located on a higher shelf.Thus, a corresponding consumption time storage position can be determined as the target storage position according to a popular degree of target load. In one example, given that the target temporary storage position can temporarily store the target payload, the second robot can be instructed immediately to transfer the target payload from the target temporary storage position to the target storage position in a case where the transfer completion signal sent by the first robot is received, or the second robot can be instructed to transfer the target payload from the target temporary storage position to the target storage position after the second robot has completed other operations.In this way, the first robot and the second robot can use the temporary storage position to independently transfer the target load, and the first robot and the second robot can drive with high efficiency without the need to cooperate directly to transfer the target load, thus improving the efficiency in the storage of loads. In one example, according to the control method within the warehouse, the target temporary storage positions can be determined for the target storage positions of the plurality of target loads, and the first plurality of robots are instructed to transfer the target loads to the corresponding target temporary storage positions. If the transfer completion signals are received from the first plurality of robots, the second robot is instructed to transfer the target loads from their respective target temporary storage positions to their respective target storage positions. According to the control method within the warehouse of the realization of this disclosure, the target temporary storage position is determined based on the target storage position of the target load, and the first robot is instructed to transfer the target load to the target temporary storage position for its temporary storage and the second robot is instructed to transfer the target load from the target temporary storage position to the target storage position respectively, to separate the ground transfer of the target load from the transfer of the target load between the temporary storage position and the storage position, so that the first robot can independently complete the ground transfer of the target load,The second robot can independently complete the transfer of the target load between the temporary storage position and the storage position. For the target load, the first robot does not need to connect directly with the second robot, thus avoiding the phenomenon of the first and second robots waiting for each other, and helping to improve loading efficiency in the warehouse. In one implementation, the driving speed of the first robot may be greater than the driving speed of the second robot. In warehouse control, since the first robot typically transfers the target loads from the docking platform to the target temporary storage position on the rack, and the second robot typically transfers the target load from the target storage position to the target storage position on one side of the rack, and the distance between the docking platform and the rack is much greater than the length of the rack, by allowing a higher driving speed for the first robot than the driving speed for the second robot, the number of target loads transferred by the first robot to the target temporary storage position can be adjusted to the number of target loads transferred by the second robot from the target temporary storage position, so that the transfer efficiency of the first robot is adjusted to the transfer efficiency of the second robot.thus improving the efficiency of the target loads in the warehouse. In one example, for this warehouse control method, multiple first robots can be provided to cooperate with a second robot, such that the transfer efficiency of the first robots is matched to the transfer efficiency of the second robot; or, multiple first robots can be provided to cooperate with multiple second robots, such that the transfer efficiency of the first robots is matched to the transfer efficiency of the second robots, to improve the efficiency of the target loads within the warehouse. The number of first and second robots can be adjusted and selected according to actual needs, and this is not a limitation of the implementation of this disclosure. For example, as shown in FIG. 15, step S1001, determining the target temporary storage position according to the target storage position of the target load, may include S1101-S1105. In S1101, determine a first idle temporary storage position closest to the target storage position. In S1102, instruct the first robot to drive to the first idle temporary storage position. In S1103, during a first robot driving process, update an occupancy state of each temporary storage position based on a preset time interval; In S1104, in a case where the time it takes for the first robot to drive to the first idle temporary storage position is greater than a preset first time threshold, determine if there is a second idle temporary storage position closer to the target storage position according to an updated occupancy state of each temporary storage position. In S1105, in the case of a second inactive temporary storage location, determine the second inactive temporary storage location as the target temporary storage location. Illustratively, as shown in FIG. 1, in a case where the temporary storage position provided by temporary storage board 122 under the target storage position provided by target storage board 131 is in a busy state, the temporary storage position provided by temporary storage board 123 or the temporary storage position provided by temporary storage board 124 in a column adjacent to target storage board 131 can be determined as the first idle temporary