Warehouse device, warehouse system, and order-processing, storage and retrieval method

Abstract

A warehouse device, a warehouse system, and an order-processing, storage and retrieval method. The warehouse system comprises a plurality of warehouse racks, a first handling robot (30), and a second handling robot (40), wherein among the plurality of warehouse racks, at least one warehouse rack is a movable warehouse rack (20); the first handling robot is used for transferring material bins between every two warehouse racks for goods sorting; in every two adjacent warehouse racks, one warehouse rack is a movable warehouse rack, and the other warehouse rack is a movable warehouse rack or a fixed warehouse rack (10); and the second handling robot is used for transferring the movable warehouse rack, which has been subjected to goods sorting, to a destination, or transferring the movable warehouse rack to be subjected to goods sorting to a position adjacent to another warehouse rack to be subjected to goods sorting. The warehouse system uses the first handling robot to transfer the material bins between every two warehouse racks for goods sorting; and the second handling robot transfers the movable warehouse rack, which has been subjected to goods sorting, to a destination, such that the number of round trips of the second handling robot during retrieval is reduced, thereby improving the warehouse operating efficiency.

Description

Warehouse device, warehouse system and order processing, warehousing and delivery method

[0001] The present application claims priority to Chinese Patent Application No. 202410684539.7, filed on May 29, 2024, and titled "Warehouse Device, Warehouse System, Warehousing Method and Delivery Method", and No. 202421205400.1, filed on June 11, 2024, and titled "Warehouse Device and Warehouse System", and No. 202410748655.0, filed on June 11, 2024, and titled "Warehouse System and Order Processing Method", and No. 202421321787.7, filed on September 10, 2024, and titled "Warehouse System", and No. 202411268337.0, filed on September 10, 2024, and titled "Warehouse System and Order Processing Method", all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of warehouse logistics, and in particular to a warehouse device, a warehouse system and an order processing, warehousing and delivery method. BACKGROUND

[0003] With the development of the logistics industry, goods-to-person picking as an automated picking method usually uses a carrying robot to carry goods to a picking workstation for picking by a picker. This picking method reduces the workload of the picker and improves the picking and delivery efficiency, and therefore is widely used in the retail and e-commerce industries.

[0004] Illustratively, a current warehouse system includes movable racks and AGVs (Automated Guided Vehicles). The AGVs carry the movable racks and transfer the movable racks to a picking workstation for further picking by a picker. However, the current warehouse system has a small capacity due to the carrying capacity of the AGVs and the height of the movable racks. In addition, when the to-be-delivered containers are scattered in different movable racks, the AGVs need to carry the containers back and forth multiple times, resulting in low warehouse operation efficiency. SUMMARY

[0005] To solve at least one of the above technical problems, the present application provides a warehouse device, a warehouse system and an order processing, warehousing and delivery method.

[0006] To achieve the above purpose, the present application provides the following technical solutions:

[0007] The warehouse system provided in the embodiments of the present application comprises: a plurality of shelves, a first carrying robot and a second carrying robot; at least one of the plurality of shelves is a movable shelf; the first carrying robot is movably arranged beside two adjacent shelves, and is used for transferring a container between the two shelves to perform goods sorting; one of the two adjacent shelves is a movable shelf, and the other is a movable shelf or a fixed shelf; the second carrying robot is used for carrying the movable shelf after goods sorting to a destination, or carrying a movable shelf to be sorted to a position adjacent to another movable shelf to be sorted.

[0008] The warehouse system provided in the embodiments of the present application transfers a container between two shelves by the first carrying robot to perform goods sorting, and carries the movable shelf after goods sorting to a destination by the second carrying robot, thereby reducing the return frequency of the second carrying robot when leaving the warehouse, and improving the operation efficiency of the warehouse.

[0009] The warehouse system provided in the embodiments of the present application comprises: a storage area provided with at least one fixed high shelf; a goods sorting area provided with at least one movable shelf, the movable shelf and the corresponding fixed high shelf are arranged along the extension direction of the operation channel; a first carrying robot and a guide rail matched with the first carrying robot, wherein the extension direction of the guide rail is consistent with the extension direction of the operation channel; the guide rail is arranged on the fixed high shelf and extends to the operation surface of the movable shelf; the first carrying robot is slidingly installed on the guide rail and moves along the extension direction of the guide rail; the first carrying robot is configured to transfer a container between the storage area and the goods sorting area; a second carrying robot is used for transferring the movable shelf between the goods sorting area and / or between the goods sorting area and a sorting area; the sorting area is provided with a sorting workbench, and the sorting workbench is used for sorting goods in the container.

[0010] The warehouse system provided in the embodiments of the present application sets a fixed high shelf in the storage area, sets a movable shelf in the goods sorting area, and transfers a container from the fixed high shelf to the movable shelf by the first carrying robot, and further carries the movable shelf to the sorting area by the second carrying robot, so that the two robots cooperate and divide the work, thereby reducing the return frequency of the second carrying robot when leaving the warehouse, and improving the operation efficiency of the warehouse. In this way, since the fixed high shelf has a higher layer height and larger capacity than the movable shelf, it can accommodate a larger number of containers, thereby improving the capacity of the warehouse system.

[0011] The order processing method provided in the embodiment of the application comprises: obtaining a set of to-be-processed orders, and storage area and inventory information of a sorting area, wherein the set of to-be-processed orders are processed at a same sorting workbench, the storage area is provided with at least one fixed high rack, and the sorting area is provided with at least one movable rack; determining a storage location of each target bin requested by the set of to-be-processed orders, wherein any one of the storage locations is located on the fixed high rack or the movable rack; determining a target movable rack with the highest target bin hit rate; and transferring the target movable rack to the sorting workbench located in the sorting area.

[0012] The order processing method provided in the embodiment of the application can transfer the target bin on the fixed high rack to the target movable rack, and further transfer the target movable rack to the sorting workbench in the sorting area, because the fixed high rack has a higher layer height and larger capacity than the movable rack, the fixed high rack can accommodate a larger number of bins, thereby improving the capacity of the warehouse system. In addition, the order processing method can transfer the target movable rack with the highest target order hit rate to the sorting workbench, improve the hit rate of the target bin, so that the target movable rack can hit more target bins in a single transfer, thereby improving the delivery efficiency, that is, improving the warehouse operation efficiency.

[0013] The warehouse system provided in the embodiment of the application comprises: a storage area, a sorting area, a first transfer robot and a second transfer robot; the storage area is provided with at least one fixed high rack, the sorting area is provided with at least one movable rack, the movable rack is arranged adjacent to the fixed high rack, the fixed high rack is fixedly provided with a support frame, the first transfer robot is installed on the support frame and used to move along the support frame to transfer the bin between the storage area and the sorting area, and the second transfer robot is used to transfer the movable rack between the sorting area and / or between the sorting area and the sorting area.

[0014] The warehouse system provided in the embodiment of the application can transfer the bin from the fixed high rack to the movable rack through the first transfer robot, and further transfer the movable rack to the sorting area through the second transfer robot, so that the two robots work together to reduce the number of round trips of the second transfer robot when delivering the bin, thereby improving the warehouse operation efficiency. Because the fixed high rack has a higher layer height and larger capacity than the movable rack, the fixed high rack can accommodate a larger number of bins, thereby improving the capacity of the warehouse system.

[0015] The warehouse device provided by the embodiment of the present application also provides a warehouse device, comprising: a first robot shelf and a second robot shelf; the first robot shelf comprises a first storage space and a first containing space; the first storage space is provided with a plurality of storage positions for storing containers; the first containing space is arranged at the lower part of the first storage space and is used for containing the second robot shelf; the first robot shelf is provided with a support frame capable of mounting a first robot; the first robot is used for taking and placing containers between the first robot shelf and the second robot shelf; the second robot shelf comprises a second storage space and a second containing space; the second storage space is provided with a plurality of temporary storage positions for temporarily storing containers; the second containing space is arranged at the lower part of the second storage space and is used for allowing the second robot to move the second robot shelf.

[0016] The warehouse device provided by the embodiment of the present application also provides a warehouse device, comprising: any one of the above warehouse devices, a first robot and a second robot; the first robot is mounted on the first robot shelf based on the support frame and is used for moving containers in the storage positions of the first robot shelf to the temporary storage positions of the second robot shelf or moving containers in the temporary storage positions of the second robot shelf to the storage positions of the first robot shelf; the second robot is used for carrying the second robot shelf carrying the containers to be taken out to a destination or carrying the second robot shelf carrying the containers to be stored to the first containing space of the first robot shelf.

[0017] The warehouse device and the warehouse system provided by the embodiment of the present application have the following advantages: the second robot shelf is provided with a plurality of temporary storage positions, so that the second robot can take out or store a plurality of containers at a time by moving the second robot shelf between the first robot shelf and the destination, thereby improving the efficiency of taking out or storing containers. The two robots work together, thereby reducing the number of times of going back and forth of the second carrying robot when taking out containers, and improving the efficiency of warehouse operation. The second robot shelf is arranged in the first containing space at the lower part of the first robot shelf, and the first robot shelf is a fixed high shelf, which is higher than the second robot shelf in layer height and has a larger capacity and can accommodate more containers, thereby improving the capacity of the warehouse system.

[0018] The warehouse-in method provided by the embodiment of the present application comprises the following steps: determining a target idle storage bin for each container to be warehoused according to the number of the containers to be warehoused and the number and positions of the idle storage bins on the first robot shelf; instructing the second robot to move a second robot shelf to be warehoused to a first containing space of the first robot shelf; temporarily storing the containers to be warehoused on temporary storage bins on the second robot shelf to be warehoused; and instructing the first robot to move the containers to be warehoused of the second robot shelf to the target idle storage bin on the first robot shelf.

[0019] The warehouse-in method provided by the embodiment of the present application comprises the following steps: determining a target idle storage bin for each container to be warehoused according to the number of the containers to be warehoused and the number and positions of the idle storage bins on the first robot shelf; instructing the second robot to move a second robot shelf to be warehoused to a first containing space of the first robot shelf; temporarily storing the containers to be warehoused on temporary storage bins on the second robot shelf to be warehoused; and instructing the first robot to move the containers to be warehoused of the second robot shelf to the target idle storage bin on the first robot shelf.

[0020] The warehouse-out method provided by the embodiment of the present application comprises the following steps: determining a second robot shelf to be warehoused according to the number of the containers to be warehoused; the second robot shelf to be warehoused having idle temporary storage bins; instructing the second robot to move the second robot shelf to be warehoused to a first containing space of the first robot shelf; instructing the first robot to move the containers to be warehoused on the first robot shelf to the idle temporary storage bins on the second robot shelf to be warehoused; and instructing the second robot to move the second robot shelf to be warehoused to a destination.

[0021] The warehouse-out method provided by the embodiment of the present application comprises the following steps: determining a second robot shelf to be warehoused according to the number of the containers to be warehoused; the second robot shelf to be warehoused having idle temporary storage bins; instructing the second robot to move the second robot shelf to be warehoused to a first containing space of the first robot shelf; instructing the first robot to move the containers to be warehoused on the first robot shelf to the idle temporary storage bins on the second robot shelf to be warehoused; and instructing the second robot to move the second robot shelf to be warehoused to a destination.

[0022] The embodiment of the present application further provides a control device, comprising a memory for storing a computer program, and a processor for executing the program stored in the memory to realize any of the order processing method, the warehousing method or the warehousing-out method.

[0023] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize any of the order processing method, the warehousing method or the warehousing-out method. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are included to provide a further understanding of the present application, form a part of the present application and illustrate the illustrative embodiments of the present application and together with the description serve to explain the present application, but do not limit the present application in any manner.

[0025] Fig. 1 is a top view of the overall arrangement of a second warehousing system according to the embodiment of the present application;

[0026] Fig. 2 is a side view of the overall arrangement of the second warehousing system according to the embodiment of the present application;

[0027] Fig. 3 is a schematic view of the arrangement of the fixed high-position shelves of the storage area and the movable shelves of the sorting area according to the embodiment of the present application;

[0028] Fig. 4 is a schematic view of the movement of the second carrying robot carrying the movable shelves according to the embodiment of the present application;

[0029] Fig. 5 is a schematic view of the arrangement of the guide rails according to the embodiment of the present application;

[0030] Fig. 6 is a schematic view of the installation of the first carrying robot on the guide rails according to the embodiment of the present application;

[0031] Fig. 7 is a schematic view of the order processing method flow according to the embodiment of the present application;

[0032] Fig. 8 is a schematic view of the order processing method flow according to the embodiment of the present application;

[0033] Fig. 9 is a schematic view of the order processing method flow according to the embodiment of the present application;

[0034] Fig. 10a is a schematic view of the first embodiment of the warehousing device according to the embodiment of the present application;

[0035] Fig. 10b is a side view of the warehousing device shown in Fig. 10a;

[0036] Fig. 11a is a top view of the first robot shelf in the embodiment shown in Fig. 10a;

[0037] Fig. 11b is a top view of the first robotic shelf in a second embodiment of the warehouse device according to an embodiment of the present application;

[0038] Fig. 11c is a top view of the first robotic shelf in a third embodiment of the warehouse device according to an embodiment of the present application;

[0039] Fig. 12 is a top view of the second robotic shelf in the embodiment shown in Fig. 10a;

[0040] Fig. 13a is a perspective view of a first embodiment of a fourth warehouse system according to an embodiment of the present application;

[0041] Fig. 13b is a side view of the fourth warehouse system shown in Fig. 13a;

[0042] Fig. 14a is a structural view of the first robot in the embodiment shown in Fig. 13a at a first angle;

[0043] Fig. 14b is a structural view of the first robot in the embodiment shown in Fig. 13a at a second angle;

[0044] Fig. 15 is a structural view of the second robot in the embodiment shown in Fig. 13a;

[0045] Fig. 16 is a top view of a second embodiment of the fourth warehouse system according to an embodiment of the present application;

[0046] Fig. 17 is a top view of a third embodiment of the fourth warehouse system according to an embodiment of the present application;

[0047] Fig. 18 is a top view of a fourth embodiment of the fourth warehouse system according to an embodiment of the present application.

[0048] Fig. 19 is a flowchart of a first embodiment of a warehouse-in method according to an embodiment of the present application;

[0049] Fig. 20 is a flowchart of a second embodiment of a warehouse-in method according to an embodiment of the present application;

[0050] Fig. 21 is a flowchart of a third embodiment of a warehouse-in method according to an embodiment of the present application;

[0051] Fig. 22 is a flowchart of a first embodiment of a warehouse-out method according to an embodiment of the present application;

[0052] Fig. 23 is a flowchart of a second embodiment of a warehouse-out method according to an embodiment of the present application;

[0053] Fig. 24 is a flowchart of a third embodiment of a warehouse-out method according to an embodiment of the present application;

[0054] Fig. 25 is a structural view of a control device according to an embodiment of the present application;

[0055] Fig. 26a is a top view of a first embodiment of a fifth warehouse system according to an embodiment of the present application;

[0056] Fig. 26b is a top view of a second embodiment of the fifth warehouse system according to an embodiment of the present application;

[0057] Fig. 27 is a top view of a part of the picking area in the embodiment shown in Fig. 26b;

[0058] Fig. 28a is a perspective view of the positional relationship between a transport robot and a mobile rack in the embodiment shown in Fig. 26a;

[0059] Fig. 28b is a perspective view of the embodiment shown in Fig. 28a from another angle (without the mobile rack on the right in Fig. 28a);

[0060] Fig. 29a is a perspective view of the structure of the picking robot in the embodiment shown in Fig. 28a from a first angle;

[0061] Fig. 29b is a perspective view of the structure of the picking robot in the embodiment shown in Fig. 28a from a second angle;

[0062] Fig. 30 is a perspective view of the positional relationship between a transport robot and a mobile rack in another embodiment shown in Fig. 26b;

[0063] Fig. 31 is a perspective view of the structure of the picking robot in the embodiment shown in Fig. 30;

[0064] Fig. 32a is a perspective view of the structure of a mobile rack according to an embodiment of the present application;

[0065] Fig. 32b is a view of the structure of the first side of the mobile rack shown in Fig. 32a;

[0066] Fig. 32c is a perspective view of the structure of the mobile rack cooperating with a transport robot according to an embodiment of the present application;

[0067] Fig. 32d is a view of the structure of the second side of the embodiment shown in Fig. 32c;

[0068] Fig. 33 is a perspective view of the structure of the transport robot in the embodiment shown in Fig. 28a;

[0069] Fig. 34 is a view of the structure of the picking robot in a first picking mode according to an embodiment of the present application;

[0070] Fig. 35 is a view of the structure of the picking robot in a second picking mode according to an embodiment of the present application;

[0071] Fig. 36 is a view of the structure of the picking robot in a third picking mode according to an embodiment of the present application;

[0072] Fig. 37 is a top view of a third embodiment of the fifth warehouse system according to an embodiment of the present application;

[0073] Fig. 38 is a top view of the positional relationship between the inventory robot and the mobile rack in a fourth embodiment of the fifth warehouse system according to the present application;

[0074] Fig. 39 is a top view of the positional relationship between the inventory robot and the mobile rack in a fifth embodiment of the fifth warehouse system according to the present application;

[0075] Fig. 40 is a specific perspective structural schematic view of the embodiment shown in Fig. 39;

[0076] Fig. 41 is a first flowchart of the first inventory method according to the present application;

[0077] Fig. 42 is a second flowchart of the first inventory method according to the present application;

[0078] Fig. 43 is a third flowchart of the first inventory method according to the present application;

[0079] Fig. 44 is a fourth flowchart of the first inventory method according to the present application;

[0080] Fig. 45 is a fifth flowchart of the first inventory method according to the present application;

[0081] Fig. 46 is a sixth flowchart of the first inventory method according to the present application;

[0082] Fig. 47 is a first flowchart of the second inventory method according to the present application;

[0083] Fig. 48 is a second flowchart of the second inventory method according to the present application;

[0084] Fig. 49 is a structural schematic view of the control device according to the present application.

[0085] Figs. 1-9 Reference numerals: fixed high rack 10; mobile rack 20; first carrying robot 30; portal 31; goods taking mechanism 32; lifting mechanism 33; sliding mechanism 34; second carrying robot 40; work channel 50; bin 60; guide rail 70; first traffic lane 81; second traffic lane 82; carrier 90; warehouse system 100; storage area 101; inventory area 102; buffer area 103; sorting area 104.

[0086] Fig. 10a to Fig. 25 Reference signs: first robot rack 2-100; first storage space 110; storage location 111; first layer plate 112; first containing space 120; first support column 121; support frame 130; crossbeam 131; subrack 101; second robot rack 200; second storage space 210; temporary storage location 211; second layer plate 212; second containing space 220; second support column 221; first robot 300; column gantry 310; door column 311; carrying mechanism 320; lifting assembly 321; picking assembly 322; sliding guide rail 330; sliding block 331; top housing 340; second robot 400; moving chassis 410; lifting mechanism 420; lifting platform 430; container 500; docking passage 600; bottom travel passage 700; first external travel passage 710; second external travel passage 720; work station 800; review and packing area 900.

[0087] Fig. 26a to Fig. 49 Reference signs: warehouse library area 3-100; storage area 3-110; goods handling area 3-120; goods handling passage 3-121; floor support frame 3-1210; support crossbeam 3-1211; support upright beam 3-1212; mobile rack 3-200; storage space 3-210; storage location 3-211; support column 3-212; containing space 3-220; target rack 3-230; fixed rack 3-240; carrying robot 3-300; second moving chassis 3-310; lifting mechanism 3-320; lifting platform 3-330; goods handling robot 3-400; first column gantry 3-410; door column 3-411; first carrying mechanism 3-420; first lifting assembly 3-421; first picking assembly 3-422; guide rail 3-430; roller 3-431; top housing 3-432; first moving chassis 3-440; second column gantry 3-450; second carrying mechanism 3-460; second lifting assembly 3-461; second picking assembly 3-462; rotating assembly 3-463; temporary storage unit 3-470; storage layer plate 3-471; work station 3-500; warehousing work station 3-510; warehousing work station 3-520; container 3-600. DETAILED DESCRIPTION

[0088] To make the objectives, technical solutions, and advantages of the present application clearer, further described below are the present application with reference to the drawings and examples. Obviously, the described examples are only some of the examples of the present application, but not all the examples. Based on the examples in the present application, all other examples obtained by those skilled in the art belong to the scope of protection of the present application.

[0089] The current warehouse system including movable racks and automatic guided handling robots has the problem of small capacity. The reason for this problem is that the movable racks are used to store bins. When the bins are sorted out, the automatic guided handling robots are used to carry the movable racks to the sorting area. Further, the bins to be sorted are sorted and sorted out by the sorting workbench. However, due to the limited carrying capacity of the automatic guided handling robots and the limited height of the movable racks, the current warehouse system has a small capacity. In addition, when the bins to be sorted are scattered in different movable racks, the AGV handling robots need to carry back and forth multiple times, resulting in low warehouse operation efficiency.

[0090] In view of the above technical problems, the embodiments of the present application provide several warehouse systems to solve at least one of the above technical problems.

[0091] The several warehouse systems provided by the embodiments of the present application are all used to transfer the materials (bins or containers) between the movable racks and another rack by a robot (first handling robot or first robot or goods handling robot) to perform goods handling; and another robot (second handling robot or second robot or handling robot) is used to carry the movable rack after goods handling to the destination, which reduces the number of times of the second handling robot going out and returning, thereby improving the warehouse operation efficiency.

[0092] In addition, in some embodiments, the other rack in the warehouse system can be a fixed high rack. The fixed high rack has a higher height than the movable rack, has a larger capacity, and can accommodate a larger number of bins, thereby improving the capacity of the warehouse system. The following will be described in detail.

[0093] First, the first warehouse system provided by the embodiments of the present application will be described in detail.

[0094] The first warehouse system provided by the embodiments of the present application comprises a plurality of racks, a first handling robot and a second handling robot.

[0095] Among the plurality of racks, at least one rack is a movable rack.

[0096] The first handling robot is movably arranged beside two adjacent racks, and is used to transfer the bins between the two racks to perform goods handling. Among the two adjacent racks, one rack is a movable rack, and the other rack is a movable rack or a fixed rack.

[0097] The second handling robot is used to carry the movable rack after goods handling to the destination, or carry the movable rack to be handled to a position adjacent to another movable rack to be handled.

[0098] Specifically, the shelves can include both mobile shelves and fixed shelves as shown in FIG. 2 and FIG. 13a, or only mobile shelves as shown in FIG. 26a and FIG. 28a.

[0099] The two shelves are arranged adjacently, which can be along the length direction of the shelves as shown in FIG. 2, or along the height direction of the shelves as shown in FIG. 13a, wherein one shelf is arranged in the accommodating space at the bottom of the other shelf, or the two shelves are arranged oppositely to form a channel for the first carrying robot to move as shown in FIG. 26a and FIG. 28a.

[0100] When the two shelves are arranged oppositely, the first carrying robot is arranged in the channel formed between the two shelves; when the two shelves are arranged adjacently along the length or height direction of the shelves, the first carrying robot is arranged on one side or both sides of the length direction of the shelves.

[0101] The first kind of warehouse system provided by the embodiments of the present application is provided with two kinds of carrying robots, which work simultaneously and cooperate with each other; the first carrying robot is used to arrange the goods on each shelf, and the to-be-delivered containers scattered on multiple shelves are moved to a mobile shelf, which are carried out of the warehouse by the second carrying robot, thereby reducing the number of back-and-forth trips of the second carrying robot when carrying out the containers, and improving the operation efficiency of the warehouse.

[0102] In some embodiments of the present application, among the two shelves arranged adjacently, one is a mobile shelf and the other is a fixed high shelf.

[0103] The mobile shelf and the fixed high shelf are arranged along the extension direction of the operation channel.

[0104] The fixed high shelf is provided with a guide rail adapted to the first carrying robot; the extension direction of the guide rail is consistent with the extension direction of the operation channel; the guide rail is arranged on the fixed high shelf and extends to the operation surface of the mobile shelf.

[0105] The first carrying robot is slidingly installed on the guide rail and moves along the extension direction of the guide rail to transfer the containers between the mobile shelf and the fixed high shelf.

[0106] Specifically, referring to FIG. 1 and FIG. 2, in the embodiments of the present application, the mobile shelves and the fixed high shelves are arranged in sequence along the length direction of the shelves.

[0107] Furthermore, among the shelves arranged in a row along the length direction, the number of the mobile shelves and the fixed high shelves can be multiple. As shown in FIG. 1 and FIG. 2, in each row of shelves, the number of the fixed high shelves is 4 and the number of the mobile shelves is 2. The first carrying robot moves on the operation channel to transfer the containers between the fixed high shelves and the mobile shelves.

