Warehousing system

Abstract

A warehousing system, relating to the technical field of warehousing. The warehousing system comprises a goods shelf and goods shelf robots. The goods shelf comprises a plurality of storage layers arranged in the vertical direction, each storage layer comprising a plurality of storage positions. The size of the goods shelf in the vertical direction is greater than that of each goods shelf robot. The plurality of goods shelf robots are distributed at different heights of the goods shelf in the vertical direction, such that the plurality of goods shelf robots can cover all the storage layers of the goods shelf in the vertical direction, and the goods shelf robots are at least used for transporting goods to be transported to target storage positions. The warehousing system can make full use of the clearance of warehouses in the vertical direction, thereby reducing the waste of warehouse space, and further reducing costs.

Description

A warehouse system

[0001] The present application claims priority to the Chinese patent application No. 202422323628.7, filed on September 23, 2024, and entitled "Warehouse system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of warehouse, in particular to a warehouse system. BACKGROUND

[0003] In order to improve the space utilization and reduce the land cost, the warehouse system usually has a plurality of storage layers of shelves, and uses a delivery robot to store and take goods.

[0004] Usually, in order to match the height of the delivery robot with the height of the shelf, the height of the delivery robot is set to be the same as the height of the shelf, so that the delivery robot can cover the entire shelf in the vertical direction.

[0005] However, the height of the delivery robot is limited, which limits the height of the shelf. Therefore, when the height of the warehouse in the vertical direction is much greater than the height of the shelf, the shelf with the same height as the delivery robot can only be set, which cannot effectively utilize the headroom of the warehouse in the vertical direction, resulting in the problem of waste of space. SUMMARY

[0006] The present application provides a warehouse system, which can fully utilize the headroom of the warehouse in the vertical direction, reduce the waste of warehouse space, and further reduce the warehouse cost.

[0007] The present application provides a warehouse system, which includes a shelf and a plurality of shelf robots; wherein,

[0008] The shelf includes a plurality of storage layers arranged in the vertical direction, and each of the storage layers includes a plurality of storage positions;

[0009] The size of the shelf in the vertical direction is greater than the size of the shelf robot in the vertical direction;

[0010] The plurality of shelf robots are distributed at different heights of the shelf in the vertical direction, so that the plurality of shelf robots can cover all the storage layers of the shelf in the vertical direction, and the shelf robot is used at least for transporting the goods to be transported to the target storage position.

[0011] The warehouse system in the implementation of the present application is provided with shelves for storing goods, and shelf robots for carrying goods to and from the shelves. By setting the size of the shelves in the vertical direction to be larger than the size of the shelf robots in the vertical direction, the height of the shelves can be made higher, thereby storing more goods and making full use of the space in the warehouse, reducing the waste of warehouse space, and thereby reducing the cost of warehousing. By distributing multiple shelf robots at different heights of the shelves in the vertical direction, the multiple shelf robots can cover all the storage layers of the shelves in the vertical direction. This allows multiple different shelf robots to be responsible for at least part of the storage layers at different heights. Since different robots can operate independently on different storage layers, this can reduce waiting time and operational bottlenecks, thereby improving overall operational efficiency. In addition, the shelves can be designed more compactly and efficiently, maximizing the utilization of warehouse space. Since each shelf robot only needs to move on the storage layer it is responsible for, the time for moving up and down is reduced, thereby speeding up the picking and stocking of goods. In addition, the shelf robots work independently on their respective storage layers, avoiding collisions and interference that may occur when multiple shelf robots operate on the same storage layer.

[0012] Optionally, the size of the shelf robot in the vertical direction is variable; wherein,

[0013] The shelf robot comprises an expanded state, in which the size of the shelf robot in the vertical direction is maximum;

[0014] When at least one of the shelf robots is in the expanded state, the multiple shelf robots can cover all the storage layers of the shelves in the vertical direction.