storage position, and the first robot is instructed to drive to the first idle temporary storage position.If the temporary storage position provided by temporary storage board 122 is updated to an inactive state during the first robot's driving process, and the time for the first robot to drive to the first inactive temporary storage position is greater than the first preset time threshold, the temporary storage position provided by temporary storage board 122 is determined as the second inactive temporary storage position, and is set as the target temporary storage position.In this way, the target temporary storage position can be dynamically adjusted during the first robot's driving process, so that the transfer distance between the target temporary storage position and the target storage position is less than the transfer distance between the first inactive temporary storage position and the target temporary storage position, which can reduce the transfer distance of the target load and improve the efficiency in the load storage. It should be noted that storage positions on either side of the channel between adjacent racks can share a set of temporary storage positions; that is, the target storage position and the target temporary storage position can be located on two adjacent racks, respectively. For example, as shown in FIG. 16, in a case where the target storage position is located above or below the fifth temporary storage position 415 of the first rack 410, the first inactive temporary storage position can be the fifth temporary storage position 415 of the first rack 410, and it can also be the fifth temporary storage position 425 of the second rack 420.In this way, the storage positions located on both sides of the second driving channel of the robot 440 can share the temporary storage position of the first shelf 410. In this case, the update of the temporary storage position below the target storage position to the inactive state can be triggered by the second robot that transfers the loads temporarily stored in the temporary storage position. In one implementation, if there is no second idle temporary storage location, the first idle temporary storage location is designated as the target temporary storage location. Therefore, the destination temporary storage location can be determined directly based on the target storage location. In one embodiment, the instruction to the first robot to transfer the target payload to the target temporary storage position includes: Determine a first transfer path from the first preset robot channel according to the position information between the first robot and the target temporary storage position, where the first robot channel includes a first driving channel located on the first outer side of the temporary storage layer board where the target temporary storage position is located, and the first driving channel is located in a vertical projection area of ​​the storage layer board where the target storage position is located; and instruct the first robot to drive to a lower side of the target temporary storage position along the first transfer path. In an example, as shown in FIG. 16, FIG.Figure 16 shows a schematic diagram of a scenario for an out-of-warehouse and in-warehouse control method according to embodiments of this disclosure, where the line segment with an arrow indicates the first drive channel 430 located on the first outside side of a temporary storage layer board where the target temporary storage position is located (referring to the first drive channel 141 in Figure 4). In a case where the target temporary storage position is a fifth temporary storage position 415 on the first rack 410, the first transfer route 431 is determined from the first drive channel 430, and the first robot 200 is instructed to drive to a lower side of the fifth temporary storage position 415 along the first transfer route 431.In this way, the first robot 200 can drive in the first preset driving channel 430, to prevent the first robot 200 from occupying the driving channel of the second robot 300, improving driving efficiency between the first robot 200 and the second robot 300, and thus improving efficiency within the warehouse. In one embodiment, the instruction to the second robot to transfer the target payload from the target temporary storage position to the target storage position includes: Determine a second transfer path from a second preset robot channel according to the position information between the second robot and the target temporary storage position, where the second robot channel is located outside a vertical projection area; and instruct the second robot to move to one side of the target temporary storage position along the second transfer path. In one example, as shown in FIG. 16, the second robot channel 440 (a dotted line with arrows) may be located outside the vertical projection area of ​​the shelving.In a case where the second robot 300 is located on one side of the second temporary storage position 412 of the first shelf 410, the second transfer route 441 between the side of the second temporary storage position 412 and the side of the fifth temporary storage position 415 is determined according to the position information between the second robot 300 and the target temporary storage position (namely, the fifth temporary storage position 415), and the second robot 300 is instructed to drive along the second transfer route 441 towards the side of the fifth temporary storage position 415 to retrieve the target load from the fifth temporary storage position 415. In one embodiment, the second drive channel is formed on the third or fourth outer side of the temporary storage layer board. The temporary storage layer board includes a plurality of temporary storage boards to provide temporary storage positions; a third drive