[0108] The application can be applied to a shelf including a fixed high shelf and a movable shelf. The fixed high shelf has a higher layer height and larger capacity than the movable shelf, and can accommodate a larger number of containers, thereby improving the capacity of the warehouse system.

[0109] In some embodiments of the application, among two shelves arranged adjacently, one is a movable shelf and the other is a fixed high shelf.

[0110] The fixed high shelf includes a first storage space and a first accommodation space. The first storage space is provided with a plurality of storage positions for storing containers. The first accommodation space is arranged at the lower part of the first storage space and is used to accommodate the movable shelf. The fixed high shelf is provided with a support frame capable of mounting a first handling robot, so that the first handling robot transfers containers between the movable shelf and the fixed high shelf.

[0111] The movable shelf includes a second storage space and a second accommodation space. The second storage space is provided with a plurality of temporary storage positions for temporarily storing containers. The second accommodation space is arranged at the lower part of the second storage space and is used to move the movable shelf by a second handling robot.

[0112] Specifically, referring to FIGS. 13a and 13b, in the embodiments of the application, the fixed high shelf and the movable shelf are arranged in sequence along the height direction of the shelf. The first handling robot is movably arranged on one side of the fixed high shelf and the movable shelf in the length direction. The movable shelf is provided with a plurality of temporary storage positions, so that the second handling robot can take out or put in a plurality of containers at a time, improving the efficiency of taking out or putting in. The two robots work together, reducing the number of round trips of the second handling robot when taking out, thereby improving the efficiency of warehouse operation. The movable shelf is arranged in the first accommodation space at the lower part of the fixed high shelf. The fixed high shelf has a higher layer height and larger capacity than the movable shelf, and can accommodate a larger number of containers, thereby improving the capacity of the warehouse system.

[0113] In some embodiments of the application, both of the two shelves arranged adjacently are movable shelves.

[0114] Each movable shelf includes a storage space and an accommodation space. The storage space is provided with a plurality of storage positions for storing containers. The accommodation space is arranged at the lower part of the storage space and is used to move the movable shelf by a second handling robot.

[0115] The first handling robot is movably arranged beside the two movable shelves arranged adjacently, and is used to arrange containers storing the same type of goods on the movable shelves to the same movable shelf.

[0116] Specifically, referring to FIGS. 26a and 26b, in the embodiment of the present application, the shelves only include movable shelves. The shelves are arranged in two rows opposite to each other, and the number of shelves in each row is not less than 1.

[0117] The first carrying robot is movably arranged on a floor support between two opposite movable shelves; or is movably arranged on the same side of two movable shelves arranged adjacent in the length direction.

[0118] By using the first carrying robot to take and place the material boxes between the movable shelves, the material boxes storing the same type of goods are sorted to the same movable shelves, and then the second carrying robot is used to carry the sorted movable shelves to the destination, so that the automatic sorting is realized. When the sorted movable shelves are taken out next time, the taking out can be faster, and the warehouse operation efficiency is improved.

[0119] Next, the second warehouse system provided by the embodiment of the present application is described in detail.

[0120] The warehouse system provided by the embodiment of the present application stores the material boxes in the fixed high shelves in the storage area, and stores the material boxes in the movable shelves in the sorting area. The first carrying robot is used to transfer the material boxes from the fixed high shelves to the movable shelves, and the second carrying robot is used to carry the movable shelves to the sorting area. The two robots work together, the number of round trips of the second carrying robot when taking out is reduced, and the warehouse operation efficiency is improved. In this way, since the fixed high shelves have higher height and larger capacity than the movable shelves, more material boxes can be accommodated, and the capacity of the warehouse system is improved.

[0121] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0122] In order to facilitate the description of the embodiments of the present application, first, the coordinate system in the drawings is defined, wherein the X-axis direction is the first direction, the first direction is defined as the horizontal movement direction of the first carrying robot; the Y-axis direction is the second direction, the second direction is defined as the direction of taking and placing the material boxes of the first carrying robot; and the Z-axis direction is the third direction, the third direction is defined as the height direction of the first carrying robot.

[0123] As shown in FIG. 1 and FIG. 2, the second storage system 100 provided by the embodiments of the present application includes a storage area 101, a picking area 102, a sorting area 104, a first transfer robot 30 and a second transfer robot 40, wherein the storage area 101 is provided with at least one fixed high-rack 10, the fixed high-rack 10 is fixed to the ground of the storage area 101, and the fixed high-rack has higher storage locations than the mobile rack and can store more bins 60.

[0124] The picking area 102 is provided with at least one mobile rack 20, the mobile rack 20 is limited in height, and has a number of storage locations less than the number of storage locations of the fixed high-rack 10. The mobile rack 20 usually temporarily stores and transfers bins to be sorted or bins to be stored.

[0125] Further, the mobile rack 20 is correspondingly arranged with the fixed high-rack 10, the mobile rack 20 can receive and temporarily store bins from the fixed high-rack 10, further transfer the bins to the sorting workbench, and then complete the outbound. Alternatively, the bins to be stored can be temporarily stored in the mobile rack 20 and further transferred to the fixed high-rack 10 to complete the storage.

[0126] The mobile rack 20 and its corresponding fixed high-rack 10 are located in the same operation channel 50. For example, along the extension direction of the operation channel 50, the picking area 102 is arranged on one side of the storage area 101; in other words, along the outbound path of the bin 60, the mobile rack 20 is arranged on one side or both sides of the fixed high-rack 10. The first transfer robot moves in the operation channel 50 to transfer the bins between the mobile rack 20 and the fixed high-rack 10; and / or, the first transfer robot 30 can transfer the bins 60 between each fixed high-rack 10; and / or, the first transfer robot 30 can transfer the bins 60 between each mobile rack 20.

[0127] Specifically, the first transfer robot 30 is configured as a guide rail type transfer robot; accordingly, the storage system 100 has a guide rail (not shown in the figure) adapted to the first transfer robot 30. The first transfer robot 30 is slidingly installed on the guide rail and can move along the extension direction of the guide rail, and the extension direction of the guide rail can be the arrangement direction of the mobile rack 20 relative to the fixed high-rack 10.

[0128] For example, as shown in FIG. 1, the work channel 50 extends along the X-axis direction, the guide rail can be horizontally arranged on the fixed high shelf 10, and the extension direction of the guide rail is consistent with the X-axis direction, that is, the extension direction of the guide rail is consistent with the extension direction of the work channel 50. The guide rail can be arranged on the fixed high shelf 10, and the guide rail extends along the X-axis to the work surface of the movable shelf, so that the first carrying robot 30 can cover the fixed high shelf and the movable shelf, thereby realizing the work on the material boxes on the fixed high shelf 10 and the movable shelf 20. It should be noted that the "work surface" of the movable shelf 20 is defined as the plane where the inlet and outlet of each storage position on the movable shelf 20 are located, which is usually located on the side surface of the movable shelf 20.

[0129] Along the extension direction of the guide rail, the movable shelf 20 is arranged on one side of the fixed high shelf 10 and forms the work channel 50. Along the extension direction of the guide rail, the side of the movable shelf 20 away from the fixed high shelf 10 is provided with a first traffic lane 81, the extension direction of the first traffic lane 81 is perpendicular to the extension direction of the work channel 50, and the first traffic lane is in communication with the work channel. It can be understood that the first carrying robot slides along the X-axis direction in the work channel 50, and the first traffic lane 81 can be a moving channel of the second carrying robot 40.

[0130] As shown in FIGS. 3 and 4, the second carrying robot 40 in the embodiment of the application can be an AGV carrying robot, which carries the movable shelf and moves along the ground, for example, the second carrying robot 40 can move according to the planned path or autonomously select the path. The movable shelf 20 is arranged in cooperation with the second carrying robot 40, and the second carrying robot 40 can move to the bottom of the movable shelf 20 and lift the movable shelf 20, further transfer the movable shelf 20 from the goods sorting area 102 to the sorting area 104, and sort the material boxes 60 on the movable shelf 20.

[0131] Exemplarily, the second carrying robot 40 includes a jacking mechanism, a tray and a moving chassis; wherein the moving chassis serves as a carrying unit, the moving chassis carries the tray and the jacking mechanism, and the moving chassis can drive the second carrying robot 40 to move. Along the height direction of the second carrying robot 40, the jacking mechanism is arranged between the tray and the chassis, the jacking mechanism is telescopic along the height direction and can jack up the tray. The tray is used to carry the movable shelf 20, and under the action of the jacking mechanism, the tray lifts the movable shelf 20 to make the movable shelf 20 separate from the ground, and further move the movable shelf 20.

[0132] In the related art, a warehouse system includes movable racks for storing bins and automatic guided handling robots. When picking, the automatic guided handling robots carry the movable racks to a picking area, and further pick the bins to be picked through a picking workbench. However, due to the limited carrying capacity of the automatic guided handling robots and the limited height of the movable racks, the current warehouse system has a small capacity.

[0133] The warehouse system 100 provided by the embodiments of the present application is provided with fixed high racks in the storage area 101 and movable racks in the picking area 102, and the first handling robot 30 is used to transfer the bins 60 from the fixed high racks 10 to the movable racks 20. Further, the second handling robot 40 is used to carry the movable racks to the picking area 104. The two robots work together to reduce the number of round trips of the second handling robot 40 when picking, thereby improving the operation efficiency of the warehouse. In this way, since the fixed high racks 10 have a higher height than the movable racks 20, the fixed high racks 10 have a larger capacity and can accommodate a larger number of bins 60, thereby improving the capacity of the warehouse system 100.

[0134] In some embodiments, the storage area 101 includes a plurality of fixed high racks 10, and the plurality of fixed high racks 10 are arranged in an array and form the above-mentioned work channel 50 and the first traffic lane 81. The first traffic lane 81 is in communication with the work channel 50. The work channel 50 is configured as a moving channel of the first handling robot, and the first traffic lane 81 is a moving channel of the second handling robot 40.

[0135] For example, the plurality of fixed high racks 10 are arranged and form a plurality of work channels 50. Each work channel 50 extends along the X-axis direction, and the plurality of work channels 50 are arranged along the Y-axis direction. Along the Y-axis direction, the fixed high racks 10 are arranged on both sides of the work channel 50, and one first handling robot 30 can be arranged in each work channel 50. The fixed high racks 10 on both sides of the work channel 50 can share one first handling robot 30 to pick and place bins.

[0136] As shown in FIG. 5, the first handling robot 30 works in the work channel 50. At least part of the guide rail 70 is fixed to the fixed high rack 10, and the extension direction of the guide rail 70 is consistent with the length extension direction of the work channel 50. For example, the guide rail 70 can be fixed to the crossbeam of the fixed high rack 10 and arranged horizontally along the first direction. The first handling robot 30 is slidingly installed on the guide rail 70 and moves along the work channel 50.

[0137] It should be noted that part of the guide rail 70 extends to the order picking area 102, so that the first carrying robot 30 can pick and place the bins 60 on the mobile shelves 20. Based on this, the warehouse system 100 provided by the embodiments of the present application further comprises a support frame 90, which is used to install the guide rail 70 extending to the order picking area. The guide rail 70 comprises a first part and a second part, the extension direction of the first part is consistent with the extension direction of the second part, and the first part and the second part are communicated.

[0138] Exemplarily, the first part and the second part are configured as an integrated structure, or the first part and the second part are arranged horizontally and located at the same horizontal height, so that the first carrying robot can slide between the first part and the second part without obstacles.

[0139] The guide rail 70 located in the same working channel 50 has a first part installed on the fixed high shelf 10. For example, the first part is fixed to the side of the fixed high shelf 10 facing the working channel 50. The second part extends to the working surface of the mobile shelf and is fixed to the support frame 90; along the extension direction of the working channel 50, the support frame 90 is located on one side of the fixed high shelf 10, and the support frame 90 is arranged in the order picking area 102.

[0140] For example, the support frame 90 is fixed to the ground of the order picking area 102, and along the second direction, the support frame 90 is located on one side of the mobile shelf 20. The support frame 90 comprises at least one column, one end of the second part is fixed to the column, and the other end of the second part is fixed to the fixed high shelf 10 and connected with the first part. It can be understood that the first carrying robot 30 can slide from the first part to the second part, or slide from the second part to the first part.

[0141] As shown in FIG. 6, the first carrying robot 30 provided by the embodiments of the present application comprises a portal frame 31, a sliding mechanism 34, a lifting mechanism 33 and a bin picking mechanism 32; wherein the portal frame 31 is slidingly connected to the guide rail 70, the sliding mechanism 34 is arranged on the portal frame 31 and is used to provide sliding force to the portal frame 31, so that the portal frame 31 can slide relative to the guide rail 70. The bin picking mechanism 32 is slidingly installed on the portal frame 31 and can slide relative to the portal frame 31 along the height direction of the portal frame 31.

[0142] The bin picking mechanism 32 is configured to be horizontally extendable and extend into the storage space of the shelf to realize picking and placing of the bins 60. The lifting mechanism 33 is arranged on the portal frame 31 and connected with the bin picking mechanism 32, the lifting mechanism 33 is configured to provide lifting force to the bin picking mechanism 32, so that the bin picking mechanism 32 moves up and down along the height direction relative to the portal frame 31, and then the bin picking mechanism 32 can work on the bins 60 located at different heights.

[0143] On the basis of the above-mentioned embodiments, in order to improve the delivery efficiency of the warehouse system 100, a gap is kept between the bottom of the fixed high shelf 10 and the ground, and a second traffic lane 82 is formed for the second transfer robot 40 to shuttle, that is, the second transfer robot 40 can move freely at the bottom of the fixed high shelf 10 when it is not transferring the movable shelf 20; of course, the second transfer robot 40 is also free to move at the bottom of the movable shelf 20 when it is not transferring the movable shelf 20.

[0144] Referring to FIGS. 1 and 2, in order to improve the picking efficiency, the warehouse system 100 provided by the embodiments of the present application further includes a buffer area 103, which is arranged close to the sorting area 104 and located on the moving path of the second transfer robot 40 from the order arranging area 102 to the sorting area 104. For example, the buffer area 103 is located between the sorting area 104 and the order arranging area 102 close to the sorting area 104.

[0145] Further, the buffer area 103 is used for temporarily storing the movable shelf 20 to be moved to the sorting area 104, and the movable shelf 20 in the buffer area 103 is queued and waits to be picked, so that the totes 60 of the movable shelf 20 to be picked are picked in an orderly manner, thereby improving the picking efficiency.

[0146] In the process of goods picking, the distribution of inventory totes 60 affects the efficiency of picking and delivery. In order to further improve the picking efficiency, the distribution of inventory totes 60 in the storage area and the order arranging area can be adjusted, especially the distribution of inventory totes 60 in the storage area, so that the inventory totes are matched with orders that have not been picked, for example, the inventory totes 60 to be picked can be adjusted to the shelves of the order arranging area 102, so as to facilitate delivery.

[0147] As shown in FIG. 7, the embodiments of the present application provide an order processing method, which includes the following steps:

[0148] S100: obtaining a set of to-be-processed orders and inventory information of the storage area 101 and the order arranging area 102.

[0149] Specifically, the set of to-be-processed orders refers to an order set composed of orders to be picked, and the set of to-be-processed orders is picked at the same sorting workbench. The inventory information refers to the inventory information of the goods stored in the storage area 101 and the order arranging area 102, including but not limited to the type of goods, the totes 60 and storage locations (position information) where the goods are stored, etc.

[0150] The storage area 101 is provided with at least one fixed high shelf 10, and the order arranging area 102 is provided with at least one movable shelf 20; the movable shelf 20 is limited by its height, and has a number of storage locations less than the number of storage locations of the fixed high shelf 10. The movable shelf 20 usually temporarily stores and transfers totes to be picked or totes to be stored.

[0151] Further, the mobile rack 20 is arranged corresponding to the fixed high rack 10, and the mobile rack 20 can receive and temporarily store the box 60 from the fixed high rack 10, and further transfer the box 60 to the sorting workbench to complete the outbound. Alternatively, the box 60 to be stored can be temporarily stored in the mobile rack 20, and further transferred to the fixed high rack 10 to complete the storage.

[0152] Optionally, the mobile rack can also be used for long-term storage of the box, such as a box with high heat.

[0153] It should be noted that before adjusting the distribution of the inventory box 60, the set of to-be-processed orders and the inventory information need to be obtained, so that the subsequent inventory distribution of the inventory area can be adjusted based on the set of to-be-processed orders and the inventory information, so as to realize the centralized distribution of the inventory box 60 and improve the outbound efficiency.

[0154] S200: Determine the storage location of each target box requested by the set of to-be-processed orders, and any storage location is located on the fixed high rack 10 or the mobile rack 20.

[0155] Specifically, according to the set of to-be-processed orders, each target box requested by the set of to-be-processed orders is obtained, and further according to the inventory information of the storage area 101 and the sorting area 102, the rack position and the storage location on the rack of each target box are determined, wherein the above-mentioned rack includes the fixed high rack 10 located in the storage area 101 and the mobile rack 20 located in the sorting area 102, that is, each target box is located on the fixed high rack 10 or the mobile rack 20.

[0156] S300: Determine the target mobile rack with the highest target box hit rate.

[0157] Specifically, in the embodiment of the present application, the set of to-be-processed orders corresponds to a plurality of target boxes, and the plurality of target boxes are usually dispersedly arranged in the sorting area 102 and the storage area 101, for example, part of the target boxes are located on at least one mobile rack 20, and part of the target boxes are located on at least one fixed high rack 10, if the number of target boxes on the mobile rack 20 accounts for the largest proportion, then the mobile rack 20 is the target mobile rack.

[0158] S400: Transfer the target mobile rack to the sorting workbench located in the sorting area 104.

[0159] Specifically, the warehouse system 100 provided by the embodiment of the present application comprises a control center, which can be a remote control computer or the like. The control center is configured to dispatch the first transfer robot 30 and the second transfer robot 40 to transfer the target bin to be picked to the sorting area 104 for picking to complete the picking and delivery of the goods.

[0160] The first transfer robot 30 is a guide rail type transfer robot, which slides along the length extension direction of the fixed high shelf 10 and can slide to the working surface of the mobile shelf 20. The first transfer robot 30 is configured to transfer the target bin in the storage area 101, the goods handling area 102, and / or between the storage area 101 and the goods handling area 102, i.e., the first transfer robot 30 can transfer the target bin in the storage area 101, the target bin in the goods handling area 102, and the target bin between the storage area 101 and the goods handling area 102.

[0161] The mobile shelf 20 is transferred by the second transfer robot 40 in the goods handling area 102 and / or between the goods handling area 102 and the sorting area 104, i.e., the second transfer robot 40 transfers the mobile shelf 20 in the goods handling area 102 and / or between the goods handling area 102 and the sorting area 104. The second transfer robot moves along the ground, and when the target mobile shelf is determined, the control center dispatches the second transfer robot 40 to transfer the target mobile shelf to the sorting workbench of the sorting area 104 for sorting to complete the delivery.

[0162] In this way, the order processing method provided by the embodiment of the present application can set the fixed high shelf 10 in the storage area 101 and the mobile shelf 20 in the goods handling area 102, so as to transfer the target bin on the fixed high shelf 10 to the target mobile shelf, and further transfer the target bin to the sorting workbench of the sorting area 104 through the target mobile shelf. Since the fixed high shelf 10 has a higher height and larger capacity than the mobile shelf 20, it can accommodate a larger number of bins, thereby improving the capacity of the warehouse system.

[0163] In addition, the order processing method can transfer the target mobile shelf with the highest target order hit rate to the sorting workbench, improve the hit rate of the target bin, so that the target mobile shelf can hit more target bins at a time, thereby improving the delivery efficiency, i.e., improving the warehouse operation efficiency.

[0164] As shown in FIG. 8, the order processing method provided by the embodiment of the present application comprises the following steps S400:

[0165] Step S410: If all the target bins requested by the target mobile rack are located on the target mobile rack, then step S420 is performed to mobilize the second transfer robot 40 to transfer the target mobile rack to the sorting workbench.

[0166] Specifically, if all the target bins requested by the set of orders to be processed are located on the target mobile rack, then the control center can mobilize the second transfer robot 40 to transfer the target mobile rack to the sorting workbench for sorting, so as to complete the delivery of all the target bins requested by the set of orders to be processed.

[0167] Conversely, if some of the target bins requested by the set of orders to be processed are located on the target mobile rack, then step S430 is performed to mobilize the first transfer robot 30 and / or the second transfer robot 40 to transfer the target bins not located on the target mobile rack to the target mobile rack.

[0168] Specifically, if all the target bins requested by the set of orders to be processed include a first part of target bins and a second part of target bins, wherein the first part of target bins are located on the target mobile rack, and the second part of target bins are not located on the target mobile rack, for example, the second part of target bins are located on the fixed high-rack 10 or other mobile racks 20, then the control center mobilizes the first transfer robot 30 and / or the second transfer robot 40 to transfer the second part of target bins to the target mobile rack.

[0169] In detail, as shown in FIG. 9, step S430 includes step S431: If the storage location of the second part of target bins is in the same working aisle 50 as the target mobile rack, then step S432 is performed to mobilize the first transfer robot 30 to transfer the second part of target bins to the target mobile rack.

[0170] For the convenience of describing the embodiments of the present application, the plurality of working aisles 50 in FIG. 1 can be defined in sequence along the Y-axis direction as a first working aisle to a fifth working aisle, wherein the first working aisle is located at the lowermost side, and the fifth working aisle is located at the uppermost side.

[0171] For example, if the target mobile rack where the first part of target bins is located is in the second working aisle, and the storage location where the second part of target bins is located is also in the second working aisle, in other words, the storage location where the second part of target bins is located can be taken and placed by the first transfer robot 30 in the second working aisle, so that the first transfer robot 30 can move along the second working aisle towards the location of the target mobile rack, and can transfer the second part of target bins to the target mobile rack.

[0172] Conversely, if the storage location where the second partial target bin is located is in a different working channel 50 from the target mobile rack, step S433 is performed: mobilize the first transfer robot 30 and the second transfer robot 40 to transfer the second partial target bin to the target mobile rack.

[0173] In this case, first, the working channel where the second partial target bin is located is determined, and then the target mobile rack is moved to the working channel where the second partial target bin is located by the second transfer robot according to the working channel where the second partial target bin is located; finally, the first transfer robot in the working channel where the second partial target bin is located transfers the second partial target bin to the target mobile rack.

[0174] For example, the target mobile rack where the first partial target bin is located is in the second working channel, and the second partial target bin is in other working channels. The embodiment of the present application takes the case that the second partial target bin is on the fixed high-level rack 10 in the first working channel as an example for illustration.

[0175] The control center mobilizes the second transfer robot to transfer the target mobile rack in the second working channel to the first working channel, and the target mobile rack is located on one side of the fixed high-level rack 10 in the first working channel. The first transfer robot 30 in the first working channel picks up the second partial target bin; after picking up, the first transfer robot 30 moves along the first working channel towards the position where the target mobile rack is located, and can transfer the second partial target bin to the target mobile rack.

[0176] In some embodiments, the target mobile rack has the first partial target bin, and the storage location on the target mobile rack is full. In this case, the step of mobilizing the first transfer robot 30 and the second transfer robot 40 to transfer the second partial target bin not on the target mobile rack to the target mobile rack includes: transferring the non-target bin on the target mobile rack to a non-target mobile rack or a fixed high-level rack to form an empty storage location; and transferring part of the second partial target bin to the storage location of the target mobile rack.

[0177] Specifically, the first part of the target bins are on the target mobile shelves, and all the storage spaces on the target mobile shelves are full, i.e., the target mobile shelves include the first part of the target bins and other non-target bins, and cannot store the second part of the target bins. Therefore, it is necessary to transfer the non-target bins on the target mobile shelves to the storage spaces of other non-target mobile shelves 20 or fixed high shelves 10 by the first transfer robot 30 and / or the second transfer robot 40, so as to form several empty storage spaces on the target mobile shelves; and further transfer at least one second part of the target bins to the empty storage spaces formed by the target mobile shelves by the first transfer robot 30 and / or the second transfer robot 40.

[0178] In some embodiments, the step S400 of transferring the target mobile shelves to the sorting workbench includes: if the target mobile shelves include part of the target bins and the order hit rate threshold is met, the second transfer robot is mobilized to transfer the target mobile shelves to the sorting workbench.

[0179] Specifically, the set of to-be-processed orders corresponds to a plurality of target bins, wherein part of the target bins are on the target mobile shelves, and the target mobile shelves meet the order hit rate threshold. It should be noted that the order hit rate is the ratio of the number of part of the target bins on the target mobile shelves to all the target bins requested by the set of to-be-processed orders.