[0015] By designing the shelf robot to be variable in size in the vertical direction, the shelf robot can cover shelves at different heights, adapt to various storage needs and shelf designs, and the shelf robot can adjust its working height according to real-time needs, flexibly responding to different warehousing tasks and changing workloads. The shelf robot can directly stretch or retract in the vertical direction to the desired height, reducing the time for horizontal and vertical movement, thereby improving the speed of picking and stocking. Since the shelf robot can adjust its height flexibly, the shelves can be designed more compactly and efficiently, maximizing the utilization of warehouse space. By designing multiple shelf robots to cover all the storage layers of the shelves in the vertical direction when at least one of the shelf robots is in the expanded state, the total number of shelf robots required can be reduced while ensuring that multiple shelf robots can cover all the storage layers of the shelves in the vertical direction, thereby reducing the initial equipment cost and maintenance cost.

[0016] Optionally, the shelf robot comprises a column gantry, a carrying device and a connecting device; wherein,

[0017] The carrying device is movably connected with the column gantry in the vertical direction, and the column gantry is configured as a track for the carrying device to move in the vertical direction;

[0018] The connecting device is connected with the column gantry, and the connecting device is used to connect the shelf robot with the shelf.

[0019] In this way, the carrying device can move in the vertical direction along the column gantry, so that the carrying of goods between shelves at different levels in the vertical direction can be realized. By providing the connecting device, the shelf robot and the shelf can be connected, and the stability of the connection between the shelf robot and the shelf can be improved.

[0020] Optionally, the column gantry is a telescopic column gantry; wherein,

[0021] The telescopic column gantry is used to change the size of the telescopic column gantry in the vertical direction when the telescopic column gantry is in telescopic motion, so as to change the size of the shelf robot in the vertical direction.

[0022] In this way, the length of the shelf robot in the vertical direction can be changed, so as to adapt to different carrying scenarios and improve the adaptability of the shelf robot. In addition, when the shelf robot moves along the length direction on the shelf, the length of the shelf robot in the vertical direction can be shortened to prevent the collision between shelf robots at different heights, thereby improving the adaptability of the shelf robot.

[0023] Optionally, the column gantry comprises a support rod and a telescopic rod; wherein,

[0024] The telescopic rod is slidably connected with the support rod in the vertical direction;

[0025] The column gantry comprises an extended state and a retracted state, in the extended state, one end of the telescopic rod extends to the outside of the support rod in the vertical direction, and in the retracted state, the telescopic rod is located in the support rod;

[0026] When the shelf robot is in the extended state, the column gantry is in the extended state.

[0027] By providing the column gantry comprising a support rod and a telescopic rod, the column gantry has a telescopic function, that is, the height of the shelf robot in the vertical direction can be changed, so that the shelf robot can be applied to different application scenarios.

[0028] Optionally, the carrying device comprises a telescopic mechanism, which is configured to move in a depth direction of the shelf, the depth direction being perpendicular to the vertical direction.

[0029] In this way, the carrying device can be adapted to storage locations of different depths, so as to adapt to storage locations of different depths, thereby improving the applicability of the shelf robot.

[0030] Optionally, the shelf comprises a guide rail arranged in a length direction of the shelf; wherein,

[0031] In the length direction, the shelf robot is movably connected with the guide rail, and the guide rail is configured as a track for the shelf robot to move in the length direction, the length direction being perpendicular to the depth direction and the vertical direction.

[0032] By arranging the guide rail in the length direction of the shelf, the shelf robot moves in the length direction of the shelf, so that the shelf robot can cover multiple storage locations in the length direction of the shelf, thereby expanding the carrying range of the shelf robot. In this way, when the shelf has a large size in the length direction, fewer shelf robots can be arranged, thereby reducing the cost of the warehouse system.

[0033] Optionally, one of the storage layers of the shelf or a plurality of adjacent storage layers is configured as a transfer area.

[0034] When the transfer area is multiple, the multiple transfer areas are arranged at intervals in the vertical direction.

[0035] In the vertical direction, the storage layer below the transfer area is a low-level storage area, and the storage layer above the transfer area is a high-level storage area. The low-level storage area and the high-level storage area corresponding to each transfer area are each provided with a shelf robot; wherein,

[0036] The first shelf robot covers all the storage layers in the low-level storage area, and the second shelf robot covers all the storage layers in the high-level storage area. The first shelf robot and the second shelf robot can simultaneously cover at least one storage layer of the transfer area.