channel is formed between at least two of the temporary storage boards, and the first robot channel includes a second drive channel and a third drive channel. For example, as shown in FIG. 16, there is a third driving channel (not marked in the figure) between the fifth temporary storage position 415 and the sixth temporary storage position 416 of the first shelf 410, and between the eighth temporary storage position 418 and the ninth temporary storage position 419 of the first shelf 410, and then the first robot 200 can determine a driving route from the third driving channel, and plan a shorter driving route for the first robot 200, improving the driving efficiency of the first robot 200. In one embodiment, the first robot channel includes a payload access channel located below the temporary storage layer board, and the method further includes: in an instance where the first robot is unloaded, determining an unloaded driving path from the first robot channel; and instructing the first robot to drive along the unloaded driving path. In one example, as shown in FIG. 23, the first robot channel includes a load access channel 450 located under the temporary storage layer board (you may refer to load access channel 140 of shelving 100 in FIG. 1), namely the dotted line with the arrow in FIG. 1. In a case where the first robot is unloaded (i.e., the first robot is not carrying loads), the first robot can drive in the first driving channel 430, the second driving channel, and the load access channel 450. The disclosure herein also provides an off-warehouse control method, which may be applied to storage unit 1000 of any implementation in Embodiment 1 above or to storage unit 800 of any implementation in Embodiment 2 above. In Embodiment 3, storage unit 1000 is used as an example for the description. Figure 17 shows a schematic flowchart of an off-warehouse control method in accordance with Realization 3 of this disclosure. As shown in Figure 17, the off-warehouse control method may include S1301-S1304: In S1301, instruct a second robot to transfer a target payload out of a current storage position. In S1302, determine a target temporary storage position according to a position of the second robot, where the current storage position and the target temporary storage position are arranged in different layers. In S1303, instruct the second robot to transfer the target payload to the target temporary storage position. In S1304, in a case where a transfer completion signal is received from the second robot, instruct the first robot to transfer the target load out of the target temporary storage position. In this case, one way to set the temporary storage position and the storage position in the out-of-warehouse control method can be the same as the way to set the temporary storage position and the storage position in the in-warehouse control method, and the way to set the temporary storage position and the storage position is not repeated here again. The current storage location of the target cargo can be determined using the target cargo identification information from an out-of-warehouse list. For example, a relationship mapping table between the target cargo's current storage location and its identification information can be stored in advance. If the destination cargo identification information is obtained from the out-of-warehouse list, the destination cargo's current storage location can be retrieved from the relationship mapping table. The target cargo's current storage location can also be determined in other ways, and the methods for determining the target cargo's current storage location are not limited to the implementations of this disclosure. In one example, since the destination temporary storage position can temporarily hold the destination load, if the transfer completion signal is received from the second robot, the first robot can be immediately instructed to transfer the destination load out of the destination temporary storage position. Alternatively, the first robot can be instructed to transfer the destination load out of the destination temporary storage position after it has completed other operations. In this way, the first and second robots can use the temporary storage position to transfer the destination load independently, and they can operate with high efficiency without needing to cooperate directly to transfer the destination load, thus improving load output efficiency. In one example, according to the out-of-warehouse control method, the second robot can be instructed to transfer the plurality of target loads from their current storage positions. The corresponding target temporary storage positions are determined based on the second robot's position, and the second robot is instructed to transfer the target load to a corresponding target temporary storage position. In this way, the plurality of target loads can be transferred to their corresponding target temporary storage positions. According to the out-of-warehouse control method of the implementation of this disclosure, the target temporary storage position is determined based on the position of the second robot, and the second robot is instructed to transfer the target load to the target temporary storage position and the first robot is instructed to transfer the target load out of the target temporary storage position respectively, to separate the transfer of the target load between the temporary storage position and the storage position from the ground transfer of the target load, so that the second robot can independently complete the transfer of the target load between the storage position and the temporary storage position, and the first robot can independently complete the transfer of the target load out of the temporary storage position.For the target load, the first robot does not need to connect directly