[0180] Correspondingly, the control center is provided with an order hit rate threshold, and if the order hit rate of the target mobile shelves is greater than or equal to the order hit rate threshold, the control center can dispatch the second transfer robot 40 to transfer the target mobile shelves to the sorting workbench for sorting. In this way, the target bins are concentrated on the target mobile shelves as much as possible, so that the target mobile shelves meet the minimum order hit rate requirement in a single transfer, thereby reducing the number of times of transferring the target mobile shelves and improving the efficiency of warehouse out.

[0181] In other embodiments, the set of to-be-processed orders corresponds to a plurality of target bins, wherein a first part of the target bins are on the target mobile shelves, and a second part of the target bins are not on the target mobile shelves, and the first transfer robot 30 and / or the second transfer robot 40 need to be mobilized to transfer the second part of the target bins not on the target mobile shelves to the target mobile shelves.

[0182] Specifically, the first transfer robot 30 and / or the second transfer robot 40 are used to arrange the second part of the target bins, so as to transfer at least one second part of the target bins to the target mobile shelves. For this specific implementation scheme, details are not described herein. The control center is provided with a preset time for the arrangement, i.e., the second part of the bins is arranged within the preset time.

[0183] If the preset time is reached, the goods arrangement is stopped, and the second carrying robot 40 is mobilized to transfer the target mobile rack to the sorting workbench. In this way, the frequency of transferring the target mobile rack can be controlled to avoid long-term goods arrangement and delay the outbound of the target bin, thereby affecting the outbound efficiency.

[0184] Next, a third warehouse system provided by an embodiment of the present application is described in detail.

[0185] The third warehouse system provided by the embodiment of the present application includes a storage area, a goods arrangement area, a sorting area, a first carrying robot, and a second carrying robot.

[0186] At least one fixed high rack is arranged in the storage area, and at least one mobile rack is arranged in the goods arrangement area. The mobile rack is arranged adjacent to the fixed high rack.

[0187] The fixed high rack is fixedly provided with a support frame, and the first carrying robot is installed on the support frame and used to move along the support frame to transfer the bins between the storage area and the goods arrangement area.

[0188] The second carrying robot is used to transfer the mobile rack between the goods arrangement area and / or between the goods arrangement area and the sorting area.

[0189] Specifically, as shown in FIGS. 1 and 2, the mobile rack can be located on one side or both sides of the fixed high rack and arranged adjacent to the fixed high rack.

[0190] As shown in FIGS. 13a and 13b, the mobile rack can also be located at the bottom of the fixed high rack and arranged adjacent to the fixed high rack.

[0191] Regardless of the arrangement of the mobile rack, the mobile rack can be arranged adjacent to the fixed high rack.

[0192] The third warehouse system provided by the embodiment of the present application arranges the fixed high rack in the storage area and the mobile rack in the goods arrangement area, transfers the bins from the fixed high rack to the mobile rack by the first carrying robot, and further carries the mobile rack to the sorting area by the second carrying robot. The two robots work together to reduce the number of round trips of the second carrying robot when it is outbound, thereby improving the efficiency of the warehouse operation. In this way, since the fixed high rack has a higher height and larger capacity than the mobile rack, it can accommodate a larger number of bins, thereby improving the capacity of the warehouse system. In addition, the mobile rack can be arranged in various ways to be arranged adjacent to the fixed high rack, making the arrangement of the mobile rack more flexible and suitable for more working scenarios.

[0193] In some embodiments, as shown in FIGS. 5 and 13a, the support frame includes a plurality of beams arranged at intervals in the vertical direction.

[0194] The first carrying robot is slidingly installed on the plurality of beams and moves along the extension direction of the beams to transfer the bins between the storage area and the picking area.

[0195] In some embodiments, as shown in FIGS. 1 and 2, the mobile rack is arranged along the extension direction of the operation channel with its corresponding fixed high rack. The beams are provided with rails adapted to the first carrying robot; the extension direction of the rails is consistent with the extension direction of the operation channel.

[0196] The rails are arranged on the fixed high rack and extend to the operation surface of the mobile rack to enable the first carrying robot to transfer the bins between the fixed high rack and the mobile rack.

[0197] Based on the present embodiment, the first carrying robot can take the bins on the fixed high rack at the first part of the rails and move to the second part of the rails to place the bins on the mobile rack, thereby achieving the transfer of the bins between the storage area and the picking area.

[0198] In some embodiments, as shown in FIGS. 13a and 13b, the fixed high rack comprises a first storage space and a first containing space. The first storage space is provided with a plurality of storage positions for storing bins; the first containing space is arranged at the lower part of the first storage space and is used to contain the mobile rack.

[0199] The mobile rack comprises a second storage space and a second containing space; the second storage space is provided with a plurality of temporary storage positions for temporarily storing bins; the second containing space is arranged at the lower part of the second storage space and is used to move the mobile rack by the second carrying robot.

[0200] Based on the present embodiment, the first carrying robot can take the bins on the fixed high rack from above by the up-and-down movement of the taking assembly, then move to below to place the bins on the mobile rack, thereby achieving the transfer of the bins between the storage area and the picking area and shortening the moving distance of the first carrying robot on the rails.

[0201] Next, the warehouse device provided by the present embodiment will be described in detail.

[0202] Referring to FIGS. 10a and 10b, FIG. 10a is a perspective structural schematic view of the warehouse device provided by the present embodiment; and FIG. 10b is a side view of the warehouse device shown in FIG. 10a. As shown in FIGS. 10a and 10b, the warehouse device comprises a first robot rack 2-100 and a second robot rack 200. Among them,

[0203] The first robot shelf 2-100 comprises a first storage space 110 and a first containing space 120; the first storage space 110 is provided with a plurality of storage positions 111 for storing containers 500; the first containing space 120 is arranged at the lower part of the first storage space 110 and is used for containing the second robot shelf 200; the first robot shelf 2-100 is provided with a support frame 130 capable of mounting the first robot 300; the first robot 300 is used for taking and placing containers 500 between the first robot shelf 2-100 and the second robot shelf 200.

[0204] The second robot shelf 200 comprises a second storage space 210 and a second containing space 220; the second storage space 210 is provided with a plurality of temporary storage positions 211 for temporarily storing containers 500; the second containing space 220 is arranged at the lower part of the second storage space 210 and is used for moving the second robot shelf 200 by the second robot 400.

[0205] The first robot 300 mounted on the first robot shelf 2-100 in the embodiment of the present application can take and place containers 500 between the first robot shelf 2-100 and the second robot shelf 200 to realize the function of sorting; the second robot 400 can move the second robot shelf 200; the second robot shelf 200 is provided with a plurality of temporary storage positions 211, so that the second robot 400 can take out or put in a plurality of containers 500 at a time by moving the entire second robot shelf 200, thereby improving the efficiency of taking out and putting in. The two robots work in cooperation and reduce the number of round trips when the second robot takes out, thereby improving the efficiency of warehouse operation. The second robot shelf 200 is arranged in the first containing space 120 at the lower part of the first robot shelf 2-100; the first robot shelf 2-100 is a fixed high shelf compared with the second robot shelf 200, has a higher layer height than the second robot shelf 200, has a larger capacity, and can accommodate a larger number of containers 500, thereby improving the capacity of the storage device.

[0206] It should be noted that the container in the embodiment refers to a container capable of containing goods, for example, a box or a tray, which is not limited in the present application.

[0207] In some embodiments, as shown in FIGS. 10a and 10b, the support frame 130 comprises a plurality of cross beams 131 arranged at intervals in the vertical direction of the first robot shelf 2-100; the first robot 300 is mounted outside the first robot shelf 2-100 based on the cross beams 131.

[0208] The first robot 300 can slide along the cross beam 131 to move in the horizontal direction of the first robot shelf 2-100. The specific cooperation mode will be described later.

[0209] As can be seen, based on the embodiment, the first robot 300 can move horizontally in the length direction of the first robot shelf 2-100 to take and place each container 500 in the length direction. In addition, the taking component 322 of the first robot 300 can move up and down in the height direction of the first robot shelf 2-100 to take and place containers 500 at different heights of the first robot shelf 2-100. The specific taking and placing method will be described later.

[0210] In the embodiment, as shown in FIGS. 10a and 10b, a plurality of first support columns 121 are arranged below the first storage space 110 of the first robot shelf 2-100, and the plurality of first support columns 121 extend towards the ground to form a first containing space 120.

[0211] A plurality of second support columns 221 are arranged below the second storage space 210 of the second robot shelf 200, and the plurality of second support columns 221 extend towards the ground to form a second containing space 220.

[0212] In the embodiment, the first containing space 120 is formed by simple first support columns 121, which can provide multiple channels for the second robot 400 to move the second robot shelf 200, so that the warehouse operation is more flexible. At the same time, the second containing space 220 is formed by simple second support columns 221, which can provide multiple channels for the second robot 400 to move to the bottom of the second robot shelf 200, so that the second robot 400 can move to the bottom of the second robot shelf 200 from various directions, and the moving direction is not limited. At the same time, through the second containing space 220, the second robot 400 can lift the second robot shelf 200 off the ground or place the second robot shelf 200 on the ground.

[0213] In the embodiment, the first robot shelf 2-100 can be a double-deep shelf or a multi-deep shelf; the second robot shelf 200 can also be a double-deep shelf or a multi-deep shelf. As long as the first containing space 120 of the first robot shelf 2-100 can provide sufficient moving space for the second robot 400 to move the second robot shelf 200, it is acceptable.

[0214] In the embodiment, the first robot shelf 2-100 and the second robot shelf 200 can be double-deep shelves; the container taking and placing assembly of the first robot 300 can take and place two deep containers. Referring to FIG. 11a and FIG. 12, FIG. 11a is a top view of the first robot shelf in the embodiment shown in FIG. 1a; and FIG. 12 is a top view of the second robot shelf in the embodiment shown in FIG. 10a. As shown in FIG. 11a and FIG. 12, in the embodiment, the first robot shelf 2-100 and the second robot shelf 200 can be double-deep shelves, that is, shelves capable of placing two containers 500 in the width direction. In the embodiment, the first robot shelf 2-100 is provided with a plurality of first layer plates 112 in the height direction, and each storage position 111 is arranged on the first layer plate 112. The length of the first robot shelf 2-100 is not limited, for example: as shown in FIG. 11a, on the first layer plate 112 of the first robot shelf 2-100, four storage positions 111 are arranged in the length direction, and each storage position 111 can place one container 500, that is, four containers 500 can be placed in the length direction. In this way, eight storage positions 111 can be arranged on each first layer plate 112 in the case of double-deep. In other embodiments, the first robot shelf 2-100 and the second robot shelf 200 can be multi-deep shelves, and the first robot shelf 2-100 can be provided with two, three or more storage positions 111 in the length direction, and the second robot shelf 200 can be provided with two, three or more temporary storage positions 211 in the length direction, which can be set according to actual needs.

[0215] In order to facilitate the second robot 400 to drive the second robot shelf 200 to move in the first containing space 120 of the first robot shelf 2-100, in the embodiment, the length of the cross section of the first robot shelf 2-100 is greater than the length of the cross section of the second robot shelf 200; and the width of the cross section of the first robot shelf is greater than or equal to the width of the cross section of the second robot shelf. In the embodiment, the second robot shelf 200 is provided with a plurality of second layer plates 212 in the height direction, and each temporary storage position 211 is arranged on the second layer plate 212. The number of second layer plates 212 can be set according to the height of the first containing space 120 of the first robot shelf 2-100 and the height of the second robot. Here, no limitation is made. For example: as shown in FIG. 10a and FIG. 10b, the second robot shelf 200 can include three second layer plates 212.

[0216] As shown in FIG. 12, on the second layer plate 212 of the second robot shelf 200, two temporary storage positions 211 are arranged in the length direction, and each temporary storage position 211 can place one container 500, that is, two containers 500 can be placed in the length direction. In this way, four temporary storage positions 211 can be arranged on each second layer plate 212 in the case of double-deep.

[0217] In addition, the first robot shelf 2-100 can be a one-piece wide shelf, or can be a plurality of narrow shelves sequentially spliced in one direction, or can be two narrow shelves spliced back to back.

[0218] In actual application, the first robot shelf 2-100 includes a plurality of sub-shelves 101; the plurality of sub-shelves 101 are sequentially arranged in one column along the length direction or the width direction; or the plurality of sub-shelves 101 are sequentially arranged in an array form along the length direction and the width direction.

[0219] Referring to FIG. 11b, FIG. 11b is a top view of the first robot shelf in the second embodiment of the warehouse device provided by the embodiment of the application; in this embodiment, the plurality of sub-shelves 101 are sequentially arranged in one column along the length direction, as shown in FIG. 11b, four plurality of sub-shelves 101 are arranged in one column. Referring to FIG. 11c, FIG. 11c is a top view of the first robot shelf in the third embodiment of the warehouse device provided by the embodiment of the application; in this embodiment, the plurality of sub-shelves 101 are sequentially arranged in an array form along the length direction and the width direction, as shown in FIG. 11c, arranged in a 4*2 array form.

[0220] In addition, for the embodiment shown in FIG. 11c, in the case of this channel layout, when the first robot shelf 2-100 is spliced back to back by two columns of narrow shelves (i.e. the sub-shelf 101 in FIG. 11c), the shelf width of the second robot shelf 200 can be equal to the width of the narrow shelf (i.e. the sub-shelf 101 in FIG. 11c) in the first robot shelf 2-100. In this way, while ensuring that the second robot 400 can drive the second robot shelf 200 to pass through the first containing space 120 of the first robot shelf 2-100, the first containing space 120 of the first robot shelf 2-100 can contain a larger number of second robot shelves 200, and the second robot shelf 200 can contain a larger number of containers 500.

[0221] The warehouse device shown in FIG. 11b and FIG. 11c can further improve the storage capacity of the warehouse device.

[0222] Next, the fourth warehouse system provided by the embodiment of the application will be described in detail.

[0223] Referring to FIG. 13a and FIG. 13b, FIG. 13a is a perspective structural schematic view of the first embodiment of the fourth warehouse system provided by the embodiment of the application; and FIG. 13b is a side view of the fourth warehouse system shown in FIG. 13a. As shown in FIG. 13a and FIG. 13b, the warehouse system includes a first robot shelf 2-100, a second robot shelf 200, a first robot 300 and a second robot 400; wherein,

[0224] The first robot rack 2-100 comprises a first storage space 110 and a first containing space 120; the first storage space 110 is provided with a plurality of storage positions 111 for storing containers 500; the first containing space 120 is arranged at the lower part of the first storage space 110 and is used for containing the second robot rack 200; the first robot rack 2-100 is provided with a support frame 130 capable of mounting the first robot 300.

[0225] The second robot rack 200 comprises a second storage space 210 and a second containing space 220; the second storage space 210 is provided with a plurality of temporary storage positions 211 for temporarily storing containers 500; the second containing space 220 is arranged at the lower part of the second storage space 210 and is used for moving the second robot rack 200 by the second robot 400.

[0226] The first robot 300 is mounted on the first robot rack 2-100 based on the support frame 130 and is used for moving the containers 500 in the storage positions 111 of the first robot rack 2-100 to the temporary storage positions 211 of the second robot rack 200 or moving the containers 500 in the temporary storage positions 211 of the second robot rack 200 to the storage positions 111 of the first robot rack 2-100;

[0227] The second robot 400 is used for carrying the second robot rack 200 carrying the containers 500 to be taken out to a destination or carrying the second robot rack 200 carrying the containers 500 to be put in to the first containing space 120 of the first robot rack 2-100.

[0228] In the fourth warehouse system provided in the embodiment, the first robot shelf 2-100 can accommodate the second robot shelf 200; the first robot 300 installed on the first robot shelf 2-100 can take and place the container 500 between the first robot shelf 2-100 and the second robot shelf 200 to realize the goods sorting function; and the second robot 400 can drive the second robot shelf 200 to move between the first robot shelf 2-100 and the destination to realize the container 500 out-of-warehouse and in-warehouse functions. In the embodiment, the second robot shelf 200 is provided with a plurality of temporary storage positions 211, so that the second robot 400 drives the second robot shelf 200 to move between the first robot shelf 2-100 and the destination, so that the second robot 400 can take out or put in a plurality of containers 500 at a time, thereby improving the efficiency of the out-of-warehouse and in-warehouse functions. The two robots work together to reduce the number of round trips of the second robot when taking out of the warehouse, thereby improving the efficiency of the warehouse operation. The second robot shelf 200 is arranged in the first accommodation space 120 at the lower part of the first robot shelf 2-100, and the first robot shelf 2-100 is a fixed high shelf compared with the second robot shelf 200, has a higher layer height than the second robot shelf 200, has a larger capacity, and can accommodate a larger number of containers 500, thereby improving the capacity of the warehouse device.

[0229] It should be noted that the first robot shelf 2-100 and the second robot shelf 200 in the embodiment constitute the aforementioned warehouse device, and the specific structure thereof can be the same as that in the aforementioned embodiments, which will not be described herein.

[0230] Next, the first robot 300, the second robot 400, and the specific way of out-of-warehouse and in-warehouse in the warehouse system provided in the embodiment will be described in detail.

[0231] As shown in FIG. 13a, the support frame 130 includes a plurality of cross beams 131 arranged at intervals in the vertical direction of the first robot shelf 2-100.

[0232] Referring to FIG. 13a, FIG. 13b, FIG. 14a and FIG. 14b, FIG. 14a is a structural schematic diagram of a first angle of the first robot in the embodiment shown in FIG. 13a; and FIG. 14b is a structural schematic diagram of a second angle of the first robot in the embodiment shown in FIG. 13a. As shown in FIG. 14a and FIG. 14b, the first robot 300 comprises a column gantry 310, a carrying mechanism 320 and at least one sliding guide rail 330; the column gantry 310 is installed along the vertical direction of the first robot shelf 2-100; the carrying mechanism 320 is arranged on the column gantry 310 and is used for taking and placing containers 500 at different heights of the first robot shelf 2-100; and the at least one sliding guide rail 330 is fixedly installed on the cross beam 131. The column gantry 310 is in sliding connection with the at least one sliding guide rail 330, so that the column gantry 310 and the carrying mechanism 320 can slide horizontally along the cross beam 131 to take and place different containers 500 in the length direction of the first robot shelf 2-100.

[0233] In the embodiment, as shown in FIG. 13a and FIG. 13b, a plurality of cross beams 131 are arranged in the vertical direction on the side of the first robot shelf 2-100 in the length direction. In order to stably install the first robot 300, two sliding guide rails 330 are arranged on the first robot 300 and are fixed on two cross beams 131 (for example, the sliding guide rails 330 can be fixed on the cross beams by screws). The column gantry 310 is in sliding connection with the two cross beams 131 to realize horizontal movement along the first robot shelf 2-100.

[0234] Specifically, as shown in FIG. 14a, sliding blocks 331 are arranged on the two door columns 311 fixed on the column gantry 310; the sliding blocks 331 can drive the column gantry 310 and the carrying mechanism 320 arranged between the two door columns 311 to slide horizontally along the sliding guide rail 330. Since the sliding guide rail 330 is fixedly connected with the cross beam 131 of the first robot shelf 2-100, the column gantry 310 and the carrying mechanism 320 arranged between the two door columns 311 can move horizontally along the cross beam 131 of the first robot shelf 2-100. In other embodiments, rollers can be arranged on the two door columns 311 to replace the sliding blocks 331, so as to improve the horizontal movement speed of the first robot shelf 2-100.

[0235] As shown in FIG. 14a and FIG. 14b, in the embodiment, the carrying mechanism 320 comprises a lifting assembly 321 and a container taking assembly 322; the lifting assembly 321 is arranged on the column gantry 310 and is used for driving the container taking assembly 322 to move up and down along the vertical direction of the first robot shelf 2-100; and the container taking assembly 322 is installed on the lifting assembly 321 and is used for extending out of the column gantry 310 to take and place containers 500.

[0236] In this embodiment, the lifting assembly 321 can include a driving motor, a driving wheel, a driven wheel and two synchronous belts. The driving motor and the driving wheel are arranged in the top housing 340, the driven wheel is arranged at the bottom of the two door columns 311, and the two synchronous belts are sleeved outside the driving wheel, the door column 311 and the driven wheel. The picking assembly 322 is connected to the two synchronous belts through the connecting blocks on both sides.

[0237] In this way, the two synchronous belts of the lifting assembly 321 can move up and down through the connecting blocks, thereby driving the picking assembly 322 to move up and down, so as to realize the up-and-down movement of the picking assembly 322 along the vertical direction of the first robot shelf 2-100.

[0238] The picking assembly 322 can include a telescopic mechanism, which can extend into the first robot shelf 2-100 or the second robot shelf 200 to take or place the containers 500 located in the single deep position and / or the multi-deep position.

[0239] In this embodiment, the form of the picking assembly 322 includes but is not limited to a fork arm type, a suction cup type, a roller type, a hooking arm, etc.

[0240] In this embodiment, the first robot 300 can take or place the containers 500 on the first robot shelf 2-100 and / or the second robot shelf 200 in the horizontal direction based on the relative sliding between the sliding block 331 and the sliding guide 330 fixedly arranged on the cross beam 131 of the first robot shelf 2-100, and can take or place the containers 500 on the first robot shelf 2-100 and / or the second robot shelf 200 in the up-and-down direction based on the lifting assembly 321.

[0241] Referring to FIG. 15, FIG. 15 is a structural schematic diagram of the second robot in the embodiment shown in FIG. 13a. As shown in FIG. 15, the second robot 400 is a lifting mobile robot. As shown in FIG. 13a and FIG. 13b, the height of the second containing space 220 of the second robot shelf 200 is higher than that of the lifting mobile robot; so that the lifting mobile robot can move into the second containing space 220, lift the second robot shelf 200 to move or place the second robot shelf 200 on the ground.

[0242] As shown in FIG. 15, the second robot 400 includes a moving chassis 410, a lifting mechanism 420, and a lifting platform 430. The moving chassis 410 is arranged at the bottom of the second robot 400 and can include universal wheels to realize multi-directional movement. The lifting mechanism 420 and the lifting platform 430 are arranged at the top of the moving chassis 410. When the second robot 400 is located in the second containing space 220 of the second robot rack 200, the lifting mechanism 420 can lift the lifting platform 430 to a certain height, so that the second robot rack 200 can be lifted off the ground and move together with the second robot 400.

[0243] Specifically, as shown in FIGS. 13a and 13b, the height of the second containing space 220 of the second robot rack 200 is higher than the lifting mobile robot. In this way, the lifting mobile robot can move into the second containing space 220, lift the lifting platform 430 through the lifting mechanism 420, so that the lifting platform 430 contacts the top of the second containing space 220, and then lift the entire second robot rack 200 and move the entire second robot rack 200; or lower the lifting platform 430 through the lifting mechanism 420, and place the second robot rack 200 on the ground.

[0244] As shown in FIGS. 13a and 13b, in this embodiment, the height of the first containing space 120 of the first robot rack 2-100 is higher than the height of the second robot rack 200 carrying the containers 500 lifted by the second robot 400. In this way, the second robot 400 can move the second robot rack 200 carrying the containers 500 in the first containing space 120 of the first robot rack 2-100.

[0245] Referring to FIG. 16, which is a top view of a second embodiment of a fourth warehouse system provided by the present application. In some embodiments, the bottom of the first containing space 120 of the first robot rack 2-100 is provided with a docking channel 600 and a bottom travel channel 700 that are in communication with each other along the length direction of the first robot rack 2-100. The docking channel 600 is used to place the second robot rack 200, and the second robot 400 travels along the bottom travel channel 700, so that the first robot 300 moves the containers 500 on the temporary storage position 211 of the second robot rack 200 to the first robot rack 2-100 or moves the containers 500 on the first robot rack 2-100 to the second robot rack 200 after the second robot rack 200 reaches the designated docking position of the docking channel 600.

[0246] In the embodiment, the second robot 200 is placed on the docking channel 600, and the second robot 400 can also travel along the docking channel 600 when it is empty, and needs to avoid the second support column 221 of the second robot 200 during the travel.

[0247] Since the first robot 300 needs to take and place the containers 500 on the first robot shelf 2-100 and the second robot shelf 200, the column gantry 310 of the first robot 300 needs to extend from the first storage space 110 to the first containing space 120 in the vertical direction, and the height of the column gantry 310 of the first robot 300 can ensure that the taking component 322 of the first robot 300 can take and place the bottom layer of containers 500 of the second robot shelf 200. In actual application, the first robot 300 is installed at the position of the first robot shelf 2-100, and needs to avoid the docking channel 600 to avoid interference, so that the second robot 400 cannot move the second robot shelf 200 out of the first robot shelf 2-100. For example, the docking channel 600 can be arranged from one end along the length direction of the first robot shelf 2-100 to the other end along the length direction, and the first robot 300 is installed on the outer side of the docking channel 600 along the length direction of the first robot shelf 2-100, so that the column gantry 310 of the first robot 300 is not arranged in the docking channel 600, and does not block the second robot 400 from moving the second robot shelf 200 out of the first robot shelf 2-100.