[0037] When carrying a first to-be-carried cargo located in the low-level storage area to the high-level storage area, the first shelf robot is configured to carry the first to-be-carried cargo to the transfer area, and the second shelf robot is configured to carry the first to-be-carried cargo in the transfer area to the high-level storage area.

[0038] When the second to-be-transported goods located in the high-layer storage area is transported to the low-layer storage area, the second goods shelf robot is configured to transport the second to-be-transported goods to the transfer area, and the first goods shelf robot is configured to transport the second to-be-transported goods in the transfer area to the low-layer storage area.

[0039] By arranging the transfer area, the goods can be conveniently handed over between the two goods shelf robots adjacent in the vertical direction, and the goods shelf robots at different heights in the vertical direction can be conveniently coordinated to work, so as to store the goods in the higher storage layer of the goods shelf or transport the goods in the higher storage layer of the goods shelf to the lower part of the goods shelf. By arranging the first goods shelf robot and the second goods shelf robot to simultaneously cover at least one storage layer of the transfer area in the vertical direction, a connection area can be formed on the storage layer in the transfer area covered by the first goods shelf robot and the second goods shelf robot, that is, the goods can be transported to the connection area by the first goods shelf robot, and then transported to the target storage position by the second goods shelf robot, so that the goods shelf robots at different heights can seamlessly connect, and the working efficiency of the warehouse system is improved.

[0040] Optionally, the two goods shelf robots adjacent in the vertical direction satisfy:

[0041] The goods shelf robot at the low position in the two goods shelf robots covers the a-th storage layer to the a+b-th storage layer, and the goods shelf robot at the high position in the two goods shelf robots covers the a+b+1-c-th storage layer to the a+b+1-c+d-th storage layer; wherein,

[0042] a, b and d are integers greater than 0;

[0043] c is an integer greater than or equal to 0 and less than b+1.

[0044] In this way, the first goods shelf robot and the second goods shelf robot can cover all the storage layers in the vertical direction of the goods shelf, and the first goods shelf robot and the second goods shelf robot cover different heights of the goods shelf and independently operate on different storage layers, so that the waiting time and operation bottleneck can be reduced, and the overall operation efficiency is improved.

[0045] Optionally, when the transfer area is multiple, the multiple transfer areas are arranged at intervals in the vertical direction.

[0046] In this way, the goods can be transferred in multiple areas, and the transfer efficiency can be improved.

[0047] Optionally, the bottom of the goods shelf is provided with a plurality of buffer positions.

[0048] The shelf robot is configured to carry the to-be-carried goods located at the target storage position to the buffer position, and / or the shelf robot is configured to carry the to-be-carried goods located at the buffer position to the target storage position.

[0049] By arranging the buffer position, the goods can be temporarily stored, and the carrying is facilitated.

[0050] Optionally, the warehouse system further comprises a ground robot.

[0051] The ground robot is configured to carry the to-be-carried goods located at the buffer position to a target work station, and / or the ground robot is configured to carry the to-be-carried goods located at the target work station to the buffer position.

[0052] By arranging the ground robot, the goods can be transferred between the shelf and the work station. In this way, the goods on the storage layers at different heights of the shelf can be carried by the shelf robot, and then the goods can be transferred between the work stations by the ground robot, thereby effectively improving the carrying efficiency of the entire warehouse system.

[0053] Optionally, the ground robot comprises a chassis and a lifting mechanism.

[0054] The lifting mechanism is located on the top of the chassis, and the lifting mechanism is capable of telescopic movement in the vertical direction. The top of the lifting mechanism is configured to carry the to-be-carried goods.

[0055] The bottom of the chassis is provided with a plurality of rollers.

[0056] By arranging the lifting mechanism, the ground robot can be telescoped in the vertical direction, thereby realizing the handover of the goods between the ground robot and the shelf robot, and can adapt to the requirements of work stations at different heights, and the applicability is improved. By arranging the rollers on the chassis, the ground robot can move freely on the ground, so as to realize the carrying function.

[0057] The construction of the present application and its other application purposes and beneficial effects will be more apparent and easy to understand through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0058] The accompanying drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application.