with the second robot, which avoids the phenomenon of the first robot and the second robot waiting for each other, and helps to improve the output efficiency of the loads. It should be noted that a robot integrated with a lifting mechanism and an access mechanism is generally used in out-of-warehouse and in-warehouse control methods to transfer and access loads; however, due to the high cost of such a robot, and there are relatively long distances between a docking platform for the loads and each temporary storage position and each storage position on the rack, the out-of-warehouse and in-warehouse costs of the loads per unit of time are relatively high, and the efficiency is relatively low. According to the out-of-warehouse and in-warehouse control methods of the implementations of this disclosure, the ground transfer of the target loads is separated from the transfer of the target loads between the temporary storage position and the storage position, so that the first robot can concentrate on completing the ground transfer of the target loads, and the second robot can concentrate on completing the transfer of the target loads between the temporary storage position and the storage position, where the first robot may not have a lifting mechanism, and the cost of the first robot is much lower than that of the second robot.In this way, a second robot can be used to indirectly cooperate with a plurality of first robots to perform outside-warehouse and inside-warehouse control of target loads, which can reduce the costs outside-warehouse and inside-warehouse of target loads per unit of time and can improve the efficiency outside-warehouse and inside-warehouse and the capacity outside-warehouse and inside-warehouse of loads. In one implementation, the driving speed of the first robot is greater than the driving speed of the second robot. Because in the control outside the warehouse, the first robot usually transfers the target load from the target temporary storage position on the rack to the docking platform, and the second robot usually transfers the target load from the current storage position to the target temporary storage position on one side of the rack, and the distance between the docking platform and the rack is much greater than the length of the rack, so, by allowing a driving speed of the first robot greater than a driving speed of the second robot, the number of target loads transferred by the second robot to the target temporary storage position can be adapted to the number of target loads transferred by the first robot out of the target temporary storage position, so that the transfer efficiency of the second robot is adapted to the transfer efficiency of the first robot.thus improving the efficiency of target loads outside the warehouse. In one example, according to the warehouse control method, a plurality of first robots may also be arranged to cooperate with the second robot, in order to match a temporary out-of-warehouse storage flow of the target loads with an out-of-warehouse storage flow. In one implementation, as shown in FIG. 18, step S1302, determining the target temporary storage position according to the position of the second robot, may include S1401-S1405. In S1401, determine a first idle temporary storage position closest to the second robot. In S1402, instruct the second robot to drive to the first inactive temporary storage position. In S1403, during a second robot driving process, update an occupancy state of each temporary storage position based on a preset time interval. In S1404, in a case where the time it takes for the second robot to reach the first idle temporary storage position is greater than a second preset time threshold, determine if there is a second idle temporary storage position closer to the second robot according to an updated occupancy state of each temporary storage position. In S1405, in a case where there is a second inactive temporary storage location, determining the second inactive temporary storage location as the target temporary storage location. In one example, as shown in FIG.16, in a case where the second robot 300 is located on one side of the second temporary storage position 412 of the first shelf 410, the fifth temporary storage position 415 of the first shelf 410 can be determined as the first idle temporary storage position of the second robot 300; if the occupancy status of the fourth temporary storage position 414 of the first shelf 410 is updated to idle during the process of driving the second robot 300 to the first idle temporary storage position, in a case where a time in which the second robot 300 drives to the fifth temporary storage position 415 is greater than the 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 is determined as the target temporary storage position.Thus, during the process of transferring the target loads by the second robot 300, the target temporary storage position can be dynamically adjusted, in order to reduce the transfer distance of the second robot 300 and improve the output efficiency of the loads. In this case, the update of the temporary storage position below the target storage position to the inactive state can be triggered by the first robot that transfers the loads temporarily stored in the temporary storage position. In one embodiment, in a case where there is no second idle temporary storage location, the first idle temporary storage location is determined as the target temporary storage location, in order to directly determine the target temporary storage location. In one implementation, the instruction to the first robot to transfer the target load out of the target temporary storage position includes: determine a transfer route away from the preset first robot channel according to the position information between the first robot and the target temporary storage