[0248] In some embodiments, a one-way or two-way travel channel for the second robot 400 can be arranged between the first robot shelf 2-100 and the destination.

[0249] In actual application, the destination of the second robot 400 can be a work station or a review and packaging area. Specifically, as shown in FIG. 16, the travel channel between the first robot shelf 2-100 and the destination can include a first external travel channel 710 with a destination of a work station 800 and a second external travel channel 720 with a destination of a review and packaging area 900.

[0250] In this way, the second robot 400 can carry the second robot shelf 200 to be shipped out to the work station 800 along the first external travel channel 710 to perform picking and shipping out, or carry the second robot shelf 200 to be stored to the first robot shelf 2-100 to perform container storage.

[0251] In addition, the second robot 400 can also carry the second robot shelf 200 to be shipped out to the review and packaging area 900 along the second external travel channel 720 to perform packaging and shipping out of all goods in the containers 500 of the second robot shelf 200.

[0252] Hereinafter, the in-out warehouse process will be described in detail based on the embodiment shown in FIG. 16.

[0253] In the warehouse system of the embodiment, a control device can also be provided, which is in communication connection with the first robot 300 and the second robot 400, and is used to instruct the first robot 300 to take and place the container 500, and instruct the second robot 400 to move the second robot shelf 200, to complete the goods arrangement and in-out warehouse functions.

[0254] Specifically, the in-out warehouse process can be instructed by the control device, and specifically includes the following steps:

[0255] Step A: According to the position of the storage location 111 where the container 500 to be taken out of the warehouse in the first robot shelf 2-100, the second robot shelf 200 closest to the position is selected, and the optimal docking position of the docking channel 600 is determined.

[0256] Here, the selected second robot shelf 200 can be one that does not carry containers 500, i.e., completely idle, or one that has carried part of the containers 500 but still has idle temporary storage locations 211. As long as the second robot shelf 200 can carry the container 500 to be taken out of the warehouse, it is acceptable. Optionally, the optimal docking position can be the position of the second robot shelf 200 closest to the container 500 to be taken out of the warehouse, which can carry the container 500 to be taken out of the warehouse.

[0257] In some embodiments, multiple operation areas of the first robot 300 can be divided according to the distribution of the containers 500 to be taken out of the warehouse on the first robot shelf 2-100, i.e., the area where the relatively concentrated containers 500 to be taken out of the warehouse are located is divided into an operation area, and each operation area corresponds to a docking position 600.

[0258] In some embodiments, the determination principle of the optimal docking position is as follows: the position of the second robot shelf 200 closest to the operation area and having an empty temporary storage location 211 is preferentially selected as the optimal docking position, and if there is no such second robot shelf 200 on the docking channel 600, the second robot 400 is instructed to transport the second robot shelf 200 that can carry the container 500 to the position closest to the operation area for the first robot 300 to place.

[0259] Step B: instruct the second robot 400 to move the selected second robot shelf 200 to the optimal docking position.

[0260] Step C: instruct the first robot 300 to move to the position of the storage column where the container 500 to be taken out of the warehouse is located based on the support frame 130. The storage column refers to a column formed by multiple storage locations 111 in the up-down direction.

[0261] Step D, instruct the first robot 300 to move the picking assembly 322 up and down along the height direction of the first robot rack 2-100 by using the lifting assembly 321, so as to move to the height corresponding to the storage position 111 where the to-be-delivered container 500 is located, and pick up the to-be-delivered container 500 by using the picking assembly 322, and move to the idle temporary storage position 211 of the second robot rack 200.

[0262] If the number of to-be-delivered containers 500 is more than one, the new optimal docking position can be determined according to the positions of the to-be-delivered containers 500 in the first robot rack 2-100, and the above steps B-D are repeated to move all the to-be-delivered containers 500 to the idle temporary storage positions 211 of the second robot rack 200.

[0263] Step F, after the second robot rack 200 is full or reaches a predetermined time length, instruct the second robot 400 to move the second robot rack 200 to the destination along the travel channel.

[0264] In the case that the to-be-delivered goods are in the to-be-delivered container 500, and there are goods that do not need to be delivered in the to-be-delivered container 500, instruct the second robot 400 to travel to the workstation 800 along the first external travel channel 710.

[0265] In the workstation 800, the to-be-delivered goods can be manually picked out and delivered, and the other goods that do not need to be delivered can be left in the original container 500, and at the same time, the to-be-stored goods can be supplemented to the original container 500 as a to-be-stored container 500. The second robot 400 carries the second robot rack 200 to the first storage space 120 of the first robot rack 2-100, and the first robot 300 carries the goods to the first storage space 110 for storage in the future.

[0266] In the case that the to-be-delivered container 500 needs to be delivered in a whole box, that is, all the goods in the to-be-delivered container 500 are to-be-delivered goods, instruct the second robot 400 to travel to the review and packaging area 900 along the second external travel channel 720, and after completing the automatic review and packaging, directly deliver.

[0267] In the storage process, first, the goods are manually carried to the second robot rack 200. Specifically, in the workstation 800, the to-be-stored goods can be placed in the to-be-stored container 500 by manual operation. The to-be-stored container 500 is placed in the idle temporary storage position 211 of the second robot 400. Then, the control device can be instructed to execute the following steps:

[0268] Step E, according to the position of the idle storage positions 111 of the first robotic rack 2-100, the idle storage positions 111 are assigned to the second robotic rack 200 based on the principle of from near to far and / or the number of to-be-warehoused containers 500 on the second robotic rack 200 ≤ the number of idle storage positions 111 concentrated in the position of the first robotic rack 2-100.

[0269] The second robotic rack 200 in this step can be a second robotic rack 200 that has been filled with the workstations 800, or a second robotic rack 200 that has not been filled, as long as it carries the to-be-warehoused containers 500.

[0270] Step F, according to the position of the assigned idle storage positions 111, the optimal docking position of the docking channel 600 is determined.

[0271] Step G, instruct the second robot 400 to move the second robotic rack 200 carrying the to-be-warehoused containers 500 to the optimal docking position.

[0272] Step H, instruct the first robot 300 to move to the position of the storage column where the idle storage position 111 is based on the support frame 130.

[0273] Step I, instruct the first robot 300 to move the picking assembly 322 up and down along the height direction of the first robotic rack 2-100 by using the lifting assembly 321, so that it moves to the height corresponding to the to-be-warehoused container 500 on the second robot 400, and uses the picking assembly 322 to carry the to-be-warehoused container 500 to the picking assembly 322; and moves the picking assembly 322 upward along the height direction of the first robotic rack 2-100 by using the lifting assembly 321, so that the carried to-be-warehoused container 500 moves to the height corresponding to the idle storage position 111, and uses the picking assembly 322 to move the to-be-warehoused container 500 to the idle storage position 111 of the first robotic rack 2-100.

[0274] If the number of to-be-warehoused containers 500 is multiple, the new optimal docking position can be determined according to the position of the to-be-warehoused container 500 on the first robotic rack 2-100, and the above steps G-I are repeated to move all to-be-warehoused containers 500 to the idle storage positions 111 of the first robotic rack 2-100. Complete the warehousing operation.

[0275] The application of the above embodiment can obtain the following beneficial effects:

[0276] First, in the embodiment, the first robot 300 is used for cargo handling, which can carry the container 500 on the first robot shelf 2-100 to the second robot shelf 200, or store the container 500 on the second robot shelf 200 into the first robot shelf 2-100. Only the second robot 400 carries the second robot shelf 200 to the workstation for cargo unpacking and sorting or whole box delivery, which improves the cargo handling efficiency of the first robot 300.

[0277] Second, in the embodiment, through the cargo handling of the first robot 300, the container 500 containing the cargo that needs to be delivered can be carried to the second robot shelf 200, and the cargo that does not need to be delivered is retained in the first robot shelf 2-100, so that the containers 500 on the second robot shelf 200 carried by the second robot 400 all need to be delivered, which improves the shelf hit rate of the second robot 400, reduces the carrying frequency of the second robot 400, and improves the carrying efficiency of the second robot 400.

[0278] Third, in the embodiment, the containers 500 stored in the first robot shelf 2-100 and the second robot shelf 200 can be carried by the second robot 400 through the second robot shelf 200, and the second robot shelf 200 is provided with a plurality of temporary storage positions 211, so that a plurality of containers 500 can be transferred in one transfer process of the second robot 400, improving the transfer efficiency. In addition, in the embodiment, the containers 500 are stored and transferred through the first robot shelf 2-100 and the second robot shelf 200, compared with the scheme of only using the second robot shelf to store and transfer the containers 500, the existence of the first robot shelf 2-100 increases the vertical storage space.

[0279] Fourth, in the embodiment, for the whole box delivery scenario, that is, the scenario in which all the goods in the container 500 need to be delivered, the first robot 300 can carry the container 500 from the first robot shelf 2-100 to the second robot shelf 200, and then the second robot 400 carries the second robot shelf 200 to the review and packaging area, and after the process is completed, the second robot 400 is triggered to carry the second robot shelf 200 back. Therefore, the second robot shelf 200 can play a dual role of transfer and caching.

[0280] Fifth, in the embodiment, for the whole box delivery scenario, the container 500 is carried from the first robot shelf 2-100 to the sorting area of the workstation 800 and delivered, and since whole box delivery does not require manual sorting, it can realize unmanned sorting and achieve the effect of reducing cost and increasing efficiency.

[0281] In the embodiment shown in FIG. 16, the second robot 400 enters the docking passage 600 of the first robot rack 2-100 with the second robot rack 200 from the side of the first robot rack 2-100 in the width direction. In other embodiments, referring to FIG. 17, which is a top view of a third embodiment of the fourth warehouse system provided in the embodiments of the present application, the second robot 400 can also enter the docking passage 600 of the first robot rack 2-100 with the second robot rack 200 from the side of the first robot rack 2-100 in the length direction.

[0282] As can be seen from the embodiments shown in FIG. 16 and FIG. 17, the warehouse system provided in the embodiments of the present application can be flexibly set according to the actual site of the warehouse in terms of the way the second robot 400 enters the first robot rack 2-100, thus improving the practicality.

[0283] In addition, as mentioned above, the first robot rack 2-100 can be a double-deep rack, and can also be a multi-deep rack. For example, referring to FIG. 18, which is a top view of a fourth embodiment of the fourth warehouse system provided in the embodiments of the present application, in this embodiment, the first robot rack 2-100 is a four-deep rack, which can store more containers 500.

[0284] Next, the warehousing method provided in the embodiments of the present application will be described in detail.

[0285] The warehousing method provided in the embodiments of the present application is applied to a control device, which is in communication connection with the first robot and the second robot of the fourth warehouse system described above.

[0286] Referring to FIG. 19, which is a flowchart of a first embodiment of the warehousing method provided in the embodiments of the present application, the flowchart includes the following steps:

[0287] In step S1000, the target idle storage positions of the containers to be warehoused are determined according to the number of the containers to be warehoused, and the number and positions of the idle storage positions on the first robot rack.

[0288] In step S1010, the second robot is instructed to move the second robot rack to be warehoused to the first containing space of the first robot rack, and the containers to be warehoused are temporarily stored on the temporary storage positions on the second robot rack to be warehoused.

[0289] In step S1020, the first robot is instructed to move the containers to be warehoused of the second robot rack to the target idle storage positions on the first robot rack.

[0290] The embodiment is applied to the warehouse system as described above. The method comprises the following steps: instructing a second robot temporarily storing a to-be-warehoused container to move to a containing space at the bottom of a first robot rack; and instructing the first robot to move the to-be-warehoused container of the second robot rack to a target idle storage bin of the first robot rack. The second robot can drive the second robot rack to move, thereby realizing the warehousing function of the container. In addition, the second robot rack in the embodiment of the application is provided with a plurality of temporary storage bins. Therefore, the second robot can store a plurality of containers at a time, thereby improving the warehousing efficiency, i.e., improving the warehouse operation efficiency.

[0291] It should be noted that the container in the embodiment refers to a container capable of containing goods, for example, a box, a tray, etc., which is not limited in the application.

[0292] In some embodiments, in order to improve the goods taking efficiency, the second robot rack can be determined to be parked at the target docking position of the first robot rack. Specifically, referring to FIG. 20, which is a flowchart of a second embodiment of the warehousing method provided by the application. The first robot in the embodiment comprises a column gantry, a carrying mechanism and at least one sliding guide rail.

[0293] The flowchart comprises the following steps:

[0294] In step S1000, the target idle storage bin of each to-be-warehoused container is determined according to the number of to-be-warehoused containers, and the number and position of idle storage bins on the first robot rack.

[0295] In this step, the number of to-be-warehoused containers input by a user can be received through a man-machine interactive interface. The number and position of idle storage bins on the first robot rack can be obtained based on the storage record of the first robot rack.

[0296] Then, the target idle storage bin of each to-be-warehoused container is determined according to the number of to-be-warehoused containers, and the number and position of idle storage bins on the first robot rack.

[0297] In step S1001, the target docking position of the first containing space of the first robot rack to which the second robot rack moves is determined according to the position of each target idle storage bin on the first robot rack.

[0298] In step S1010a, the second robot is instructed to move the to-be-warehoused second robot rack to the target docking position.

[0299] The second robot can place the second robot shelf to be stored in the target docking position and leave, or can temporarily stay in the target docking position and wait for the next movement instruction. The principle of high efficiency is set, and no limitation is made here.

[0300] In step S1020a, the first robot is sent a first operation instruction containing the target docking position, so that the first robot moves horizontally on the first robot shelf to a position corresponding to the target docking position by using the sliding guide, and moves the carrying mechanism downward along the column gantry to a position corresponding to the container to be stored on the second robot shelf, takes out the container to be stored from the second robot shelf by using the carrying mechanism, and at least moves upward to place the container to be stored in the corresponding target idle storage bin.

[0301] In this embodiment, after the target idle storage bin is determined, the target docking position of the second robot shelf moving to the first containing space of the first robot shelf is further determined according to the position of the target idle storage bin on the first robot shelf. For example, the target idle storage bin is concentrated in the lower right corner of the first robot shelf, and the target docking position can be set near the lower right corner to facilitate the first robot to move the container to be stored to the target idle storage bin, reduce the moving distance of the first robot, and improve the efficiency of the first robot in moving and taking and placing the container to be stored.

[0302] In some embodiments, in order to adapt to the case that the target idle storage bin is not concentrated in one area of the first robot shelf, a plurality of target operation areas of the first robot can be divided first, so that the first robot performs storage operation in different target operation areas. Specifically, refer to FIG. 21, which is a flow of a third embodiment of the storage method provided in the embodiment of the application;

[0303] The flow includes the following steps:

[0304] In step S1000, the target idle storage bin of each container to be stored is determined according to the number of containers to be stored, and the number and position of idle storage bins on the first robot shelf.

[0305] In this step, the target idle storage bin of each container to be stored can be determined according to the principle of moving distance of the second robot from the starting point from near to far, and / or the principle of position concentration of the target idle storage bin on the first robot shelf.

[0306] For example, at the first position closest to the starting point of the second robot, there are several relatively concentrated idle storage positions on the first robot shelf; at the upper left corner of the second position slightly far from the starting point of the second robot, there are several relatively concentrated idle storage positions. If the number of containers to be stored does not exceed the several relatively concentrated idle storage positions at the first position, the several adjacent idle storage positions at the first position corresponding to the number of containers to be stored are determined as the target idle storage positions.

[0307] If the number of containers to be stored exceeds the several relatively concentrated idle storage positions at the first position, the several relatively concentrated idle storage positions at the first position are all determined as the target idle storage positions; and the several adjacent idle storage positions at the first position corresponding to the number of remaining containers to be stored are also determined as the target idle storage positions.

[0308] At step S1002, a plurality of target operation areas of the first robot are divided according to the positions of the target idle storage positions on the first robot shelf; wherein the distance between the target idle storage positions contained in each target operation area is less than a preset distance.

[0309] In this step, the target idle storage positions are concentrated at different positions on the first robot shelf, and the different position areas where the target idle storage positions are concentrated can be divided into a target operation area respectively. For example, in the previous example, the first position can be divided into a target operation area, and the second position can be divided into another target operation area. Of course, the number of target operation areas is determined according to the concentration of the positions of the target idle storage positions on the first robot shelf, which is not limited here.

[0310] At step S1003, a corresponding target docking position and a corresponding part of the containers to be stored are determined for each target operation area according to the position of each target operation area.

[0311] In this step, in order to facilitate the first robot to move the containers to be stored, a corresponding target docking position and a corresponding part of the containers to be stored are determined for each target operation area. For example, in the previous example, the two target operation areas can correspond to two target docking positions.

[0312] Step S1010b, sequentially sending the second robot a movement instruction including a target docking position; causing the second robot to move the second robot shelf with to-be-stored containers to the target docking position after receiving the movement instruction each time, and waiting for the first robot to move the part of to-be-stored containers corresponding to the target docking position to the corresponding target idle storage bin; in the case of receiving a signal that the first robot has completed the movement of the part of to-be-stored containers each time, sending the second robot a movement instruction including a next target docking position.

[0313] Since the target docking positions are determined in the previous step, in this step, a movement instruction including a target docking position needs to be sent to the second robot sequentially. The second robot moves to a target docking position, lowers the second robot shelf, and waits for the first robot to move the part of to-be-stored containers corresponding to the target docking position to the corresponding target idle storage bin after receiving the movement instruction each time. Then, the second robot receives the next movement instruction sent by the control device in the case of receiving a signal that the first robot has completed the movement of the part of to-be-stored containers each time, and lifts the second robot shelf and moves to the next target docking position, and so on.

[0314] Step S1020b, sending the first robot a second operation instruction containing each target operation area, causing the first robot to move to each target operation area on the first robot shelf in sequence using the sliding guide and the column gantry, and in each target operation area, moving the carrying mechanism downward along the column gantry to the position corresponding to the to-be-stored container on the second robot shelf, taking the to-be-stored container from the second robot shelf using the carrying mechanism, and placing it on the corresponding target idle storage bin at least by moving upward.

[0315] In this step, the first robot moves to each target operation area in sequence according to the second operation instruction, performs storage operation in each target operation area, and moves all to-be-stored containers to the first robot shelf. As in the previous example, the first robot can first move to the target operation area corresponding to the first position and perform storage operation, and then move to the target operation area corresponding to the second position after the second robot shelf moves to another target docking position and performs storage operation.

[0316] In this embodiment, the target idle storage positions can be determined from one or more centralized areas on the first robotic shelf, and based on different positions of different centralizations of the respective target idle storage positions, a plurality of target operation areas of the first robot are divided, and a target docking position is determined for each target operation area. In this way, the plurality of target operation areas and the target docking position are as close as possible. The first robot realizes zoned warehousing operation, which improves the warehousing efficiency compared with irregular out-of-order warehousing operation.

[0317] In another embodiment, the target docking position can be dynamically updated during the warehousing operation of the first robot.

[0318] Specifically, after determining the target docking position, before performing the warehousing operation, the predicted operation time required for the first robot to move all the to-be-warehoused containers to the respective target idle storage positions can be predicted based on the positions of the respective target idle storage positions and the position of the target docking position, under the condition that the target docking position remains unchanged.

[0319] If the predicted operation time is not greater than a preset threshold, the first robot is instructed to move all the to-be-warehoused containers of the second robotic shelf to the corresponding target idle storage positions on the first robotic shelf, respectively.

[0320] If the predicted operation time is greater than the preset threshold, the first robot is instructed to move part of the to-be-warehoused containers of the second robotic shelf to the corresponding target idle storage positions on the first robotic shelf, respectively.

[0321] The target docking position is updated based on the positions of the respective target idle storage positions corresponding to the remaining to-be-warehoused containers.

[0322] The second robot is instructed to move to the updated target docking position.

[0323] The first robot is instructed to move the remaining to-be-warehoused containers of the second robotic shelf to the corresponding target idle storage positions on the first robotic shelf.

[0324] In this embodiment, the target docking position can be dynamically updated during the warehousing operation of the first robot, and the operation mode is relatively flexible, but compared with the previous embodiment, the control device interacts more with the first robot and the second robot. It can be selected according to the actual needs of the system, which is not limited here.

[0325] Next, the out-of-warehouse method provided by the embodiments of the present application will be described in detail.

[0326] The warehouse-out method provided in the embodiments of the present application is applied to a control device, which is in communication connection with the first robot and the second robot of the fourth warehouse system.

[0327] Referring to FIG. 22, FIG. 22 is a flow of a first embodiment of the warehouse-out method provided in the embodiments of the present application; the flow comprises the following steps:

[0328] In step S1100, a second robot warehouse to be out is determined according to the number of containers to be out; the second robot warehouse to be out has idle temporary storage positions;

[0329] In step S1110, the second robot is instructed to move the second robot warehouse to be out to the first containing space of the first robot warehouse;

[0330] In step S1120, the first robot is instructed to move the containers to be out on the first robot warehouse to the idle temporary storage positions of the second robot warehouse to be out;

[0331] In step S1130, the second robot is instructed to move the second robot warehouse to be out to a destination.

[0332] The embodiments are applied to the warehouse system described above; the method instructs the first robot to move the containers to be out from the first robot warehouse to the idle temporary storage positions of the second robot warehouse, and instructs the second robot to move the second robot warehouse to be out to a destination, so that the second robot can move the second robot warehouse to the destination, and the warehouse-out function of the containers is realized. In addition, the second robot warehouse in the embodiments of the present application is provided with a plurality of temporary storage positions, so that the second robot can warehouse-out a plurality of containers at a time, and the warehouse-out efficiency is improved, that is, the warehouse operation efficiency is improved.

[0333] It should be noted that the containers in the embodiments refer to containers capable of containing goods, for example, can be boxes, pallets, etc., which are not limited in the present application. In addition, in the embodiments, the destination can be a workstation or a review and packaging area.

[0334] In some embodiments, in order to improve the goods taking efficiency, the target docking position of the second robot warehouse at the first robot warehouse can be determined first. Specifically, referring to FIG. 23, FIG. 23 is a flow of a second embodiment of the warehouse-out method provided in the embodiments of the present application; the first robot in the embodiments comprises a column gantry, a carrying mechanism and at least one sliding guide rail.

[0335] The flow comprises the following steps:

[0336] In step S1100, a second robot warehouse to be out is determined according to the number of containers to be out; the second robot warehouse to be out has idle temporary storage positions;

[0337] In this step, if there is a free temporary storage position on the second robotic shelf in the first containing space of the first robotic shelf, and the number of containers to be picked out is less than or equal to the number of the free temporary storage position, the second robotic shelf is determined as the second robotic shelf to be picked out. If the second robotic shelf is full, the second robot can be instructed to move the full second robotic shelf to another position first, and a second robotic shelf with a free temporary storage position and a number of free temporary storage positions greater than or equal to the number of containers to be picked out is selected as the second robotic shelf to be picked out.

[0338] Step S1101, according to the number of containers to be picked out and the positions of the storage positions where the containers to be picked out are located, determine the target docking position of the second robotic shelf moved to the first containing space of the first robotic shelf.

[0339] Step S1110a, instruct the second robot to move the second robotic shelf to be picked out to the target docking position.

[0340] After the second robot moves the second robotic shelf to be picked out to the target docking position, the second robotic shelf can be placed on the target docking position and left, or temporarily stay at the target docking position and wait for the moving instruction to move it to the destination. According to the principle of which is more efficient in practice, this is not limited here.

[0341] In this embodiment, the destination can be a workstation or a review and packaging area.

[0342] Step S1120a, send a first operation instruction containing the target docking position and the positions of the containers to be picked out to the first robot, so that the first robot moves horizontally on the first robotic shelf to the column where the containers to be picked out are located using the sliding guide rail, and moves the carrying mechanism up and down on the column portal to the layer where the containers to be picked out are located, uses the carrying mechanism to pick up the containers to be picked out from the first robotic shelf, and at least moves downward to place on the free temporary storage position of the second robotic shelf.

[0343] Step S1130, instruct the second robot to move the second robotic shelf to be picked out to the destination.

[0344] In this embodiment, according to the number of containers to be taken out and the positions of the storage positions of the containers to be taken out, the target docking position of the second robot shelf moving to the first containing space of the first robot shelf is determined. For example, the storage positions of the containers to be taken out are concentrated in the lower right corner of the first robot shelf, and the target docking position can be set near the lower right corner to facilitate the first robot to move the containers to be taken out to the idle temporary storage positions of the second robot shelf, reduce the moving distance of the first robot, and improve the efficiency of the first robot in moving and taking the containers to be taken out.

[0345] In some embodiments, in order to adapt to the case that the containers to be taken out are not concentrated in one area of the first robot shelf, a plurality of target operation areas of the first robot can be divided first, so that the first robot performs the taking-out operation in different target operation areas. Specifically, referring to FIG. 24, FIG. 24 is a flowchart of a third embodiment of the taking-out method provided in this application;

[0346] The flowchart includes the following steps:

[0347] In step S1100, the second robot shelf to be taken out is determined according to the number of containers to be taken out; the second robot shelf to be taken out has idle temporary storage positions.

[0348] In step S1102, a plurality of target operation areas of the first robot are divided according to the positions of the containers to be taken out on the first robot shelf; wherein the distance between the containers to be taken out in each target operation area is less than a preset distance.

[0349] In this step, if the containers to be taken out are concentrated in two areas on the first robot shelf, a plurality of target operation areas of the first robot are divided for the two areas. Of course, the number of target operation areas to be divided is determined according to the concentration of the positions of the containers to be taken out on the first robot shelf, which is not limited here.

[0350] In step S1103, a corresponding target docking position and a corresponding part of the containers to be taken out are determined for each target operation area according to the position of each target operation area.

[0351] In this step, in order to facilitate the first robot to move the containers to be taken out, a corresponding target docking position and a corresponding part of the containers to be taken out are determined for each target operation area. For example, in the previous example, the two target operation areas can correspond to two target docking positions.

[0352] Step S1110b, sequentially sending the second robot a movement instruction including a target docking position; so that the second robot moves the second robot shelf to be taken out of the warehouse to the corresponding target docking position after receiving the movement instruction each time, and waits for the first robot to move the part of the container to be taken out of the warehouse corresponding to the target docking position to the idle temporary storage position of the second robot shelf; in the case of receiving the signal that the first robot has completed the movement of the part of the container to be taken out of the warehouse each time, sending the second robot a movement instruction including a next target docking position.

[0353] In this step, the movement mode of the second robot at each target docking position can refer to the description of the third embodiment of the warehousing method described above, which will not be described here.

[0354] Step S1120b, sending the first robot a second operation instruction containing each target operation area, so that the first robot moves to each target operation area on the first robot shelf in turn using the sliding guide rail and the column gantry, and moves the carrying mechanism up and down along the column gantry to the layer where the container to be taken out of the warehouse is located at each target operation area, takes out the container to be taken out of the warehouse from the first robot shelf using the carrying mechanism, and at least moves downward to place on the idle temporary storage position of the second robot shelf.

[0355] In this step, the first robot moves to each target operation area in turn according to the second operation instruction, and performs the warehouse-out operation at each target operation area until all the containers to be taken out of the warehouse are moved to the second robot shelf.

[0356] Step S1130, instructing the second robot to move the second robot shelf to be taken out of the warehouse to the destination.

[0357] In this embodiment, one or more concentrated areas of containers to be taken out of the warehouse on the first robot shelf can be divided into a plurality of target operation areas of the first robot, and a target docking position corresponding to each target operation area is determined. In this way, the distance between each of the plurality of target operation areas and each target docking position is as close as possible. The first robot realizes zoned warehouse-out operation, which improves the warehouse-out efficiency to a certain extent compared with irregular out-of-order warehouse-out operation.

[0358] Similar to the warehousing method, in another embodiment, the target docking position can be dynamically updated during the execution of the warehouse-out operation by the first robot.

[0359] Specifically, after determining the target docking position and before executing the warehouse-out operation, the predicted operation time required by the first robot to move all the containers to be taken out of the warehouse to the idle temporary storage position can be predicted based on the position of each storage position of the container to be taken out of the warehouse and the position of the target docking position under the condition that the target docking position remains unchanged.

[0360] if the predicted operation duration is not greater than a preset threshold, instructing the first robot to move all the to-be-shipped containers on the first robot shelf to respective idle temporary storage positions on the second robot shelf;

[0361] if the predicted operation duration is greater than the preset threshold, instructing the first robot to move part of the to-be-shipped containers on the first robot shelf to part of the idle temporary storage positions on the second robot shelf;

[0362] updating the target docking position based on the positions of the remaining storage positions where the respective to-be-shipped containers are located;

[0363] instructing the second robot to move to the updated target docking position;

[0364] instructing the first robot to move the remaining to-be-shipped containers on the first robot shelf to the remaining idle temporary storage positions on the second robot shelf.

[0365] In this embodiment, the target docking position can be dynamically updated during the shipment operation of the first robot, and the operation mode is relatively flexible, but the interaction between the control device and the first robot and the second robot is slightly more than that in the previous embodiment. The actual needs of the system can be selected, which is not limited here.

[0366] In addition, the present application also provides a control device, as shown in Figure 25, comprising:

[0367] a memory 1601 for storing computer programs;

[0368] a processor 1602 for executing the programs stored in the memory 1601 to realize the steps of the above order processing method:

[0369] obtaining a set of to-be-processed orders and inventory information of a storage area and a handling area; wherein the set of to-be-processed orders is processed at the same sorting workbench, the storage area is provided with at least one fixed high shelf, and the handling area is provided with at least one movable shelf;

[0370] determining the storage position of each target bin requested by the set of to-be-processed orders, and any of the storage positions is located on the fixed high shelf or the movable shelf;

[0371] determining a target movable shelf with the highest target bin hit rate;

[0372] moving the target movable shelf to the sorting workbench located in the sorting area.

[0373] Or, the steps of implementing the above-mentioned warehousing method are:

[0374] According to the number of containers to be warehoused, and the number and position of idle storage positions on the first robot shelf, determine the target idle storage position of each container to be warehoused;

[0375] Indicate the second robot to move the second robot shelf to be warehoused to the first containing space of the first robot shelf; the temporary storage position on the second robot shelf to be warehoused temporarily stores the container to be warehoused;

[0376] Indicate the first robot to move the container to be warehoused of the second robot shelf to the target idle storage position of the first robot shelf.

[0377] Or, the steps of implementing the above-mentioned warehousing method are:

[0378] According to the number of containers to be warehoused, determine the second robot shelf to be warehoused; the second robot shelf to be warehoused has an idle temporary storage position;

[0379] Indicate the second robot to move the second robot shelf to be warehoused to the first containing space of the first robot shelf;

[0380] Indicate the first robot to move the container to be warehoused on the first robot shelf to the idle temporary storage position of the second robot shelf to be warehoused;

[0381] Indicate the second robot to move the second robot shelf to be warehoused to the destination.

[0382] And the above-mentioned electronic device can also include a communication bus and / or a communication interface, and the processor 1602, the communication interface, and the memory 1601 can complete mutual communication through the communication bus.

[0383] In addition, the above-mentioned control device can be implemented by a computer, and can also include a communication module, such as a wired network card or a wireless network card, for communication connection with the first carrier and the second carrier.

[0384] The communication bus mentioned in the above-mentioned electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0385] The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0386] The memory can include a random access memory (RAM) and can also include a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0387] The aforementioned processor can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0388] In yet another embodiment provided in the present application, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the steps of any of the aforementioned order processing method, warehousing method or warehousing-out method.

[0389] In yet another embodiment provided in the present application, a computer program product containing instructions is also provided, and when the computer program product is run on a computer, the computer is caused to execute any of the aforementioned order processing method, warehousing method or warehousing-out method.

[0390] In the embodiments described above, the entire or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, the entire or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded into and executed by a computer, the entire or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatuses. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a solid state disk (SSD) and the like.

[0391] Next, a fifth warehouse system provided by the embodiments of the present application is described in detail.

[0392] Referring to FIGS. 26a and 26b, FIG. 26a is a top view of a first embodiment of a fifth warehouse system provided by the embodiments of the present application, and FIG. 26b is a top view of a second embodiment of the fifth warehouse system provided by the embodiments of the present application. As shown in FIGS. 26a and 26b, the warehouse system includes a storage area 3-110, a sorting area 3-120, a plurality of mobile racks 3-200, a carrying robot 3-300, and a sorting robot 3-400. The storage area 3-110 is configured to store the mobile racks 3-200, and the sorting area 3-120 is configured to sort the mobile racks 3-200 in this area.

[0393] Each mobile rack 3-200 includes a storage space 3-210 and a containing space 3-220. The storage space 3-210 is provided with a plurality of storage positions 3-211 for storing containers 3-600. The containing space 3-220 is arranged at a lower portion of the storage space 3-210 and is configured to allow the carrying robot 3-300 to move the mobile rack 3-200.

[0394] The carrying robot 3-300 is used to move the movable shelves 3-200 with goods to be sorted in the storage area 3-110 to the sorting area 3-120, or to carry the sorted movable shelves 3-200 in the sorting area 3-120 to the storage area 3-110.

[0395] The sorting robot 3-400 is movably arranged in the sorting area 3-120, and is used to sort the containers 3-600 storing the same type of goods in the movable shelves 3-200 in the sorting area 3-120 into the same movable shelves 3-200.

[0396] The warehouse system provided by the embodiment of the present application uses the carrying robot 3-300 to move the movable shelves 3-200 with goods to be sorted in the storage area 3-110 to the sorting area 3-120, and uses the sorting robot 3-400 in the sorting area 3-120 to take and place the containers 3-600 in the movable shelves 3-200, so as to sort the containers 3-600 storing the same type of goods into the same movable shelves 3-200, and then uses the carrying robot 3-300 to carry the sorted movable shelves 3-200 to the storage area 3-110, thereby realizing automatic sorting, and when the next goods are taken out, the sorted movable shelves 3-200 can be taken out more quickly, and the warehouse operation efficiency is improved.

[0397] Moreover, the sorting robot 3-400 is used to sort the goods in the specially arranged sorting area 3-120, and has the advantages of low cost, no occupation of manual station in the sorting process, and saving of labor cost. In addition, as shown in FIGS. 26a and 26b, one sorting robot 3-400 can sort multiple movable shelves 3-200, thereby realizing many-to-many sorting, and the sorting efficiency is higher.

[0398] In the embodiment shown in FIGS. 26a and 26b, in order to store more containers 3-600, the movable shelves 3-200 adopt double-depth movable shelves, and the corresponding sorting robot 3-400 is a robot capable of taking and placing the containers 3-600 of the double-depth shelves. In other embodiments, the movable shelves 3-200 can also adopt triple-depth or single-depth movable shelves, and the corresponding sorting robot 3-400 can take and place the containers 3-600 of each depth.

[0399] In the embodiment shown in FIG. 26a, the sorting robot 3-400 adopts a track type container carrying device, and moves horizontally along the length direction of the movable shelves 3-200 based on the floor support frame 3-1210, thereby realizing sorting. The specific structure and implementation manner are described in detail in the subsequent description.

[0400] In the embodiment shown in FIG. 26b, the container handling robot driven by the movable chassis is used in the inventory robot 3-400 to move along the inventory channel 3-121 to achieve inventory, and the specific structure and implementation manner will be described later.

[0401] It should be noted that the container in the embodiment refers to a container capable of accommodating goods, for example, a box, a pallet, etc., which is not limited in the present application.

[0402] In specific applications, as shown in FIGS. 26a and 26b, in the embodiment, a preset position of the inventory area 3-120 is provided with an inventory channel 3-121 for the inventory robot 3-400 to perform inventory operation; the handling robot 3-300 moves the target shelf 3-230 and the movable shelf 3-200 to be inventoried in the storage area 3-110 to the inventory area 3-120 when inventory is needed, so that the movable shelf 3-200 to be inventoried and the target shelf 3-230 are located on both sides of the length direction of the inventory channel 3-121; wherein the target shelf 3-230 is an empty shelf, or a movable shelf 3-200 with idle storage positions 3-211.

[0403] In the embodiment shown in FIGS. 26a and 26b, the movable shelf 3-200 to be inventoried and the target shelf 3-230 are located on both sides of the length direction of the inventory channel 3-121, and in other embodiments, the movable shelf 3-200 to be inventoried and the target shelf 3-230 are located on one side of the length direction of the inventory channel 3-121, which is not limited here.

[0404] As shown in FIGS. 26a and 26b, in the embodiment, the inventory robot 3-400 can move along the length direction of the inventory channel 3-121, and based on the lifting function of itself, the containers 3-600 storing the same type of goods on the movable shelf 3-200 to be inventoried are arranged in the same target shelf 3-230 and / or the movable shelf 3-200 to be inventoried along the length direction and the vertical direction.

[0405] In the embodiment, the preset inventory channel 3-121 in the inventory area 3-120 makes the inventory area 3-120 more orderly, the inventory process more regular and orderly, and the inventory space of the inventory area 3-120 can be effectively utilized.

[0406] Referring to FIG. 27, FIG. 27 is a partial top view of the inventory area in the embodiment shown in FIG. 26b. FIG. 27 shows the case where the inventory robot 3-400 performs inventory in the inventory channel 3-121.

[0407] As shown in FIG. 26b, the container carrying robot driven by the movable chassis takes the container 3-600 on the movable rack 3-200 out, moves horizontally and / or vertically, and transfers it to other storage positions 3-211 (each position in FIG. 27 corresponds to a storage position 3-211). As shown in FIG. 27, the inventory robot 3-400 in this embodiment can take the container 3-600 on the movable rack 3-200 out, move horizontally and / or vertically, and transfer it to other storage positions 3-211 (each position in FIG. 27 corresponds to a storage position 3-211).

[0408] 1) From a storage position 3-211 of a movable rack 3-200 to a storage position 3-211 on the other movable rack (i.e., the target rack 3-230 in FIG. 27) on the other side of the inventory channel 3-121, for example: position 1 -> position 2.

[0409] 2) From a storage position 3-211 of a movable rack 3-200 to a storage position 3-211 on the other movable rack 3-200 on the same side of the inventory channel 3-121, for example: position 1 -> position 3.

[0410] 3) From a storage position 3-211 of a movable rack 3-200 to another storage position 3-211 on the same rack, which can be on the same layer or different layers, for example: position 1 -> position 4.

[0411] In addition, since this embodiment adopts a double-deep movable multi-layer rack, the inventory robot 3-400 in this embodiment can support double-deep picking and placing, i.e., picking and placing goods in the first deep position or the second deep position at the same time.

[0412] The inventory robot 3-400 in this embodiment can be a container carrying robot driven by a movable chassis that can realize horizontal movement, in addition to the vertical container carrying shown in FIG. 26b. It can also be a track-type container carrying device that can realize vertical container carrying and limited range horizontal movement, as shown in FIG. 26a, which will be described in detail later.

[0413] As can be seen from the above embodiments, the inventory robot 3-400 in this embodiment can adopt a track-type container carrying device or a container carrying robot driven by a movable chassis, and can be set according to the actual application site of the warehouse system, with strong flexibility.

[0414] Below, the warehouse systems of the two implementation modes of the inventory robot 3-400 are described in detail.

[0415] In the case of using the track type container handling device for the goods arrangement robot 3-400, see FIG. 28a and FIG. 28b, FIG. 28a is a perspective view of the positional relationship between the handling robot shown in FIG. 26a and the mobile rack, and FIG. 28b is a view from another angle (not including the mobile rack on the right side of FIG. 28a). As shown in FIG. 28a and FIG. 28b, in order to use the track type container handling device, a floor support frame 3-1210 can be arranged in the goods arrangement passage 3-121 along the length direction of the mobile rack 3-200.

[0416] The goods arrangement robot 3-400, i.e. the track type container handling device, is arranged on the floor support frame 3-1210, and the goods arrangement robot 3-400 can move horizontally along the length direction of the mobile rack 3-200 on the floor support frame 3-1210, and can realize the taking and placing of the containers 3-600 on the mobile rack 3-200 along the length direction and the vertical direction based on the lifting function of the goods arrangement robot 3-400.

[0417] As shown in FIG. 28a and FIG. 28b, the floor support frame 3-1210 can be a gantry frame including a plurality of support cross beams 3-1211 and support vertical beams 3-1212. The support cross beams 3-1211 are arranged in the vertical direction of the mobile rack 3-200, and the support vertical beams 3-1212 are fixed on the ground at intervals, and the support cross beams 3-1211 span between the support vertical beams 3-1212. The first robot 300 is installed on the support cross beams 3-1211 and is movably connected with the support cross beams 3-1211, so that the goods arrangement robot 3-400 can move along the horizontal direction of the mobile rack 3-200 based on the support cross beams 3-1211.

[0418] As shown in FIG. 28a and FIG. 28b, in this embodiment, the floor support frame 3-1210 is provided with two support cross beams 3-1211 arranged at intervals in the length direction of the mobile rack 3-200, and the goods arrangement robot 3-400 is movably connected with the two support cross beams 3-1211, so as to realize the horizontal movement of the goods arrangement robot 3-400 along the floor support frame 3-1210.

[0419] Referring to FIG. 28a, FIG. 28b, FIG. 29a and FIG. 29b, FIG. 29a is a schematic view of a first angle structure of the cargo arranging robot in the embodiment shown in FIG. 28a, and FIG. 29b is a schematic view of a second angle structure of the cargo arranging robot in the embodiment shown in FIG. 28a. As shown in FIG. 28a, FIG. 28b, FIG. 29a and FIG. 29b, the cargo arranging robot 3-400 comprises a first column gantry 3-410, a first carrying mechanism 3-420 and at least one guide rail 3-430. The first column gantry 3-410 is installed along the vertical direction of the floor support frame 3-1210. The first carrying mechanism 3-420 is arranged on the first column gantry 3-410 and has a lifting function for taking and placing containers 3-600 of different heights of the movable rack 3-200. The at least one guide rail 3-430 is fixedly installed on the support beam 3-1211 of the floor support frame 3-1210. The first column gantry 3-410 is movably connected with the at least one guide rail 3-430, so that the first column gantry 3-410 and the first carrying mechanism 3-420 move horizontally along the support beam 3-1211 to take and place different containers 3-600 in the length direction of the movable rack 3-200.

[0420] In this embodiment, in order to make the cargo arranging robot 3-400 stable, two guide rails 3-430 are arranged on the cargo arranging robot 3-400 and are fixed on two support beams 3-1211 of the floor support frame 3-1210 (for example, the guide rails 3-430 can be fixed on the support beams by screws). The first column gantry 3-410 is movably connected with the two support beams 3-1211 to move horizontally along the floor support frame 3-1210.

[0421] Specifically, as shown in FIG. 29a, the two door columns 3-411 fixed on the first column gantry 3-410 are provided with rollers 3-431. The rollers 3-431 can drive the first column gantry 3-410 and the first carrying mechanism 3-420 arranged between the two door columns 3-411 to move horizontally along the guide rail 3-430. Since the guide rail 3-430 is fixedly connected with the support beam 3-1211 of the floor support frame 3-1210, the first column gantry 3-410 and the first carrying mechanism 3-420 arranged between the two door columns 3-411 can move horizontally along the support beam 3-1211 of the floor support frame 3-1210.

[0422] In this embodiment, as shown in FIGS. 29a and 29b, the first conveying mechanism 3-420 includes a first lifting assembly 3-421 and a first picking assembly 3-422. The first lifting assembly 3-421 is arranged on the first column gantry 3-410 and is configured to drive the first picking assembly 3-422 to move up and down along the vertical direction of the floor support frame 3-1210. The first picking assembly 3-422 is installed on the first lifting assembly 3-421 and is configured to extend out of the first column gantry 3-410 to pick and place containers 3-600 at different heights in adjacent two movable racks 3-200.

[0423] In actual application, one end of the first picking assembly 3-422 can be provided with a baffle for blocking the containers 3-600 to prevent the containers 3-600 from falling during movement. In this case, in order to pick and place the containers 3-600 of the two movable racks 3-200, the bottom of the first picking assembly 3-422 of the first conveying mechanism 3-420 can be provided with a rotating assembly to enable it to switch the direction of picking and placing, and at the same time, the telescopic mechanism can be telescopic to different lengths to pick and place the containers 3-600 at different depths in adjacent two movable racks 3-200. Of course, if the first picking assembly 3-422 is not provided with a baffle, the telescopic mechanism can also be telescopic to different lengths to pick and place the containers 3-600 at different depths in adjacent two movable racks 3-200.

[0424] In this embodiment, the first lifting assembly 3-421 can include a driving motor, a driving wheel, a driven wheel, and two synchronous belts. The driving motor and the driving wheel are arranged in the top housing 3-432, the driven wheel is arranged at the bottom of the two door columns 3-411, and the two synchronous belts are sleeved outside the driving wheel, the door columns 3-411, and the driven wheel. The first picking assembly 3-422 is connected to the two synchronous belts through the connecting blocks on both sides.

[0425] In this way, the two synchronous belts of the first lifting assembly 3-421 can drive the connecting blocks to move up and down, thereby driving the first picking assembly 3-422 to move up and down, to achieve the movement of the first picking assembly 3-422 along the vertical direction of the floor support frame 3-1210. The first picking assembly 3-422 can include a telescopic mechanism, which extends into the movable rack 3-200 through the telescopic mechanism to pick and place containers at a single depth and / or multiple depths. In this embodiment, the distance that the telescopic mechanism can be extended can be designed based on the distance between adjacent two movable racks and the length of the depth of the rack, which is not limited here.

[0426] In this embodiment, the form of the first picking assembly 3-422 includes but is not limited to a fork arm type, a suction cup type, a roller type, a hooking arm, etc.

[0427] In this embodiment, the tally robot 3-400 can take and place the containers 3-600 on the adjacent two movable racks 3-200 in the horizontal direction based on the relative rolling between the rollers 3-431 and the guide rails 3-430 fixedly arranged on the support beams 3-1211, and take and place the containers 3-600 on the adjacent two movable racks 3-200 in the vertical direction based on the first lifting assembly 3-421.

[0428] In this embodiment, the tally robot 3-400 moves on the guide rails 3-430 by means of rollers, which has a relatively fast moving speed and can improve the efficiency of taking and placing goods. Of course, in other embodiments, the tally robot 3-400 can also move on the guide rails 3-430 by means of sliders, which has a relatively slow moving speed compared with the roller mode, and will not be described in detail here.

[0429] In this embodiment, since the tally robot 3-400 uses the track type container handling equipment to take and place the containers, the tally robot 3-400 is arranged on the floor support frame 3-1210, and the floor support frame 3-1210 is arranged on the tally channel 3-121, which can ensure the taking and placing of containers in the horizontal and vertical directions, and the taking and placing operation of the containers is relatively stable.

[0430] In other embodiments, the tally robot 3-400 can use a container handling robot driven by a movable chassis.

[0431] Secondly, the embodiment of the tally robot 3-400 using a container handling robot driven by a movable chassis is described.

[0432] In the case where the tally robot 3-400 uses a container handling robot driven by a movable chassis, referring to FIG. 30, which is a perspective structural schematic view of the position relationship between another tally robot and movable racks shown in FIG. 26b. As shown in FIG. 30, in this embodiment, the floor support frame 3-1210 does not need to be arranged on the tally channel 3-121. Instead, the tally robot 3-400 directly moves in the tally channel 3-121 by using the chassis. In this case, the tally robot 3-400 is used to move along the tally channel 3-121 and take and place the containers 3-600 between the movable racks 3-200 on the same side or on both sides of the tally channel 3-121.

[0433] Specifically, refer to FIG. 31, which is a schematic diagram of the three-dimensional structure of the cargo handling robot in the embodiment shown in FIG. 30. In this embodiment, the cargo handling robot 3-400 includes a first moving chassis 3-440, a second column gantry 3-450, and a second carrying mechanism 3-460. The first moving chassis 3-440 is used to drive the cargo handling robot 3-400 to move along the cargo handling channel 3-121. The second column gantry 3-450 is installed on the first moving chassis 3-440 in the vertical direction. The second carrying mechanism 3-460 is movably connected to the second column gantry 3-450 in the vertical direction and is used to move vertically on the second column gantry 3-450 to take and place containers 3-600 at different heights on the movable racks 3-200 on one side or both sides of the cargo handling channel 3-121.

[0434] In this embodiment, the second carrying mechanism 3-460 includes a second lifting assembly 3-461, a second container taking assembly 3-462, and a rotating assembly 3-463. The second lifting assembly 3-461 is arranged on the second column gantry 3-450 and is used to drive the second container taking assembly 3-462 to move up and down in the vertical direction of the second column gantry 3-450. The second container taking assembly 3-462 is installed on the second lifting assembly 3-461 and is used to extend out of the second column gantry 3-450 to take and place containers 3-600 at different heights on the movable racks 3-200 on one side or both sides of the cargo handling channel 3-121.

[0435] In this embodiment, the second lifting assembly 3-461 and the second container taking assembly 3-462 can have the same structure as the first lifting assembly 3-421 and the first container taking assembly 3-422 or can be different. As shown in FIG. 31, the second container taking assembly 3-462 of the cargo handling robot 3-400 in this embodiment can be a drawer-type second container taking assembly that is realized by telescopic forks.

[0436] In this embodiment, as shown in FIG. 31, the rotating assembly 3-463 is arranged at the bottom of the second container taking assembly 3-462 and is used to drive the second container taking assembly 3-462 to rotate to face the movable racks 3-200 on different sides and then take and place containers on the movable racks 3-200.