position, where the first robot channel includes a first driving channel located on one side of the temporary storage layer board where the target temporary storage position is located, and the first driving channel is located in a vertical projection area of ​​the storage layer board where the target storage position is located; and The first robot heads to a lower side of the target temporary storage position along the transfer path. In one example, as shown in FIG. 16, in a case where the first robot 200 is located near the eighth temporary storage position 428 in the first drive channel of the second rack 420, and the target temporary storage position is the fifth temporary storage position 425 of the second rack 420, a remote transfer route 432 is determined between the first robot 200 and the fifth temporary storage position 425 of the second rack 420 according to the position information between the first robot 200 and the target temporary storage position (namely, the fifth temporary storage position 425 of the second rack), and the first robot 200 is instructed to drive along the transfer route 432 towards the lower side of the target temporary storage position (namely,the fifth temporary storage position 425 of the second rack) to transfer the target load out of the target temporary storage position. Figure 19 shows a structural block diagram of a storage system according to Embodiment 3 of the present disclosure. As shown in Figure 19 and Figure 20, the storage system includes: a storage apparatus 1000; a control device 1710, comprising a processor 1712 and a memory 1711, wherein the memory 1711 stores instructions, and the instructions, when loaded and executed by the processor 1712, implement the method of any of the preceding embodiments; a first robot 200, driving in the first robot channel and having a furcal arm cooperating with a furcal slot; and a second robot 300, driving in the second robot channel. In one embodiment, a driving speed of the first robot 200 is greater than a driving speed of the second robot 300. Figure 20 shows a structural block diagram of a control device according to Embodiment 3 of this disclosure. As shown in Figure 20, the control device 1710 includes a memory 1711 and a processor 1712, wherein a computer program executable on the processor 1712 is stored in the memory 1711. The processor 1712, when executing the computer program, implements the in-store control method and the out-of-store control method described in the preceding embodiments. There may be one or more memories 1711 and processors 1712. The control device also includes: a 1713 communication interface, which is used to communicate with an external device and perform interactive data transmission. If memory 1711, processor 1712, and communication interface 1713 are implemented independently, they can be connected to each other via a bus and communicate with one another. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or similar. The bus may include an address bus, a data bus, a control bus, and so on. For ease of representation, only a thick line is used to represent the bus in Figure 20, but this does not mean there is only one bus or one type of bus. Optionally, in a specific implementation, if memory 1711, processor 1712, and communication interface 1713 are integrated into one chip, memory 1711, processor 1712, and communication interface 1713 can communicate with each other through an internal interface. The processor mentioned above can be a central processing unit (CPU), or it can be other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, a logic device of discrete gates or transistors, a discrete hardware component, or similar. The general-purpose processor can be a microprocessor or any conventional processor. It should be noted that the processor can be a processor that supports the architecture of an advanced reduced instruction set computing machine (advanced RISC machines, ARM). Optionally, the aforementioned memory may include a program storage area and a data storage area, where the program storage area may store an operating system and an application program required for at least one function; and the data storage area may store data created in accordance with the use of the control device and the like. Furthermore, the memory may include high-speed random-access memory and non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memories may be connected, via a network, to the control device.Examples of these networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. Implementation 4 Accordingly, the implementation of this disclosure further provides a control apparatus within the warehouse, which can be applied to the temporary layered storage board 120, shelving unit 100, and storage apparatus 1000 of any implementation in the above Implementation 1 or storage apparatus 800 of any implementation in Implementation 2. Figure 21 shows a block diagram of the structure of a warehouse control apparatus in accordance with Realization 4 of this disclosure. As shown in Figure 21,21, the control apparatus within the warehouse 1800 may include: a first determination module 1810, which may be configured to determine a target temporary storage position according to a target storage position of a target load; a first instruction module 1820, which may be configured to instruct a first robot to transfer the target load to the target temporary storage position; and a second instruction module 1830, which may be configured to, in the event that a transfer completion signal is received from the first robot, instruct a second robot to transfer the target load from the target temporary storage position to the target storage position, where the target storage position and the target temporary storage position are arranged in different layers. In one embodiment, the driving