[0437] In this embodiment, as shown in FIG. 31, the cargo handling robot 3-400 further includes a temporary storage unit 3-470. The temporary storage unit 3-470 is fixedly arranged on the second column gantry 3-450. The temporary storage unit 3-470 includes a plurality of storage layer plates 3-471 arranged in sequence along the second column gantry 3-450. Each storage layer plate 3-471 is used to temporarily store one container 3-600 to be moved.

[0438] In this way, the inventory robot 3-400 is also used to move the containers 3-600 to be moved in the mobile racks 3-200 on one side or both sides of the pick-and-place inventory channel 3-121 to the storage layer plates 3-471, and then move the containers 3-600 storing the same type of goods on the storage layer plates 3-471 to the same mobile rack 3-200.

[0439] Specifically, the spacing between the storage layer plates 3-471 is greater than the height of the container 3-600. When there are multiple containers 3-600 to be moved, the inventory robot 3-400 can first take out the container 3-600 from the storage position 3-211 of the movable rack 3-200 to be inventoried and place it on the storage layer plate 3-471, and then move the container 3-600 storing the same type of goods on the storage layer plate 3-471 to the same mobile rack 3-200 as the target rack.

[0440] In this embodiment, the inventory robot 3-400 uses a container handling robot driven by a movable chassis to perform inventory, without the need for additional support frames, and only needs to set up a running channel, simplifying system setup. And without the need for inventory, it can be docked in the corner of the inventory area 3-120, or even outside the storage area 3-110 and the inventory area 3-120, making the storage area 3-110 and the inventory area 3-120 more compact and flexible for inventory. At the same time, the application of a temporary storage unit 3-470 for inventory can take and place multiple containers 3-600 at a time, improving the efficiency of inventory.

[0441] In this embodiment, in order for the handling robot 3-300 to be able to handle the mobile rack 3-200, a receiving space 3-220 is provided at the bottom of the mobile rack 3-200 for the handling robot 3-300 to move the mobile rack 3-200.

[0442] Specifically, referring to FIGS. 32a and 32b, FIG. 32a is a schematic diagram of the three-dimensional structure of the mobile rack in this embodiment, and FIG. 32b is a schematic diagram of the structure of the first side of the mobile rack shown in FIG. 32a. As shown in FIGS. 32a and 32b, the mobile rack 3-200 in this embodiment can be a 3*2*9 mobile rack, which can accommodate three containers in length, two containers in width (i.e., double deep), and nine layers in height. In actual applications, the length, width, and height of the mobile rack 3-200 can be set according to the actual warehouse site conditions and the handling capacity of the handling robot 3-300, which is not limited here.

[0443] As shown in FIG. 32a and FIG. 32b, the bottom of the mobile rack 3-200 can be provided with a plurality of support columns 3-212 extending towards the ground to form a containing space 3-220; the containing space 3-220 is used for the carrying robot 3-300 to move the mobile rack 3-200.

[0444] Referring to FIG. 32c and FIG. 32d, FIG. 32c is a schematic structural diagram of the mobile rack and the carrying robot shown in FIG. 32a; FIG. 32d is a schematic structural diagram of the second side of the embodiment shown in FIG. 32c. As shown in FIG. 32c and FIG. 32d, the carrying robot 3-300 can move into the containing space 3-220 at the bottom of the mobile rack 3-200, and then carry the entire mobile rack 3-200.

[0445] Referring to FIG. 32c, FIG. 32d and FIG. 33, FIG. 33 is a schematic structural diagram of the carrying robot in the embodiment shown in FIG. 28a; as shown in FIG. 33, in this embodiment, the carrying robot 3-300 is a lifting mobile robot; the height of the containing space 3-220 of the mobile rack 3-200 is higher than the lifting mobile robot; so that the lifting mobile robot can move into the containing space 3-220, and lift the mobile rack 3-200 to move or place the mobile rack 3-200 on the ground.

[0446] Specifically, as shown in FIG. 33, the carrying robot 3-300 includes a second moving chassis 3-310, a lifting mechanism 3-320 and a lifting platform 3-330. The second moving chassis 3-310 is arranged at the bottom of the carrying robot 3-300, and can include universal wheels to realize multi-directional movement; the lifting mechanism 3-320 and the lifting platform 3-330 are arranged at the top of the second moving chassis 3-310. When the carrying robot 3-300 is located in the containing space 3-220 of the mobile rack 3-200, the lifting mechanism 3-320 can lift the lifting platform 3-330 to a certain height, so that the mobile rack 3-200 can be lifted off the ground and move together with the carrying robot 3-300.

[0447] As shown in FIG. 32c and FIG. 32d, the height of the containing space 3-220 of the mobile rack 3-200 is higher than the lifting mobile robot; in this way, the lifting mobile robot can move into the containing space 3-220, and the lifting mechanism 3-320 can lift the lifting platform 3-330 so that the lifting platform 3-330 contacts the top of the containing space 3-220, and then lift the entire mobile rack 3-200 and move the entire mobile rack 3-200; or the lifting mechanism 3-320 can lower the lifting platform 3-330 to place the mobile rack 3-200 on the ground.

[0448] In this embodiment, the handling robot 3-300 can be an automatic guided vehicle (AGV).

[0449] In the above embodiment, the handling robot 3-300 and the storage robot 3-400 can cooperate to perform the following steps to perform the storage task:

[0450] First, the handling robot 3-300 moves the target mobile rack 3-200 and the target rack 3-230 to the storage area 3-110.

[0451] Then, the handling robot 3-300 arranges the target mobile rack 3-200 and the target rack 3-230 along one side of the storage passage 3-111 in a first column. As shown in FIG. 25a and FIG. 25b, the handling robot 3-300 can arrange the target mobile rack 3-200 along the first side of the storage passage 3-111 in a second column, and arrange the target rack 3-230 along the second side of the storage passage 3-111 in a third column.

[0452] Then, the storage robot 3-400 can move along the length direction of the storage passage 3-111 to arrange the containers 3-600 stored in the target mobile rack 3-200 in the first column into the same target rack 3-230 in the first column. As shown in FIG. 25a and FIG. 25b, the storage robot 3-400 can arrange the containers 3-600 stored in the target mobile rack 3-200 in the second column along the left side of the storage passage 3-111 into the same target rack 3-230 in the third column along the right side of the storage passage 3-111.

[0453] Finally, the handling robot 3-300 can move the target rack 3-230 and / or the target mobile rack 3-200 as the arranged mobile rack 3-200 to the storage area 3-110.

[0454] It should be noted that in actual application, if all the containers 3-600 in the target mobile rack 3-200 are moved to the target rack 3-230 after the storage task is completed, the target mobile rack 3-200 becomes an empty rack.

[0455] In this case, the target shelf 3-230 can be carried to the storage area 3-110 by the carrying robot 3-300, and the empty shelf can be kept in the sorting area 3-120 or concentrated to a parking spot in the sorting area 3-120 or a parking spot near the storage area 3-110 outside the sorting area 3-120, so that the carrying robot 3-300 can be quickly carried to the storage area 3-110 next time to perform the sorting task, thereby further improving the outbound speed and warehouse operation efficiency.

[0456] Of course, in some cases, after the sorting task is completed, part of the containers 3-600 can be moved to the target shelf 3-230, and part of the containers 3-600 can be left in the to-be-arranged movable shelf 3-200. In this case, the target shelf 3-230 and the to-be-arranged movable shelf 3-200 (i.e., the non-empty shelf) with part of the containers 3-600 can be carried to the storage area 3-110 by the carrying robot 3-300. The actual situation can be set, which is not limited here.

[0457] Specifically, the sorting can be performed in at least the following modes:

[0458] Next, taking the warehouse system shown in FIG. 26b as an example, the examples of several modes are described.

[0459] Mode one: all containers 3-600 on the to-be-sorted movable shelf 3-200 are transferred to the target shelf 3-230.

[0460] Next, taking the case that the number of to-be-sorted movable shelves 3-200 is multiple, and the target shelf 3-230 is an empty shelf and the number is the same as that of the to-be-sorted movable shelves 3-200 as an example, the description is made. Referring to FIG. 34, FIG. 34 is a structure schematic diagram of the first sorting mode of the sorting robot in the embodiment of the application. Each to-be-arranged movable shelf 3-200 on the left side of the movable shelf 3-200 in the sorting channel 3-121 stores containers; the target shelf 3-230 on the right side of the sorting channel 3-121 is empty; and the sorting robot 3-400 arranges the containers 3-600 on each to-be-sorted movable shelf 3-200 into each target shelf 3-230 according to the same type of goods.

[0461] It should be noted that in the embodiment, only the transfer from the full shelf to the target shelf is taken as an example in FIG. 34, and the to-be-sorted movable shelf 3-200 on the left side can store containers to be sorted before actual sorting, and does not need to be full; similarly, the target shelf 3-230 on the right side does not need to be filled after sorting, and only needs to complete the sorting task.

[0462] As described above, if the to-be-arranged mobile rack 3-200 is empty after arrangement, it is not necessary to move back to the storage area 3-110, and if it is not empty, it needs to be moved back to the storage area 3-110 as the target rack 3-230.

[0463] In actual application, the warehouse system further comprises a control device and a work station 3-500, the control device is in communication connection with the aforementioned handling robot 3-300 and the order-picking robot 3-400, and is used to instruct the handling robot 3-300 to move the to-be-arranged mobile rack 3-200 in the storage area 3-110 to the order-picking area 3-120, or move the mobile rack 3-200 arranged in the order-picking area 3-120 to the storage area 3-110, and to handle the mobile rack 3-200 between the storage area 3-110 and the work station 3-500, and instruct the order-picking robot 3-400 to arrange the containers 3-600 storing the same type of goods in the mobile rack 3-200 in the order-picking area 3-120 into the same mobile rack 3-200. The work station 3-500 comprises an inbound work station 3-510 and an outbound work station 3-520.

[0464] The order-picking process of mode one will be described below.

[0465] Specifically, the order-picking task can be completed by the control device executing the following steps:

[0466] Step A, based on the current order-picking task, instruct the handling robot 3-300 to move the target rack 3-230 and the to-be-arranged mobile rack 3-200 in the storage area 3-110 to the order-picking area 3-120, respectively. The order-picking task is generated by the system according to business requirements.

[0467] In this embodiment, the target rack 3-230 can be an empty rack or a mobile rack 3-200 with idle storage spaces 3-211. The empty rack can be moved to the order-picking area 3-120 by the handling robot 3-300 from a preset parking point, and the mobile rack 3-200 with idle storage spaces 3-211 can be moved to the order-picking area 3-120 by the handling robot 3-300 from the storage area 3-110. Of course, the empty rack can also be an empty rack reserved in the order-picking area 3-120 after the completion of the previous order-picking task.

[0468] As shown in the left drawing of FIG. 34, in this example, the handling robot 3-300 moves the to-be-arranged mobile rack 3-200 and the target rack 3-230 to the left and right sides of the order-picking robot 3-400 on the order-picking channel 3-121, and the order-picking robot 3-400 can take and place the containers on the to-be-arranged mobile rack 3-200 and the target rack 3-230.

[0469] In actual application, the transfer robot 3-300 transfers one mobile rack 3-200 at a time. In order to improve the sorting efficiency of the sorting robot 3-400, in this example, four mobile racks 3-200 to be sorted are arranged in a left column, and four target racks 3-230 are arranged in a right column.

[0470] In addition, in this embodiment, one transfer robot 3-300 can be instructed to transfer each mobile rack 3-200 to be sorted and each target rack 3-230 in sequence, or multiple transfer robots 3-300 can be instructed to transfer each mobile rack 3-200 and each target rack 3-230 to improve efficiency.

[0471] Step B, instruct the sorting robot 3-400 to take out containers 3-600 of the same type of goods from the mobile rack 3-200 to be sorted and place them one by one into the same target rack 3-230.

[0472] Step C, instruct the transfer robot 3-300 to transfer each target rack 3-230 that has been sorted and filled with containers 3-600 back to the storage area 3-110. In this step, taking the example of the sorting robot 3-400 moving all the containers to the target rack 3-230, it is only necessary to transfer each target rack 3-230 back to the storage area 3-110. If there are still containers on the mobile rack 3-200 to be sorted, the transfer robot 3-300 also needs to transfer the mobile rack 3-200 to be sorted back to the storage area 3-110.

[0473] As shown in the left part of FIG. 34, before sorting, the mobile rack 3-200 to be sorted stores containers 3-600 of different types of goods in disorder. The types of goods include A / B / C / D. As shown in the right part of FIG. 34, after sorting, each target rack 3-230 is filled with containers 3-600 of one type of goods, and the four target racks 3-230 arranged along the length direction of the target rack 3-230 store the types of goods in the order of A / B / C / D.

[0474] In this way, automatic sorting is achieved. When the next time of delivery is needed, the transfer robot 3-300 can directly move the mobile rack 3-200 storing containers 3-600 of the type of goods to be delivered to the delivery workstation 3-520, which can improve the delivery efficiency and improve the operation efficiency of the warehouse.

[0475] Mode two, transfer part of the containers 3-600 on the mobile rack 3-200 to be sorted to the target rack 3-230.

[0476] In the mode, the carrying robot 3-300 first moves the first number of the to-be-picked mobile racks 3-200 and the second number of the target racks 3-230 to the picking area 3-120; the first number and the second number are the same or different.

[0477] The picking robot 3-400 picks the containers 3-600 storing the designated types of goods in the to-be-picked mobile racks 3-200 and moves them to the target racks 3-230 respectively, so that each target rack 3-230 stores only one type of containers 3-600; the containers 3-600 storing non-designated types of goods are reserved in the to-be-picked mobile racks 3-200.

[0478] The carrying robot 3-300 further carries the to-be-picked mobile racks 3-200 reserving the containers 3-600 back to the storage area 3-110 when the target racks 3-230 are not full and there is the next batch of to-be-picked mobile racks, and moves the first number of the next batch of to-be-picked mobile racks 3-200 to the picking area 3-120, so that the picking robot 3-400 picks the containers 3-600 storing the designated types of goods in the to-be-picked mobile racks 3-200 and moves them to the target racks 3-230 respectively; and when at least one target rack 3-230 is full or the picking task is completed, the full target rack 3-230 or the target rack 3-230 that is not full when the picking task is completed is moved to the storage area 3-110. After the full target rack 3-230 is moved to the storage area 3-110, if the picking task is not completed, the picking robot 3-400 continues to pick the to-be-picked mobile racks 3-200 and the target racks 3-230 that are not full or the picking task is not completed. That is, when there is a target rack 3-230 that is filled or the picking task is completed, the target rack 3-230 can be carried to the storage area 3-110 by the carrying robot 3-300 first, and the remaining target racks 3-230 continue to be left in the picking area 3-120, which can improve the picking efficiency.

[0479] Referring to FIG. 35, FIG. 35 is a schematic structural diagram of a second picking mode of the picking robot in the embodiment of the present application.

[0480] Before the goods arrangement by the goods arrangement robot 3-400, the carrying robot 3-300 carries each of the movable goods shelves 3-200 storing the containers to be arranged to the left side of the goods arrangement passage 3-121; carries each of the target shelves 3-230 storing no containers to the right side of the goods arrangement passage 3-121; the goods arrangement robot 3-400 takes out the containers 3-600 storing the specified type of goods from the movable goods shelves 3-200 to be arranged, and arranges the containers 3-600 according to the specified type of goods, and moves the containers 3-600 to the corresponding target shelves 3-230 respectively; the containers 3-600 storing the non-specified type of goods are reserved in the movable goods shelves 3-200 to be arranged.

[0481] In the embodiment, only the containers transferred from the full shelves are taken as an example in FIG. 35, and actually, before the goods arrangement, the movable goods shelves 3-200 to be arranged on the left side store the containers to be arranged, and no need to be full.

[0482] Specifically, the goods arrangement task can be completed by controlling the equipment to perform the following steps:

[0483] Step A, based on the current goods arrangement task, instructing the carrying robot 3-300 to move the target shelves 3-230 storing no containers and the movable goods shelves 3-200 to be arranged in the storage area 3-110 to the goods arrangement area 3-120 respectively.

[0484] As shown in FIG. 35, in this example, the carrying robot 3-300 carries the movable goods shelves 3-200 to be arranged to the left side of the goods arrangement passage 3-121, and carries the target shelves 3-230 to the right side of the goods arrangement passage 3-121, so that the goods arrangement robot 3-400 can take and place the containers on the movable goods shelves 3-200 to be arranged and the target shelves 3-230 on the left and right sides of the goods arrangement passage 3-121.

[0485] Step B, instructing the goods arrangement robot 3-400 to take out the containers 3-600 storing the specified type of goods from the movable goods shelves 3-200 to be arranged, and place the containers 3-600 into the same target shelves 3-230 storing no containers one by one.

[0486] As shown in the left drawing of FIG. 35, before restocking, the to-be-restocked mobile rack 3-200 stores containers 3-600 of different types of goods in disorder. The types of goods include A / B / C / D / E / F / G / H / J / L / M, a total of 11 types. For example, the designated types are A / B / C / D. As shown in the right drawing of FIG. 35, after restocking, the four target racks 3-230 arranged in length on the right store the types of goods in the order of A / B / C / D. Since the number of containers 3-600 of the four types of goods in the to-be-restocked mobile rack 3-200 is less than the number of storage spaces 3-211 of one mobile rack 3-200, the four target racks 3-230 on the right are not filled up. The containers 3-600 of the types of goods E / F / G / H / J / L / M other than the four types of goods in the to-be-restocked mobile rack 3-200 remain in the original position of the to-be-restocked mobile rack 3-200.

[0487] Step C, instruct the carrying robot 3-300 to carry the to-be-restocked mobile rack 3-200 on the left back to the storage area 3-110.

[0488] Step D, in the case that the target racks 3-230 on the right are not filled up and there is the next batch of to-be-restocked mobile racks 3-200, instruct the carrying robot 3-300 to move to the storage area 3-110 to carry the next batch of to-be-restocked mobile racks 3-200 to the restocking area 3-120, and repeat the above steps B-D.

[0489] Step E, in the case that the four target racks 3-230 on the right are filled up or the restocking task is completed, instruct the carrying robot 3-300 to carry the four target racks 3-230 on the right to the storage area 3-110.

[0490] If there are still containers on the to-be-restocked mobile rack 3-200, the carrying robot 3-300 is also instructed to carry the to-be-restocked mobile rack 3-200 to the storage area 3-110.

[0491] By applying the above embodiment, through mode two, not only can automatic restocking be achieved, but also goods arrangement based on designated types of goods can be achieved.

[0492] Mode three, use a dedicated reverse goods spare rack to transfer containers 3-600 between each to-be-restocked mobile rack 3-200.

[0493] In the case that the number of the movable shelves 3-200 to be restocked is multiple and the number of the target shelves 3-230 is one or more, the transporting robot 3-300 arranges the movable shelves 3-200 to be restocked and the target shelves 3-230 along one side of the length direction of the restocking channel 3-121 as a first column when restocking is needed, or arranges part of the movable shelves 3-200 to be restocked along the first side of the length direction of the restocking channel 3-121 as a second column, and arranges the remaining movable shelves 3-200 to be restocked and the target shelves 3-230 along the second side of the length direction of the restocking channel 3-121 as a third column, and transports the restocked movable shelves 3-200 back to the storage area 3-110 after restocking;

[0494] In this mode, the restocking robot 3-400 moves along the length direction of the restocking channel 3-121, and based on the lifting function of the restocking robot 3-400, the restocking robot 3-400 sequentially retains the containers 3-600 storing the same type of goods for each movable shelf 3-200 to be restocked, moves other containers 3-600 to the target shelves 3-230 for temporary storage, and moves the containers 3-600 storing the same type of goods from other movable shelves 3-200 to be restocked and the target shelves 3-230 to the movable shelf 3-200 to be restocked, so that each movable shelf 3-200 to be restocked is restocked to store only containers 3-600 of one type of goods. In actual application, after restocking, each shelf can store different types of goods, and if the number of a certain type of goods is large, two or more shelves can also store this type of goods, which is not limited here.

[0495] Specifically, the target shelves 3-230 can be one or more dedicated inverted shelves.

[0496] Next, the restocking process of the third mode is described.

[0497] In this embodiment, the restocking task can be completed by the control device performing the following steps:

[0498] Step A, based on the current restocking task, instructing the transporting robot 3-300 to transport the idle target shelves 3-230 and the movable shelves 3-200 to be restocked in the storage area 3-110 to the restocking area 3-120, respectively.

[0499] Referring to FIG. 36, FIG. 36 is a structural schematic diagram of a third kind of order-picking mode of the order-picking robot in the embodiment of the present application. As shown in the left drawing of FIG. 36, the order-picking task includes 7 mobile racks 3-200 to be order-picked, of which 4 mobile racks 3-200 to be order-picked are arranged in sequence along the length direction at the left side of the order-picking channel 3-121, and the other 3 mobile racks 3-200 to be order-picked and an idle target rack (i.e. the emptying standby rack in the drawing) are arranged in sequence along the length direction at the right side of the order-picking channel 3-121.

[0500] As shown in the left drawing of FIG. 36, in this example, the carrying robot 3-300 arranges 4 mobile racks 3-200 to be order-picked at the left side of the order-picking channel 3-121, and the other 3 mobile racks 3-200 to be order-picked and an idle target rack (i.e. the emptying standby rack in the drawing) are arranged in sequence along the length direction at the right side of the order-picking channel 3-121. Each of the mobile racks 3-200 to be order-picked stores containers 3-600 of 7 types of goods A / B / C / D / E / F / G in disorder.

[0501] Step B, instruct the order-picking robot 3-400 to move and pick up containers 3-600 between the mobile racks 3-200 at both sides of the order-picking channel 3-121 using the emptying standby rack, so that each of the mobile racks 3-200 to be order-picked stores containers 3-600 of one type of goods respectively, except for the emptying standby rack.

[0502] Specifically, the order-picking robot 3-400 can move along the length direction of the order-picking channel 3-121, and based on the lifting function of itself, realize sequentially for each of the mobile racks 3-200 to be order-picked, reserving the containers 3-600 storing the same type of goods, moving other containers 3-600 to the emptying standby rack for temporary storage, and moving the containers 3-600 storing the same type of goods in other mobile racks 3-200 to be order-picked and the emptying standby rack to the mobile rack 3-200 to be order-picked, so that each of the mobile racks 3-200 to be order-picked is arranged to store only containers 3-600 of one type of goods.

[0503] Referring to the right drawing of FIG. 36, in this example, after the arrangement, the four mobile racks 3-200 to be order-picked at the left side are loaded with A / B / C / D four types of goods respectively, the three mobile racks 3-200 to be order-picked at the right side are loaded with E / F / G four types of goods respectively, and the emptying standby rack is idle.

[0504] Step C, instruct the carrying robot 3-300 to carry the mobile racks 3-200 to be order-picked full of containers 3-600 back to the storage area 3-110.

[0505] It should be noted that the number of backup shelves for unloading can be multiple, and the actual unloading task is set, which is not limited here.

[0506] By applying the above embodiment, through mode three, not only can the automatic unloading between multiple mobile shelves 3-200 be realized, but also the unloading in units of a single mobile shelf 3-200 can be realized, and the unloading is more flexible.

[0507] It should be noted that the above examples are illustrated by a top view plane for convenience of understanding, and in actual application, the mobile shelf is multi-layered.

[0508] In addition, in actual application, the above unloading process can be applied to but not limited to the following scenarios:

[0509] 1) According to the known future order demand, the same type of goods to be shipped out are concentrated on a small part of the shelves, and then the goods are transported to the shipping station 3-520 by the transport robot 3-300, such as AGV, and the goods are manually shipped out at the shipping station 3-520, which can improve the hit rate of goods to people.

[0510] 2) According to the known past order information, based on the in-out frequency of different types of goods, the hotness of the inventory goods is analyzed, and the goods of similar hotness are concentrated on a small part of the shelves, and then the AGV is stored in the warehouse according to the hotness gradient (such as high hotness is stored in the area closer to the shipping station 3-520), which can further improve the warehouse operation efficiency.

[0511] 3) According to the known past order information, the correlation of different types of goods is analyzed, and the goods with high correlation are stored in the same shelf (or the same face of the same shelf), which can improve the hit rate of goods to people.

[0512] 4) After a period of warehouse operation, many half-empty shelves will be generated, which can be automatically arranged to free up full-empty shelves.

[0513] For example, a plurality of half-empty mobile shelves can be moved to the unloading area, and the unloading robot is used to move and take and place goods between the half-empty mobile shelves, and the containers of the same type of goods are concentrated in a mobile shelf. After the mobile shelf is filled, it is moved to the storage area by the transport robot.