speed of the first robot is greater than the driving speed of the second robot. In one implementation, the first determination module 1810 may include: a first determination unit, which may be configured to determine a first idle temporary storage position closest to the target storage position; a first instruction unit, which may be configured to instruct the first robot to drive to the first idle temporary storage position; a first update unit, which may be configured to, during a first robot drive process, update an occupancy state of each temporary storage position based on a preset time interval;a second determination unit, which can be configured to, in a case where the time taken by the first robot to reach the first idle temporary storage position is greater than a pre-set first time threshold, determine whether there is a second idle temporary storage position closer to the target storage position according to an updated occupancy status of each temporary storage position; and a third determination unit, which can be configured to, in the case where the second idle temporary storage position exists, determine the second idle temporary storage position as the target temporary storage position; and in the case where the second idle temporary storage position does not exist, determine the first idle temporary storage position as the target temporary storage position. In one embodiment, the first instruction module 1820 may include: a fourth determination unit, which may be configured to determine a first transfer path from the preset first robot channel according to position information between the first robot and the target temporary storage position, wherein the first robot channel includes a first driving channel located on one side of the temporary storage layer board where the target temporary storage position is located, and the first driving channel is located in a vertical projection area of ​​the storage layer board where the target storage position is located; and a second instruction unit, which may be configured to instruct the first robot to drive to a lower side of the target temporary storage position along the first transfer path. In one embodiment, the first robot channel includes a load access channel located below the temporary storage floorboard; and the apparatus further includes: a second determination module, configured to, in the event that the first robot is unloaded, determine an unloaded driving path from the first robot channel; and a third instruction module, configured to instruct the first robot to drive along the unloaded driving path. In one embodiment, the second 1830 instruction module may include: a fifth determination unit, which may be configured to determine a second transfer path from a preset second robot channel according to position information between the second robot and the target temporary storage position, wherein the second robot channel is located outside a vertical projection area; and a third instruction unit, which may be configured to instruct the second robot to drive to one side of the target temporary storage position along the second transfer path. In one embodiment, the second drive channel is formed on the third or fourth outer side of the temporary storage layer board. The temporary storage layer board is formed with a plurality of temporary storage boards used to provide temporary storage positions; a third drive channel is formed between at least two of the temporary storage boards, and the first robot channel includes a second drive channel and a third drive channel. Accordingly, the implementation of this disclosure further provides an off-warehouse control device, which can be applied to storage device 1000 of any implementation in the above Implementation 1 or to storage device 800 of any implementation in Implementation 2. Figure 22 shows a block diagram of the structure of an off-warehouse control device according to Implementation 4 of this disclosure. The off-warehouse control device can be applied to the temporary layered storage board 120, the shelving unit 100, and storage device 1000 of any implementation in the above Implementation 1 or storage device 800 of any implementation in Implementation 2. As shown in FIG. 22, the control apparatus outside the warehouse 1900 may include: a first instruction module 1910, which may be configured to instruct a second robot to transfer a target load out of a current storage position; a first determination module 1920, which may be configured to determine a target temporary storage position according to a position of the second robot, wherein the current storage position and the target temporary storage position are arranged in different layers; a second instruction module 1930, which may be configured to instruct the second robot to transfer the target load to the target temporary storage position;and a third instruction module 1940, which can be configured to, in the event that a transfer completion signal is received from the second robot, instruct a first robot to transfer the target load out of the target temporary storage position. In one embodiment, the driving speed of the first robot is greater than the driving speed of the second robot. In one embodiment, the first determination module 1920 may include: a first determination unit, which may be configured to determine a first idle temporary storage position nearest to the second robot; a first instruction unit, which may be configured to instruct the second robot to drive to the first idle temporary storage position; an update unit, which may be configured to, during a drive process of the second robot, update an occupancy state of each temporary storage position based on a preset time interval;a second determination unit, which can be configured to, in the event that the time taken by the second robot to reach