[0514] Referring to FIG. 37, FIG. 37 is a top structural schematic view of a third embodiment of a fifth warehouse system provided in the embodiments of the present application; the warehouse system comprises: a warehouse area 3-100, a plurality of mobile racks 3-200, a carrying robot 3-300, a goods arranging robot 3-400, and a work station 3-500; a preset position of the warehouse area 3-100 is provided with a goods arranging channel 3-121 for the goods arranging robot 3-400 to perform goods arranging operation;

[0515] Each of the mobile racks 3-200 comprises a storage space 3-210 and a containing space 3-220; the storage space 3-210 is provided with a plurality of storage positions 3-211 for storing containers 3-600; the containing space 3-220 is arranged at a lower portion of the storage space 3-210 and is used for the carrying robot 3-300 to move the mobile rack 3-200;

[0516] The carrying robot 3-300 is used to carry the plurality of mobile racks 3-200 from the work station 3-500 to one side or both sides of the length direction of the goods arranging channel 3-121, and to carry the arranged mobile racks 3-200 to the work station 3-500;

[0517] The goods arranging robot 3-400 is movably arranged in the goods arranging channel 3-121 of the warehouse area 3-100, is used to move along the length direction of the goods arranging channel 3-121, and based on the lifting function of the goods arranging robot 3-400, stores the containers 3-600 storing the same type of goods in each of the mobile racks 3-200 into the same mobile rack 3-200 along the length direction and the vertical direction.

[0518] The warehouse system in the embodiments utilizes the goods arranging robot to take and place the containers between the mobile racks, stores the containers storing the same type of goods into the same mobile rack, utilizes the second carrying robot to carry the mobile racks between the warehouse area and the work station, realizes automatic goods arranging, and when the next time of warehouse delivery, the arranged mobile racks are delivered, which can be delivered faster and improves the warehouse operation efficiency.

[0519] The difference between the embodiments and the first embodiment is that there is no special goods arranging area for goods arranging, and thus the goods arranging channel 3-121 is directly arranged in the warehouse area 3-100.

[0520] As the first embodiment, the inventory robot 3-400 in the fourth embodiment can be a rail type container handling device capable of vertical container handling and horizontal movement within a limited range. Alternatively, the container handling robot driven by a movable chassis capable of vertical container transfer and horizontal handling will be described in detail later. The specific arrangement and structure can be the same as the first embodiment, which will not be repeated here.

[0521] In some embodiments, the mobile racks 3-200 in the warehouse system can also include fixed racks 3-240, and the inventory robot 3-400 can also transfer goods between the mobile racks 3-200 and the fixed racks 3-240.

[0522] Specifically, in the fourth embodiment, referring to FIG. 38, FIG. 38 is a plan view of the position relationship between the inventory robot and the mobile rack in the fourth embodiment of the fifth warehouse system provided by the application. As shown in FIG. 38, the warehouse system includes a plurality of mobile racks 3-200 and a plurality of fixed racks 3-240.

[0523] The handling robot 3-300 is also used to carry the mobile rack 3-200 with the idle storage position 3-211 to one end of the fixed rack 3-240 in the length direction, so that the mobile rack 3-200 is arranged along the length direction with the fixed rack 3-240 in turn.

[0524] The inventory robot 3-400 is also used to arrange the containers 3-600 storing the same type of goods in the fixed rack 3-240 to the same mobile rack 3-200.

[0525] As shown in FIG. 38, the handling robot 3-300 can carry a plurality of mobile racks 3-200 to one end of a plurality of fixed racks 3-240, which can be arranged in a row on the left and right sides of the inventory channel 3-121. The inventory robot 3-400 can be movably arranged on the inventory channel 3-121.

[0526] In this way, the inventory robot 3-400 can move along the length direction of the inventory channel 3-121, and based on its lifting function, arrange the containers 3-600 storing the same type of goods along the length direction and the vertical direction to the same mobile rack 3-200.

[0527] Specifically, the containers 3-600 storing the same type of goods in the fixed shelves 3-240 can be sorted into the same mobile shelves 3-200. In this way, the sorted mobile shelves 3-200 only store one type of containers, and when the goods are delivered, the sorted mobile shelves 3-200 can be directly carried to the workstations 3-500 by the carrying robots 3-300, so that the delivery can be carried out. The delivery speed and the operation efficiency of the warehouse system are improved.

[0528] In the fifth embodiment, referring to FIG. 39, which is a plan view of the positional relationship between the sorting robot and the mobile shelves in the fifth embodiment of the fifth warehouse system provided by the embodiments of the present application, as shown in FIG. 39, the carrying robots 3-300 can carry a plurality of mobile shelves 3-200 to one end of a plurality of fixed shelves 3-240, which can be arranged in a row on the same side of the sorting channel 3-121. The sorting robot 3-400 is arranged on one side of the length direction of the mobile shelves 3-200 and the fixed shelves 3-240.

[0529] In this way, the sorting robot 3-400 can sort the containers 3-600 storing the same type of goods in the fixed shelves 3-240 into the same mobile shelves 3-200. The sorted mobile shelves 3-200 can be carried to the workstations 3-500 by the carrying robots 3-300. Alternatively, when the mobile shelves 3-200 are not full, the mobile shelves 3-200 can be first carried to the other side of the fixed shelves 3-240 by the carrying robots 3-300, and then the containers 3-600 storing the same type of goods on the fixed shelves 3-240 can be moved to the mobile shelves 3-200 by the sorting robot 3-400 until the mobile shelves 3-200 are full or the sorting task is completed. The mobile shelves 3-200 can be carried to the workstations 3-500 by the carrying robots 3-300.

[0530] In addition, the sorting robots 3-400 in the embodiments shown in FIG. 38 and FIG. 39 can be rail type container carrying devices, which can be installed on the floor support frame 3-1210 as shown in FIG. 38 and FIG. 39. In other embodiments including fixed shelves 3-240, the sorting robot 3-400 can also be a container carrying robot driven by a movable chassis, consistent with the foregoing embodiments. In this case, the floor support frame 3-1210 does not need to be provided, and the sorting is more convenient. The specific structure and goods picking and placing operation of the sorting robot 3-400 can be the same as the foregoing. Herein, the same will not be repeated.

[0531] Referring to FIG. 40, FIG. 40 is a specific perspective structural schematic diagram of the embodiment shown in FIG. 39. As shown in FIG. 40, in this embodiment, the inventory robot 3-400 adopts a track type container handling device. The inventory robot 3-400 is installed on one side of the length direction of the fixed shelf 3-240 and the movable shelf 3-200 through the floor support frame 3-1210. As shown in FIG. 40, the track 3-430 of the inventory robot 3-400 is installed on the support beam 3-1211 of the support frame 3-120, so that the inventory robot 3-400 can move in the horizontal direction along the support beam 3-1211.

[0532] In this way, the inventory robot 3-400 can move the containers 3-600 storing the same type of goods in the fixed shelf 3-240 to the same movable shelf 3-200, and then be carried away by the carrying robot 3-300. Of course, the inventory robot 3-400 can also arrange the containers 3-600 on the fixed shelf 3-240 by means of the movable shelf 3-200. For example, the containers 3-600 storing the same type of goods can be concentrated to one or more layers of the fixed shelf 3-240. In this way, the goods can be concentrated to be taken and placed during the next delivery.

[0533] In the warehouse system of the embodiment shown in FIGS. 38-40, the warehouse area 3-100 does not need to be separately provided with an inventory area, and the fixed shelf 3-240 can be arranged at a fixed position of the warehouse area 3-100, and the movable shelf 3-200 is movably arranged with the fixed shelf 3-240 in sequence. The movable shelf 3-200 can store containers 3-600 or temporarily store containers 3-600 as an inventory transfer shelf. This makes the delivery and withdrawal mode of the warehouse system more flexible.

[0534] As can be seen from the embodiments shown in FIGS. 38-40, the inventory robot 3-400 can transfer the goods (which can be in the form of containers) on the fixed shelf 3-240 to the movable shelf 3-200, and then the carrying robot 3-300 carries the movable shelf 3-200 out of the warehouse. Since the fixed shelf 3-240 is usually high and can store more goods, i.e., the warehouse capacity utilization rate is high. Therefore, before each delivery, the goods are transferred to the movable shelf 3-200 in advance, and the carrying robot 3-300 (for example, AGV) carries the movable shelf 3-200 out of the warehouse, which can improve the delivery hit rate of the carrying robot 3-300 for single carrying, and improve the overall warehouse operation efficiency.

[0535] Next, two inventory methods provided by the embodiments of the present application will be described in detail.

[0536] Specifically, the first kind of cargo handling method provided in the embodiments of the present application is applied to a control device, which is in communication connection with the transfer robot 3-300 and the cargo handling robot 3-400 in the first kind of implementation example of the fifth kind of warehouse system. Referring to FIG. 41, FIG. 41 is a first flowchart of the first kind of cargo handling method provided in the embodiments of the present application. As shown in FIG. 41, the method comprises the following steps:

[0537] Step S1600, determining one or more mobile racks to be handled;

[0538] Step S1610, instructing the transfer robot to move the mobile racks to be handled from the storage area to the cargo handling area;

[0539] Step S1620, instructing the cargo handling robot to arrange the containers storing the same kind of goods in the mobile racks to be handled in the cargo handling area on the same mobile rack;

[0540] Step S1630, instructing the transfer robot to carry the arranged mobile racks back to the storage area.

[0541] As can be seen from the embodiment shown in FIG. 41, the first kind of cargo handling method provided in the embodiments of the present application uses the transfer robot to move the mobile racks to be handled in the storage area to the cargo handling area; in the cargo handling area, the cargo handling robot is used to take and place containers between the mobile racks, and arrange the containers storing the same kind of goods on the same mobile rack; and then the transfer robot is used to carry the arranged mobile racks to the storage area, thereby realizing automatic cargo handling, and when the next delivery is performed, the arranged mobile racks can be delivered faster, and the warehouse operation efficiency is improved.

[0542] In some embodiments, empty racks or mobile racks with idle storage spaces can be used for cargo handling.

[0543] Specifically, in an implementation manner, referring to FIG. 42, FIG. 42 is a second flowchart of the first kind of cargo handling method provided in the embodiments of the present application. As shown in FIG. 42, the flowchart comprises the following steps:

[0544] Step S1600, determining one or more mobile racks to be handled;

[0545] In this step, the mobile shelves to be picked can be determined according to the types of goods stored in the storage area, or according to the types of goods predicted to be shipped together in the future according to the order. For example, the types of goods in the storage area are A / B / C / D, and each container stores one type of goods, and the containers are stored in different mobile shelves in disorder. At this time, each mobile shelf storing containers of A / B / C / D type goods can be used as a mobile shelf to be picked. For specific conditions, please refer to the left graph of FIGS. 34-36. For another example, according to the order, it is predicted that the types of goods to be shipped together in the future include type A and type B, and each mobile shelf storing containers of A type goods and containers of B type goods can be used as a mobile shelf to be picked. In fact, the mobile shelves to be picked can be determined according to actual conditions, which is not limited here.

[0546] In step S1611, the handling robot is instructed to move the target shelf and the mobile shelves to be picked in the storage area to the picking area, so that the mobile shelves to be picked and the target shelf are located on one side or both sides of the length direction of the picking channel; wherein the target shelf is an empty shelf or a mobile shelf with idle storage positions;

[0547] In step S1621, the picking robot is instructed to move along the length direction of the picking channel, and based on the lifting function of itself, to arrange the containers storing the same type of goods in the mobile shelves to be picked to the same target shelf and / or the mobile shelves to be picked along the length direction and the vertical direction;

[0548] In step S1631, the handling robot is instructed to carry the arranged target shelf and / or the mobile shelves to be picked back to the storage area.

[0549] The application of this embodiment can realize automatic picking. When a certain type of goods needs to be shipped out at the next shipment, the handling robot can directly move the mobile shelves storing the same type of goods containers to the shipment workstation, which can ship out faster and improve the efficiency of warehouse operation. At the same time, in this embodiment, the empty shelf or the mobile shelf with idle storage positions is used as the target shelf, so that the picking robot can pick on one side or both sides of the mobile shelves, and the picking method is more flexible.

[0550] In some embodiments, the control device can instruct the handling robot and the picking robot to operate by sending instructions to them.

[0551] Specifically, referring to FIG. 43, FIG. 43 is a third flowchart of a first picking method provided by an embodiment of the application. As shown in FIG. 43, the flowchart includes:

[0552] Step S1600, determine one or more mobile racks to be restocked;

[0553] Step S1612, send a first carrying instruction to the carrying robot; the first carrying instruction includes: the number of mobile racks to be restocked and the identification of each mobile rack to be restocked, the number of target racks and the identification of each target rack, and the arrangement of the mobile racks to be restocked and the target racks; so that the carrying robot arranges the mobile racks to be restocked and the target racks as a first column along one side of the length direction of the restocking channel according to the first carrying instruction, or arranges the mobile racks to be restocked as a second column along the first side of the length direction of the restocking channel, and arranges the target racks as a third column along the second side of the length direction of the restocking channel.

[0554] Step S1622, send a first restocking instruction to the restocking robot; the first restocking instruction includes: the number of mobile racks to be restocked and the identification of each mobile rack to be restocked, the number of target racks and the identification of each target rack; so that the restocking robot moves along the length direction of the restocking channel according to the first restocking instruction, and arranges the containers storing the same type of goods in the mobile racks to be restocked in the first column into the same target racks in the first column, or arranges the containers storing the same type of goods in the mobile racks to be restocked in the second column into the same target racks in the third column and / or the mobile racks to be restocked in the second column.

[0555] Step S1632, send a second carrying instruction to the carrying robot; the second carrying instruction includes: the identification of the arranged target racks and / or the arranged mobile racks to be restocked that are not empty; so that the carrying robot carries the arranged target racks and / or the arranged mobile racks to be restocked that are not empty back to the storage area.

[0556] In this embodiment, the control device can send relevant information of the mobile racks to be restocked and the target racks to the carrying robot and the restocking robot, so that the carrying robot and the restocking robot can accurately complete the carrying and restocking tasks.

[0557] In some embodiments, referring to FIG. 44, FIG. 44 is a fourth flowchart of a first restocking method provided by the embodiments of the present application.

[0558] As shown in FIG. 44, the flowchart includes:

[0559] Step S1601, determine one or more mobile racks to be restocked;

[0560] Step S1613, instructing the carrying robot to move the target shelf and the movable shelf to be restocked in the storage area to the restocking area, so that the movable shelf to be restocked and the target shelf are located on one side or both sides of the restocking channel in the length direction; wherein the target shelf is an empty shelf.

[0561] In this step, the number of target shelves is the same as the number of movable shelves to be restocked.

[0562] Step S1623, instructing the restocking robot to arrange the containers in each movable shelf to be restocked into each target shelf according to the same type of goods.

[0563] Step S1633, carrying the arranged target shelves back to the storage area.

[0564] In this embodiment, the number of empty shelves used as target shelves is the same as the number of movable shelves to be restocked, so that after restocking is completed, all containers on the movable shelves to be restocked are arranged on the target shelves. Only the arranged target shelves need to be carried back to the storage area. The movable shelves to be restocked that are emptied can be used as target shelves in subsequent restocking and remain in the restocking area or be carried by the carrying robot to a preset empty shelf parking point to facilitate next restocking.

[0565] As can be seen, in this embodiment, all containers of the movable shelves to be restocked can be arranged on the empty shelves used as target shelves, further improving the restocking efficiency.

[0566] In some embodiments, restocking can be performed in batches for a specified type of goods. Specifically, referring to FIG. 45, FIG. 45 is a fifth flowchart of a first restocking method provided by an embodiment of the present application; as shown in FIG. 45, the flowchart includes:

[0567] Step S1601, determining a plurality of movable shelves to be restocked;

[0568] Step S1614, instructing the carrying robot to move the first number of movable shelves to be restocked and the second number of target shelves to the restocking area; the target shelves are empty shelves; the first number and the second number are the same or different.

[0569] In this embodiment, the first number is less than the number of all movable shelves to be restocked, so that restocking can be performed in batches for a specified type of goods.

[0570] Step S1624, sending a second order to the order robot, the second order containing a plurality of specified types, so that the order robot sorts the containers storing the specified types of goods in the movable racks to be sorted into the target racks respectively, so that each target rack only stores one specified type of container, and the containers storing non-specified types of goods are reserved in the movable racks to be sorted.

[0571] For specific conditions, please refer to FIG. 45 and the foregoing description, which will not be repeated here.

[0572] Step S1640, in the case where the target racks are not full and there are next batches of movable racks to be sorted, instructing the transfer robot to transfer the movable racks to be sorted with the containers back to the storage area, and moving the first number of next batches of movable racks to be sorted to the sorting area for the order robot to sort the containers storing the specified types of goods in the movable racks to be sorted into the target racks respectively.

[0573] In the case of a large number of batches, this step can be performed until the target racks are full or the sorting task is completed.

[0574] In fact, the total number of movable racks to be sorted does not have to be an integer multiple of the first number, and the last batch of movable racks to be sorted can be less than the first number.

[0575] Step S1634, in the case where the target racks are full or the sorting task is completed, instructing the transfer robot to move the target racks to the storage area.

[0576] By applying the embodiment shown in FIG. 45, not only automatic sorting can be realized, but also batch goods sorting based on specified types of goods can be realized.

[0577] In some embodiments, the target racks can be one or more dedicated inverted goods standby racks. For specific conditions, please refer to FIG. 46, which is a sixth flowchart of a first sorting method provided by the embodiments of the present application. As shown in FIG. 46, the flowchart includes:

[0578] Step S1601, determining a plurality of movable racks to be sorted;

[0579] Step S1615, a third carrying instruction is sent to the carrying robot; the third carrying instruction contains the number of the to-be-picked mobile shelves, the identification of each to-be-picked mobile shelf, the number of the target shelves, the identification of each target shelf, and the arrangement mode of the to-be-picked mobile shelves and the target shelves; so that the carrying robot arranges the to-be-picked mobile shelves and the target shelves into a first column along one side of the length direction of the picking channel according to the third carrying instruction, or arranges part of the to-be-picked mobile shelves into a second column along a first side of the length direction of the picking channel, and arranges the remaining to-be-picked mobile shelves and the target shelves into a third column along a second side of the length direction of the picking channel.

[0580] Step S1625, a third picking instruction is sent to the picking robot; the third picking instruction contains the information that each to-be-picked mobile shelf stores containers storing the same type of goods after picking; so that the picking robot moves along the length direction of the picking channel, and based on the lifting function of the picking robot, the picking robot sequentially retains the containers storing the same type of goods for each to-be-picked mobile shelf, moves other containers to the target shelves for temporary storage, and moves the containers storing the same type of goods in other to-be-picked mobile shelves and target shelves to the to-be-picked mobile shelf, so that each to-be-picked mobile shelf is sorted to store only containers storing one type of goods.

[0581] In this embodiment, the target shelves are used as the reverse-shipment standby shelves, and the number of the target shelves can be one or more. When the number of the reverse-shipment standby shelves is one, refer to FIG. 36 and the foregoing description, which is not repeated here.

[0582] Step S1635, instructing the carrying robot to carry the sorted to-be-picked mobile shelves back to the storage area.

[0583] In this embodiment, since the target shelves are used as the reverse-shipment standby shelves, the reverse-shipment standby shelves are empty shelves after the picking task is completed. In actual applications, the reverse-shipment standby shelves can be kept in the picking area and can be carried to a centralized parking point by the carrying robot. This is not limited here.

[0584] Next, a second picking method provided by the embodiments of the present application is described in detail.

[0585] The second picking method provided by the embodiments of the present application is applied to a control device, which is in communication connection with the carrying robot and the picking robot in the second embodiment of the fifth warehouse system. Referring to FIG. 47, FIG. 47 is a first flowchart of the second picking method provided by the embodiments of the present application. As shown in FIG. 47, the flowchart includes:

[0586] Step S2200 instructs the carrying robot to carry multiple mobile shelves from the work station to one side or both sides of the length direction of the sorting channel;

[0587] Step S2210 determines one or more mobile shelves to be sorted;

[0588] Step S2220 instructs the sorting robot to move along the length direction of the sorting channel, and based on its own lifting function, arranges the containers storing the same type of goods in the mobile shelves to be sorted into the same mobile shelves in the length direction and the vertical direction.

[0589] Step S2230 instructs the carrying robot to carry the sorted mobile shelves to the work station.

[0590] The sorting method in this embodiment uses the sorting robot to take and place containers between mobile shelves, and arranges containers storing the same type of goods into the same mobile shelves; uses the second carrying robot to carry the mobile shelves between the warehouse area and the work station; realizes automatic sorting, and when the next delivery is performed, the sorted mobile shelves can be delivered faster, improving the efficiency of warehouse operation.

[0591] The difference between this embodiment and the first embodiment is that the carrying robot does not carry the sorting robot to the sorting area for sorting, but is directly arranged in the sorting channel in the warehouse area for sorting.

[0592] Compared with the first embodiment, since the mobile shelves to be sorted do not need to be moved to the sorting area, the sorting steps are simplified, and the sorting speed can be improved to some extent.

[0593] In some embodiments, the warehouse area is also provided with fixed shelves; in this case, in order to speed up the delivery efficiency, the containers on the fixed shelves can be arranged on the mobile shelves in advance. Specifically, refer to FIG. 48, which is a second flowchart of a second sorting method provided by the embodiment of the application; as shown in FIG. 48, the flowchart includes:

[0594] Step S2200 instructs the carrying robot to carry multiple mobile shelves from the work station to one side or both sides of the length direction of the sorting channel;

[0595] Step S2211 determines one or more mobile shelves and / or fixed shelves to be sorted; if only the fixed shelves are arranged, the step is completed and step 2240 is directly executed; otherwise, step S2220 is executed.

[0596] Step S2220 instructs the order-picking robot to move along the length direction of the order-picking channel, and based on the lifting function of the order-picking robot, arrange the containers storing the same type of goods in the mobile rack to the same mobile rack along the length direction and the vertical direction.

[0597] If only the mobile racks are arranged, after this step, step S2230 is directly executed; otherwise, step 2250 is executed.

[0598] Step S2240 instructs the carrying robot to carry the mobile rack with the idle storage space to one end of the fixed rack in the length direction, so that the mobile rack is arranged along the length direction with the fixed rack in sequence.

[0599] Step S2250 instructs the order-picking robot to arrange the containers storing the same type of goods in the fixed rack to the same mobile rack.

[0600] For specific cases, refer to FIGS. 38-40 and the foregoing description. Here, no repetition is made.

[0601] Step S2230 instructs the carrying robot to carry the arranged mobile rack to the work station.

[0602] In this embodiment, the order-picking robot can transfer the goods (which can be in the unit of container) on the fixed rack to the mobile rack, and then the carrying robot carries the mobile rack out of the warehouse. Since the fixed rack is usually high in height and can store more goods, that is, the warehouse capacity utilization rate is high. Therefore, before each time of delivery, the goods are transferred to the mobile rack in advance, and then the carrying robot carries the mobile rack out of the warehouse, which can improve the delivery hit rate of the carrying robot in a single carrying, and improve the overall warehouse operation efficiency.

[0603] The embodiment of the application further provides a control device. Referring to FIG. 49, FIG. 49 is a structural schematic diagram of the control device provided by the embodiment of the application. As shown in FIG. 49, the control device comprises:

[0604] The memory 2401 is used to store a computer program;

[0605] The processor 2402 is used to execute the program stored in the memory 2401,

[0606] The processor is used to execute the program stored in the memory, and implement the steps of any order processing method, any warehousing method, any delivery method or any order-picking method in the above embodiment.

[0607] And the electronic device can further include a communication bus and / or a communication interface, and the processor 2402, the communication interface, and the memory 2401 can communicate with each other through the communication bus.

[0608] In a further embodiment provided in the present application, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement any of the order processing methods, any of the warehousing methods, any of the warehousing-out methods, or any of the cargo handling methods in the above embodiments.

[0609] In a further embodiment provided in the present application, a computer program product containing instructions is provided, and when the computer program product is run on a computer, the computer program product causes the computer to execute any of the order processing methods, any of the warehousing methods, any of the warehousing-out methods, or any of the cargo handling methods in the above embodiments.

[0610] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A warehousing system characterized by, Comprise: a plurality of shelves, a first carrying robot and a second carrying robot; Among the plurality of shelves, at least one shelf is a mobile shelf; The first carrying robot is movably arranged beside two shelves arranged adjacently, for transferring the boxes between the two shelves to carry out the goods arrangement; Among the two shelves arranged adjacently, one shelf is a mobile shelf, and the other shelf is a mobile shelf or a fixed shelf; The second carrying robot is used to carry the mobile shelf after the goods arrangement to the destination, or carry the mobile shelf to be arranged to the position adjacent to another mobile shelf to be arranged.

2. The warehousing system according to claim 1, characterized in that, Among the two shelves arranged adjacently, one shelf is a mobile shelf, and the other shelf is a fixed high shelf; The mobile shelf and the fixed high shelf are arranged along the extension direction of the operation channel; The fixed high shelf is provided with a guide rail matched with the first carrying robot; The extension direction of the guide rail is consistent with the extension direction of the operation channel; The guide rail is arranged on the fixed high shelf and extends to the operation surface of the mobile shelf; The first carrying robot is slidingly installed on the guide rail and moves along the extension direction of the guide rail to transfer the boxes between the mobile shelf and the fixed high shelf.

3. The warehousing system according to claim 1, characterized in that, Among the two shelves arranged adjacently, one shelf is a mobile shelf, and the other shelf is a fixed high shelf; The fixed high shelf comprises a first storage space and a first containing space; The first storage space is provided with a plurality of storage positions for storing boxes; The first containing space is arranged at the lower part of the first storage space and is used for containing the mobile shelf; The fixed high shelf is provided with a support frame capable of installing the first carrying robot, so that the first carrying robot transfers the boxes between the mobile shelf and the fixed high shelf; The mobile shelf comprises a second storage space and a second containing space; The second storage space is provided with a plurality of temporary storage positions for temporarily storing boxes; The second containing space is arranged at the lower part of the second storage space and is used for moving the mobile shelf by the second carrying robot.

4. The warehousing system according to claim 1, characterized in that, The two shelves arranged adjacently are both mobile shelves; Each of the mobile shelves comprises a storage space and a containing space; The storage space is provided with a plurality of storage positions for storing boxes; The containing space is arranged at the lower part of the storage space and is used for moving the mobile shelf by the second carrying robot; The first carrying robot is movably arranged beside two mobile shelves arranged adjacently, for arranging the boxes storing the same type of goods on the mobile shelves to the same mobile shelf.

5. The warehouse system according to claim 4, wherein The first carrying robot is movably arranged on the floor support between two opposite mobile shelves; Or movably arranged on the same side of two mobile shelves arranged adjacently in the length direction.

6. A warehousing system characterized by, Comprise: a storage area provided with at least one fixed high shelf; The goods arrangement area is provided with at least one movable rack, which is arranged along the extension direction of the operation channel with the corresponding fixed high rack; The first carrying robot and the guide rail matched therewith, wherein the extension direction of the guide rail is consistent with the extension direction of the operation channel; the guide rail is arranged on the fixed high rack and extends to the operation surface of the movable rack; the first carrying robot is slidingly installed on the guide rail and moves along the extension direction of the guide rail; the first carrying robot is configured to transfer the containers between the storage area and the goods arrangement area; The second carrying robot is used to transfer the movable rack between the goods arrangement area and / or the goods arrangement area and the sorting area; The sorting area is provided with a sorting workbench for sorting the goods in the containers.

7. The warehousing system according to claim 6, characterized in that, Along the extension direction of the guide rail, the movable rack is arranged on one side of the fixed high rack and forms the operation channel; Along the extension direction of the guide rail, the movable rack is provided with a first traffic lane on the side away from the fixed high rack, the extension direction of the first traffic lane is perpendicular to the extension direction of the guide rail, and the first traffic lane is communicated with the operation channel.

8. The warehousing system according to claim 7, characterized in that, The guide rail comprises a first part and a second part connected in communication; The warehouse system further comprises a carrying frame, which is arranged on one side of the fixed high rack along the extension direction of the operation channel; In the same operation channel, the first part is installed on the fixed high rack, the second part extends to the operation surface of the movable rack, and the second part is installed on the carrying frame.

9. The warehousing system according to claim 6, characterized in that, The bottom of the fixed high rack and the ground are kept apart to form a second traffic lane for the second carrying robot to shuttle.

10. The warehousing system of claim 6, wherein, The first carrying robot comprises a portal, a sliding mechanism, a lifting mechanism and a container taking mechanism; The portal is slidingly connected to the guide rail, and the sliding mechanism is configured to provide sliding force to the portal; The container taking mechanism is slidingly installed on the portal, and the container taking mechanism is configured to be horizontally telescopic and used to take and place containers; The lifting mechanism is arranged on the portal and connected with the container taking mechanism; the lifting mechanism is used to provide driving force to the container taking mechanism to move the container taking mechanism up and down relative to the portal in the height direction.

11. The warehousing system of claim 6, wherein, The second carrying robot comprises a jacking mechanism, a tray and a moving chassis; The jacking mechanism is arranged in the height direction between the tray and the chassis, and is used to jack up the tray; The tray is used to carry the movable rack, and the moving chassis is used to install the jacking mechanism and the tray.

12. The warehousing system according to any one of claims 6 to 11, characterized in that, The warehouse system further comprises a buffer area; The buffer area is arranged close to the sorting area, and is used to temporarily store the movable rack; The buffer area is located on the moving path of the second carrying robot from the goods arrangement area to the sorting area.

13. An order processing method characterized by, Comprise: Obtain a set of to-be-processed orders, and obtain inventory information of a storage area and a sorting area; wherein, the set of to-be-processed orders are processed at a same sorting workbench, the storage area is provided with at least one fixed high-rack, and the sorting area is provided with at least one movable rack; Determine a storage location of each target bin requested by the set of to-be-processed orders, wherein any of the storage locations is located on the fixed high-rack or the movable rack; Determine a target movable rack with a highest target bin hit rate; Transfer the target movable rack to a sorting workbench located in a sorting area.

14. The order processing method of claim 13, wherein, The fixed high-rack is provided with a first transfer robot, the first transfer robot is a guide rail type transfer robot, the first transfer robot slides along a length extension direction of the fixed high-rack, and is slidable to a working surface of the movable rack; the first transfer robot is used to transfer target bins between the storage area, the sorting area, and / or the storage area and the sorting area; The movable rack is transferred in the sorting area and / or between the sorting area and the sorting area by a second transfer robot, and the second transfer robot moves along the ground; The step of transferring the target movable rack to the sorting workbench in the sorting area includes: If the target movable rack includes all target bins, the second transfer robot is mobilized to transfer the target movable rack to the sorting workbench; If the target movable rack includes a first part of target bins, the first transfer robot and / or the second transfer robot is mobilized to transfer a second part of target bins not located on the target movable rack to the target movable rack.

15. The order processing method of claim 14, wherein, Along the length extension direction of the fixed high-rack, the movable rack is arranged on one side of the fixed high-rack and forms a working channel; The step of mobilizing the first transfer robot and / or the second transfer robot to transfer the second part of target bins not located on the target movable rack to the target movable rack includes: If the storage locations of the second part of target bins and the target movable rack are in the same working channel, the first transfer robot is mobilized to transfer the second part of target bins to the target movable rack; If the storage locations of the second part of target bins and the target movable rack are in different working channels, the first transfer robot and the second transfer robot are mobilized to transfer the second part of target bins to the target movable rack.

16. The order processing method of claim 15, wherein, The step of mobilizing the first transfer robot and the second transfer robot to transfer the second part of target bins to the target movable rack includes: Determine a working channel of the second part of target bins; Transfer the target movable rack to the working channel of the second part of target bins by the second transfer robot; Transfer the second part of target bins to the target movable rack by the first transfer robot.

17. The order processing method of claim 14, wherein, The target movable rack has a first part of target bins, and the storage locations on the target movable rack are full; The step of mobilizing the first and second handling robots to transfer a second part of the target bins not on the target mobile rack to the target mobile rack comprises: transferring the non-target bins on the target mobile rack to a non-target mobile rack or a fixed high rack to form empty storage locations; transferring at least one second part of the target bins to the storage locations of the target mobile rack.

18. The order processing method of claim 13, wherein, The step of transferring the target mobile rack to the sorting workbench comprises: if the target mobile rack includes a part of the target bins and meets an order hit rate threshold, mobilizing a second handling robot to transfer the target mobile rack to the sorting workbench; wherein the order hit rate is the ratio of the number of the part of the target bins on the target mobile rack to all target bins requested by the set of orders to be processed.

19. The order processing method of claim 14, wherein, The step of mobilizing the first and / or second handling robots to transfer a second part of the target bins not on the target mobile rack to the target mobile rack comprises: if the target mobile rack includes a first part of the target bins, restocking a second part of the target bins not on the target mobile rack within a preset time to transfer at least one of the second part of the target bins to the target mobile rack; if the preset time is reached, mobilizing the second handling robot to transfer the target mobile rack to the sorting workbench.

20. A warehousing system characterized by, comprise: a storage area, a restocking area, a sorting area, a first handling robot, and a second handling robot; at least one fixed high rack is arranged in the storage area, and at least one mobile rack is arranged in the restocking area; the mobile rack is arranged adjacent to the fixed high rack; the fixed high rack is fixedly provided with a support frame, and the first handling robot is installed on the support frame and used to move along the support frame to transfer bins between the storage area and the restocking area; the second handling robot is used to transfer the mobile rack between the restocking area and / or between the restocking area and the sorting area.

21. The warehouse system of claim 20, wherein: the support frame comprises a plurality of beams arranged at intervals in a vertical direction; the first handling robot is slidingly installed on the plurality of beams and moves along the extension direction of the beams to transfer bins between the storage area and the restocking area.

22. The warehouse system of claim 21, wherein: the mobile rack and its corresponding fixed high rack are arranged along the extension direction of a work channel; the beam is provided with a guide rail adapted to the first handling robot, and the extension direction of the guide rail is consistent with the extension direction of the work channel; the guide rail is arranged on the fixed high rack and extends to the working surface of the mobile rack, so that the first handling robot transfers bins between the fixed high rack and the mobile rack.

23. The warehouse system of claim 20 or 21, wherein: The fixed high-level shelf comprises a first storage space and a first containing space; the first storage space is provided with a plurality of storage positions for storing containers; the first containing space is arranged at the lower part of the first storage space and is used for containing the movable shelf; The movable shelf comprises a second storage space and a second containing space; The second storage space is provided with a plurality of temporary storage positions for temporarily storing containers; the second containing space is arranged at the lower part of the second storage space and is used for moving the movable shelf by a second carrying robot.

24. A warehousing apparatus characterised by Comprise: A first robot shelf and a second robot shelf; The first robot shelf comprises a first storage space and a first containing space; The first storage space is provided with a plurality of storage positions for storing containers; the first containing space is arranged at the lower part of the first storage space and is used for containing the second robot shelf; the first robot shelf is provided with a support frame capable of mounting a first robot; the first robot is used for taking and placing containers between the first robot shelf and the second robot shelf; The second robot shelf comprises a second storage space and a second containing space; the second storage space is provided with a plurality of temporary storage positions for temporarily storing containers; the second containing space is arranged at the lower part of the second storage space and is used for moving the second robot shelf by a second robot.

25. The storage device of claim 24, wherein, The support frame comprises a plurality of cross beams arranged in the vertical direction of the first robot shelf; so that the first robot is mounted outside the first robot shelf based on the cross beams.

26. The warehouse device of claim 24, wherein A plurality of first support columns are arranged below the first storage space of the first robot shelf, and the plurality of first support columns extend towards the ground to form the first containing space; A plurality of second support columns are arranged below the second storage space of the second robot shelf, and the plurality of second support columns extend towards the ground to form the second containing space.

27. The storage device of claim 24, wherein, The first robot shelf is a double-deep shelf or a multi-deep shelf; the second robot shelf is a double-deep shelf or a multi-deep shelf.

28. The storage device of claim 24, wherein, The length of the cross section of the first robot shelf is greater than the length of the cross section of the second robot shelf; the width of the cross section of the first robot shelf is greater than or equal to the width of the cross section of the second robot shelf.

29. The storage device of claim 24, wherein, The first robot shelf is an integrated shelf; or The first robot shelf comprises a plurality of sub-shelves; the plurality of sub-shelves are arranged in a row along the length direction or the width direction; or the plurality of sub-shelves are arranged in an array along the length direction and the width direction.

30. A warehousing system characterized by, Comprise: The warehouse device, the first robot and the second robot of any one of claims 24-29; The first robot is mounted on the first robot shelf based on the support frame, and is used for moving the containers in the storage positions of the first robot shelf to the temporary storage positions of the second robot shelf, or moving the containers in the temporary storage positions of the second robot shelf to the storage positions of the first robot shelf; The second robot is configured to carry the second robot rack carrying the to-be-warehoused container to the destination or to carry the second robot rack carrying the to-be-warehoused container to the first storage space of the first robot rack.

31. The warehousing system of claim 30, wherein, The support frame comprises a plurality of beams arranged at intervals along the vertical direction of the first robot rack; The first robot comprises a column gantry, a carrying mechanism and at least one sliding guide; the column gantry is mounted along the vertical direction of the first robot rack; the carrying mechanism is arranged on the column gantry and is configured to take and place containers at different heights of the first robot rack; and the at least one sliding guide is fixedly mounted on the beam; the column gantry is in sliding connection with the at least one sliding guide, so that the column gantry and the carrying mechanism slide along the beam horizontally to take and place different containers in the length direction of the first robot rack.

32. The warehousing system of claim 31, wherein, The carrying mechanism comprises a lifting assembly and a container taking assembly; The lifting assembly is arranged on the column gantry and is configured to drive the container taking assembly to move up and down along the vertical direction of the first robot rack; The container taking assembly is mounted on the lifting assembly and is configured to extend out of the column gantry to take and place containers.

33. The warehousing system of claim 30, wherein, The second robot is a lifting mobile robot; The height of the second storage space of the second robot rack is higher than the lifting mobile robot, so that the lifting mobile robot can move into the second storage space, lift the second robot rack or place the second robot rack on the ground.

34. The warehousing system of claim 33, wherein, The height of the first storage space of the first robot rack is higher than the height of the second robot rack carrying the containers.

35. The warehousing system of claim 30, wherein, The bottom of the first storage space of the first robot rack is provided with a docking channel and a bottom travel channel that are in communication with each other along the length direction of the first robot rack; the docking channel is configured to place the second robot rack; and the second robot travels along the bottom travel channel, so that the first robot moves the containers on the temporary storage positions of the second robot rack to the first robot rack or moves the containers on the first robot rack to the second robot rack after the second robot rack reaches the designated docking position of the docking channel.

36. The warehousing system of claim 35, wherein, The first robot is mounted on one side of the docking channel along the length direction of the first robot rack.

37. The warehousing system of claim 30, wherein, The first robot rack and the destination are provided with an external travel channel for the second robot to travel in one direction or in two directions.

38. The warehousing system of claim 37, wherein, The external travel channel comprises a first external travel channel with the destination being a workstation and a second external travel channel with the destination being a review and packaging area. The second robot is configured to carry the second robot shelf to be put out to the work station along the first external travel path to pick and put out; or carry the second robot shelf to be put in to the first robot shelf along the first external travel path to put in the containers. The second robot is further configured to carry the second robot shelf to be put out to the re-check and packing area along the second external travel path to pack and put out all the containers in the second robot shelf.

39. The warehousing system according to any one of claims 30-38, characterized by, Further comprising: a control device; The control device is in communication connection with the first robot and the second robot, and is configured to instruct the first robot to pick and place the containers, and instruct the second robot to move the second robot shelf.

40. A method of warehousing, characterized by, The method is applied to the control device, and the control device is in communication connection with the first robot and the second robot of the warehouse system of any one of claims 30-39; and the method comprises: determining the target idle storage positions of the containers to be put in according to the number of the containers to be put in and the number and positions of the idle storage positions on the first robot shelf; instructing the second robot to move the second robot shelf to be put in to the first containing space of the first robot shelf; and temporarily storing the containers to be put in on the temporary storage positions on the second robot shelf; instructing the first robot to move the containers to be put in of the second robot shelf to the target idle storage positions on the first robot shelf.

41. The method of claim 40, wherein, before the step of instructing the second robot to move the second robot shelf to be put in to the first containing space of the first robot shelf, the method further comprises: determining the target docking positions of the second robot shelf to be moved to the first containing space of the first robot shelf according to the positions of the target idle storage positions on the first robot shelf; the step of instructing the second robot to move the second robot shelf to be put in to the first containing space of the first robot shelf comprises: instructing the second robot to move the second robot shelf to be put in to the target docking positions.

42. The method of claim 41, wherein, the first robot comprises a column gantry, a carrying mechanism and at least one sliding guide rail; the step of instructing the first robot to move the containers to be put in of the second robot shelf to the target idle storage positions on the first robot shelf comprises: sending a first operation instruction containing the target docking positions to the first robot, so that the first robot moves horizontally on the first robot shelf to the positions corresponding to the target docking positions by using the sliding guide rail, and moves the carrying mechanism downward along the column gantry to the positions corresponding to the containers to be put in on the second robot shelf, picks up the containers to be put in from the second robot shelf by using the carrying mechanism, and places the containers to be put in on the corresponding target idle storage positions by moving upward.

43. The method of claim 40, wherein, the step of determining the target idle storage positions of the containers to be put in according to the number of the containers to be put in and the number and positions of the idle storage positions comprises: According to a principle of moving from a start point to a far point and / or a principle of concentrating positions of the target idle storage bins on the first robot shelf, a target idle storage bin for each to-be-stored container is determined.

44. The storage method according to claim 43, characterized in that: The first robot comprises a column gantry, a carrying mechanism and at least one sliding guide rail. Before the indication of the first robot to move the to-be-stored containers of the second robot shelf to the target idle storage bins on the first robot shelf, the method further comprises: According to positions of each target idle storage bin on the first robot shelf, a plurality of target operation areas of the first robot are divided, wherein distances between target idle storage bins in each target operation area are less than a preset distance. According to positions of each target operation area, a corresponding target docking position and a corresponding part of the to-be-stored containers are determined for each target operation area. The indication of the second robot to move the to-be-stored second robot shelf to the first containing space of the first robot shelf comprises: sequentially sending a moving instruction including a target docking position to the second robot; causing the second robot to move the to-be-stored second robot shelf to the corresponding target docking position after receiving the moving instruction each time, and waiting for the first robot to move the part of the to-be-stored containers corresponding to the target docking position to the corresponding target idle storage bin; and in the case of receiving a signal of the first robot that the moving of the part of the to-be-stored containers is completed each time, sending a moving instruction including a next target docking position to the second robot. The indication of the first robot to move the to-be-stored containers of the second robot shelf to the target idle storage bins on the first robot shelf comprises: sending a second operation instruction including each target operation area to the first robot, so that the first robot sequentially moves to each target operation area on the first robot shelf by using the sliding guide rail and the column gantry, and in each target operation area, the carrying mechanism is moved downward along the column gantry to a position corresponding to the to-be-stored container on the second robot shelf, the to-be-stored container is taken out from the second robot shelf by using the carrying mechanism, and the to-be-stored container is placed on the corresponding target idle storage bin at least by moving upward.

45. The storage method according to claim 41, characterized in that: The indication of the first robot to move the to-be-stored containers of the second robot shelf to the target idle storage bins on the first robot shelf comprises: Based on positions of each target idle storage bin and positions of the target docking positions, a predicted operation time required for the first robot to move all the to-be-stored containers to the target idle storage bins is predicted under the condition that the target docking positions remain unchanged; If the predicted operation time is not greater than a preset threshold, the first robot is instructed to move all the to-be-stored containers of the second robot shelf to the corresponding target idle storage bins on the first robot shelf, respectively. If the predicted operation duration is greater than the preset threshold, instruct the first robot to move the part of the second robot shelf to be warehoused containers to the corresponding target idle storage positions on the first robot shelf respectively; Update the target docking position based on the positions of the target idle storage positions corresponding to the remaining to-be-warehoused containers; Instruct the second robot to move to the updated target docking position; Instruct the first robot to move the remaining to-be-warehoused containers on the second robot shelf to the corresponding target idle storage positions on the first robot shelf.

46. A method of depository, characterized by, The application is applied to a control device, which is in communication connection with the first robot and the second robot of the warehouse system of any one of claims 30-39; and the method comprises: According to the number of to-be-delivered containers, determine a to-be-delivered second robot shelf; the to-be-delivered second robot shelf has idle temporary storage positions; Instruct the second robot to move the to-be-delivered second robot shelf to the first containing space of the first robot shelf; Instruct the first robot to move the to-be-delivered containers on the first robot shelf to the idle temporary storage positions of the to-be-delivered second robot shelf; Instruct the second robot to move the to-be-delivered second robot shelf to the destination.

47. The delivery method according to claim 46, wherein, Before instructing the second robot to move the to-be-delivered second robot shelf to the first containing space of the first robot shelf, further comprising: According to the number of to-be-delivered containers and the positions of the storage positions where the to-be-delivered containers are located, determine a target docking position of the second robot shelf moving to the first containing space of the first robot shelf; The instruction of the second robot to move the to-be-delivered second robot shelf to the first containing space of the first robot shelf comprises: instructing the second robot to move the to-be-delivered second robot shelf to the target docking position.

48. The delivery method according to claim 47, wherein, The first robot comprises a column gantry, a carrying mechanism, and at least one sliding guide rail; The instruction of the first robot to move the to-be-delivered containers on the first robot shelf to the idle temporary storage positions of the to-be-delivered second robot shelf comprises: sending a first operation instruction containing the target docking position and the positions of the to-be-delivered containers to the first robot, so that the first robot moves horizontally on the first robot shelf to the column where the to-be-delivered containers are located by using the sliding guide rail, and moves the carrying mechanism up and down along the column gantry to the layer where the to-be-delivered containers are located, takes out the to-be-delivered containers from the first robot shelf by using the carrying mechanism, and at least moves downward to place the to-be-delivered containers on the idle temporary storage positions of the second robot shelf.

49. The delivery method according to claim 46, wherein, Before instructing the second robot to move the to-be-delivered second robot shelf to the first containing space of the first robot shelf, further comprising: According to the positions of the various to-be-delivered containers on the first robotic shelf, a plurality of target operation areas of the first robot are divided; wherein the distance between the to-be-delivered containers contained in each target operation area is less than a preset distance; According to the positions of the various target operation areas, a corresponding target docking position and a corresponding part of the to-be-delivered containers are determined for each target operation area; The instruction for the second robot to move the to-be-delivered second robotic shelf to the first containing space of the first robotic shelf comprises: sequentially sending a moving instruction including a target docking position to the second robot; so that the second robot moves the to-be-delivered second robotic shelf to the corresponding target docking position after receiving the moving instruction each time, and waits for the first robot to move the part of to-be-delivered containers corresponding to the target docking position to the idle temporary storage position of the second robotic shelf; in the case of receiving a signal that the first robot has completed the movement of the part of to-be-delivered containers each time, a moving instruction including a next target docking position is sent to the second robot; The first robot comprises a column gantry, a carrying mechanism, and at least one sliding guide rail; The instruction for the first robot to move the to-be-delivered containers on the first robotic shelf to the idle temporary storage position of the to-be-delivered second robotic shelf comprises: sending a second operation instruction containing each target operation area to the first robot, so that the first robot sequentially moves to each target operation area on the first robotic shelf by using the sliding guide rail and the column gantry, and moves the carrying mechanism up and down along the column gantry to the layer where the to-be-delivered container is located in each target operation area, takes out the to-be-delivered container from the first robotic shelf by using the carrying mechanism, and at least moves downward to place on the idle temporary storage position of the second robotic shelf.

50. The delivery method of claim 47, wherein: The instruction for the first robot to move the to-be-delivered containers on the first robotic shelf to the idle temporary storage position of the to-be-delivered second robotic shelf comprises: Based on the positions of the storage positions of the various to-be-delivered containers and the position of the target docking position, a predicted operation time required for the first robot to move all to-be-delivered containers to the various idle temporary storage positions is predicted under the condition that the target docking position remains unchanged; If the predicted operation time is not greater than a preset threshold, the first robot is instructed to move all to-be-delivered containers of the first robotic shelf to the various idle temporary storage positions on the second robotic shelf, respectively; If the predicted operation time is greater than the preset threshold, the first robot is instructed to move part of the to-be-delivered containers of the first robotic shelf to part of the idle temporary storage positions on the second robotic shelf, respectively; Based on the positions of the storage positions of the remaining various to-be-delivered containers, the target docking position is updated; The second robot is instructed to move to the updated target docking position; The first robot is instructed to move the remaining to-be-delivered containers on the first robotic shelf to the remaining idle temporary storage positions of the second robotic shelf.

51. A control device, characterized by ​ a memory for storing a computer program; a processor for executing the program stored in the memory to implement the order processing method of any one of claims 13-19, the warehousing method of any one of claims 40-45, or the delivery method of any one of claims 46-50.

52. A computer-readable storage medium, comprising: The computer program is stored in the computer readable storage medium, and the computer program is executed by the processor to implement the order processing method of any one of claims 13-19, the warehousing method of any one of claims 40-45, or the delivery method of any one of claims 46-50.

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