the first idle temporary storage position is greater than a second preset time threshold, determine whether there is a second idle temporary storage position closer to the second robot according to an updated occupancy status of each temporary storage position; and a third determination unit, which can be configured to, in the event that the second idle temporary storage position exists, determine the second idle temporary storage position as the target temporary storage position; and in the event that the second idle temporary storage position does not exist, determine the first idle temporary storage position as the target temporary storage position; In one embodiment, the third instruction module 1940 may include: a fourth determination unit, which may be configured to determine a first transfer path from the preset first robot channel according to position information between the first robot and the target temporary storage position, wherein the first robot channel includes a first driving channel located on one side of the temporary storage layer board where the target temporary storage position is located, and the first driving channel is located in a vertical projection area of ​​the storage layer board where the target storage position is located; and a second instruction unit, which may be configured to instruct the first robot to drive to a lower side of the target temporary storage position along the first transfer path. For the functions of each module in each device in the making of this disclosure, reference may be made to the corresponding description in the previous method, which will not be described again here. It should be noted that, although the control methods and devices for both outside and inside the warehouse are described above with examples of these methods, those skilled in the field may understand that this disclosure should not be limited to this. In fact, a user can flexibly configure the control methods and devices for both outside and inside the warehouse according to personal preferences and / or actual application scenarios, provided that the efficiencies of both outside and inside the warehouse can be improved. One embodiment of the present disclosure provides a computer-readable storage medium that stores a computer program, and the program, when executed by a processor, implements the method provided in the embodiment of the present disclosure. Other configurations of the foregoing embodiments may be adopted in various technical solutions known to those of ordinary skill in the art now and in the future, and will not be described in detail herein. In the description of this specification, it is to be understood that the terms center, longitudinal, lateral, length, width, thickness, top, bottom, front, back, left, right, vertical, horizontal, up, down, inside, outside, clockwise, counterclockwise, axial, radial, circumferential, and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for the purpose of facilitating the description of this disclosure and simplifying the description, rather than indicating or implying that the apparatus or element described must have a specific orientation, be configured and operate in a specific orientation, and therefore cannot be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as material or as implying the number of technical features listed. Therefore, the features defined by "first" or "second" may explicitly or implicitly include one or more of the features. In this disclosure, "plural" means two or more, unless specifically defined otherwise. In this disclosure, unless specifically defined and otherwise limited, the terms installed, linked, connected, fixed, and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an assembly; it may be a mechanical connection, an electrical connection, or a communication; it may be a direct link or an indirect link through an intermediary; and it may be an internal connection between two elements or an interaction relationship between two elements. For a person of ordinary knowledge of the art, the specific meanings of the above terms in this disclosure may be understood according to the specific circumstances. In this disclosure, unless otherwise specifically defined and limited, the first feature being above or below the second feature may include direct contact between the first and second features, and may also include contact between the first and second features via some other features in between, rather than direct contact between them. Furthermore, the first feature being above, over, or on top of the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is greater than that of the second feature.That the first element is below, under, or below the second element includes that the first element is directly below and obliquely below the second element, or simply means that the horizontal height of the first element is less than that of the second element. The previous disclosure provides many different implementations or examples for realizing different structures of this disclosure. To simplify the content of this disclosure, components and configurations of specific examples are described. These are, of course, only examples and are not intended to limit this disclosure. Furthermore, this disclosure may repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity and does not indicate relationships between the various implementations and / or configurations discussed. The foregoing are only specific implementations of this disclosure, but the scope of protection of this disclosure is not limited to these. Anyone skilled in the art can readily think of variations or substitutions within the scope of the technology disclosed herein, which would be covered by the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be subject to the scope of protection of the claims.

Claims

1. A temporary storage layer board, used to provide a temporary storage position, characterized in that the temporary storage layer board is provided with a furcal slot, and the furcal slot is used to cooperate with a furcal arm of a first robot; a load access channel for the first robot is formed under the temporary storage layer board, in a case of load access, the first robot is in the load access channel, and the furcal slot cooperates with the furcal arm of the first robot to access the load.

2. The temporary storage layer board of claim 1, characterized in that a first driving channel for the first robot to drive is formed on a first outer side and / or a second outer side of the temporary storage layer board, and the first outer side is opposite the second outer side.

3. The temporary storage layer board of claim 2, characterized in that a second driving channel for the first robot to drive is formed on a third outer side and / or a fourth outer side of the temporary storage layer board, the second driving channel being connected to the first driving channel, and the third outer side being opposite the fourth outer side.

4. The temporary storage layer board of claim 1, characterized in that the temporary storage layer board comprises a plurality of temporary storage boards, each of the temporary storage boards being provided with the furcal groove, and a third driving channel for the first robot to drive is formed between at least two of the temporary storage boards.

5. The temporary storage layer board of claim 1, characterized in that the temporary storage layer board comprises a crossbeam arranged in a horizontal direction and a plurality of temporary storage members arranged at intervals on an inner side of the crossbeam, each of the temporary storage members comprising two support arms, and the furcal groove is formed between the two support arms.

6. The temporary storage layer board of claim 5, characterized in that the temporary storage position is formed by the temporary storage members or formed by adjacent support arms of adjacent temporary storage members.

7. The temporary storage layer board of claim 5, characterized in that the inner side of the crossbeam is fixedly connected to a first end of each of the support arms; the temporary storage members further comprise a plurality of wing plates, and each of the wing plates is respectively connected between the inner side of the crossbeam and an inner side of each of the support arms.

8. The temporary layered storage board of claim 5, further comprising a plurality of fixing plates, characterized in that the plurality of fixing plates are respectively connected between adjacent temporary storage members, and are connected to the inner side of the crossbeam.

9. A shelving unit, comprising: a plurality of columns arranged at intervals in a horizontal direction; at least one temporary storage layer board of any of claims 1 to 8; and at least one storage layer board, arranged at intervals with the temporary storage layer board in a vertical direction through the columns, wherein the storage layer board is used to provide a plurality of storage positions.

10. A control method within the warehouse, comprising determining a target temporary storage position according to a target storage position of a target load, instructing a first robot to transfer the target load to the target temporary storage position; and in the event that a transfer completion signal is received from the first robot, instructing a second robot to transfer the target load from the target temporary storage position to the target storage position.

11. The method of claim 10, characterized in that the instruction to the first robot to transfer the target load to the target temporary storage position comprises: determining a first transfer path from a first robot channel according to the position information between the first robot and the target temporary storage position; and instructing the first robot to move to a lower side of the target temporary storage position along the first transfer path.

12. The method of claim 11, characterized in that the first robot channel comprises a first driving channel located on a first outer side of a temporary storage layer board where the target temporary storage position is located, and the first driving channel is located in a vertical projection zone of a storage layer board where the target storage position is located.

13. The method of claim 12, characterized in that the first robot channel comprises a payload access channel located below the temporary storage layer board; and the method further comprises: in an instance where the first robot is unloaded, determining an unloaded driving path from the first robot channel; and instructing the first robot to drive along the unloaded driving path.

14. The method of claim 10, characterized in that the target storage position and the target temporary storage position are arranged in different layers.

15. The method of claim 11, characterized in that a second conduction channel is formed on a third outer side and / or a fourth outer side of the temporary storage layer board; the temporary storage layer board is formed with a plurality of temporary storage boards used to provide temporary storage positions, a third conduction channel is formed between at least two of the temporary storage boards, and the first robot channel comprises the second conduction channel and the third conduction channel.

16. An out-of-warehouse control method comprising: instructing a second robot to transfer a target load out of a current storage position; determining a target temporary storage position based on a position of the second robot; instructing the second robot to transfer the target load to the target temporary storage position; and in the event that a transfer completion signal is received from the second robot, instructing a first robot to transfer the target load out of the target temporary storage position.

17. The method of claim 16, characterized in that the instruction to the first robot to transfer the target load away from the target temporary storage position comprises: determining a transfer path away from a first robot channel according to the position information between the first robot and the target temporary storage position; and instructing the first robot to move to a lower side of the target temporary storage position along the transfer path.

18. The method of claim 17, characterized in that the first robot channel comprises a first driving channel located on a first outer side of a temporary storage layer board where the target temporary storage position is located, and the first driving channel is located in a vertical projection area of ​​a storage layer board where a target storage position is located.

19. A control device, comprising: a processor and a memory, characterized in that the memory stores instructions, and the instructions, when loaded and executed by the processor, implement the method of any one of claims 10 to 18.

20. A storage system, comprising: the temporary layered storage board of any of claims 1 to 8; and the control device of claim 19.

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