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings described below are only some embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art based on these drawings without creative effort are within the scope of the present application.

[0060] Fig. 1 is a structural schematic diagram of a warehouse system provided by an embodiment of the present application;

[0061] Fig. 2 is a structural schematic diagram of a shelf robot of a warehouse system provided by an embodiment of the present application;

[0062] Fig. 3 is a structural schematic diagram of a column gantry of a shelf robot of a warehouse system provided by an embodiment of the present application;

[0063] Fig. 4 is a structural schematic diagram of a carrying device of a shelf robot of a warehouse system provided by an embodiment of the present application;

[0064] Fig. 5 is a structural schematic diagram of a ground robot of a warehouse system provided by an embodiment of the present application.

[0065] Legend of reference signs: 100-warehouse system; 10-shelf; 11-storage layer; 12-storage position; 13-rail; 14-buffer position; 15-transit area; 20-shelf robot; 21-first shelf robot; 22-second shelf robot; 23-column gantry; 231-supporting rod; 232-telescopic rod; 24-carrying device; 241-telescopic mechanism; 25-connecting device; 30-ground robot; 31-chassis; 32-lifting mechanism; 33-roller; 200-ground. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions, and advantages of the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0067] The warehouse system provided by the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0068] The embodiment of the present application provides a warehouse system, as shown in Figure 1, which is a structural schematic diagram of the warehouse system provided by the embodiment of the present application; the warehouse system 100 can comprise a shelf 10 and a shelf robot 20, wherein the shelf 10 comprises a plurality of storage layers 11 arranged in a vertical direction, each of the storage layers 11 comprises a plurality of storage positions 12, and the plurality of storage positions 12 are arranged side by side in a length direction.

[0069] For example, when the size of the shelf robot 20 in the vertical direction is five meters, the height of the shelf 10 in the vertical direction can be eight meters, ten meters, fifteen meters, etc.

[0070] It should be noted that the heights of different storage layers of the shelf 10 can be different, and are used for storing goods of different sizes.

[0071] It should be noted that, in the embodiment of the present application, the vertical direction is regarded as the z direction in the figure, the length direction of the shelf is regarded as the x direction in the figure, and the depth direction of the shelf is regarded as the y direction in the figure, and the y direction is perpendicular to the x direction and the z direction.

[0072] Optionally, the plurality of shelf robots 20 are distributed at different heights of the shelf 10 in the vertical direction, so that the plurality of shelf robots 20 can cover all the storage layers 11 of the shelf 10 in the vertical direction (z direction), and the shelf robot 20 is used at least for carrying the goods to be carried to a target storage position.

[0073] The warehouse system 100 in the embodiment of the present application is used for storing goods by arranging the shelf 10, and is used for carrying the goods to or from the shelf 10 by arranging the shelf robot 20. By arranging the size of the shelf 10 in the vertical direction to be larger than the size of the shelf robot 20 in the vertical direction, the height of the shelf 10 can be higher, so that more goods can be stored, the space of the warehouse can be fully utilized, the waste of the warehouse space can be reduced, and the warehouse cost can be reduced.

[0074] By distributing the plurality of shelf robots 20 at different heights of the shelf 10 in the vertical direction, the plurality of shelf robots 20 can cover all the storage layers 11 of the shelf 10 in the vertical direction. In this way, different shelf robots 20 can be responsible for at least part of the storage layers 11 at different heights, respectively. Since different shelf robots 20 can operate independently on different storage layers, respectively, this can reduce waiting time and operation bottlenecks, thereby improving overall operation efficiency. In addition, in this way, the shelf 10 can be designed more compactly and efficiently, maximizing the utilization rate of the storage space. Since each shelf robot 20 only needs to move on the storage layer it is responsible for, the time for moving up and down is reduced, thereby speeding up the picking and storing speed. In addition, the shelf robots 20 work independently on their respective storage layers, avoiding collisions and interference that may occur when multiple shelf robots 20 operate on the same storage layer at the same time.

[0075] In one possible implementation, the size of the shelf robot 20 in the vertical direction (z direction) is variable. The shelf robot 20 includes an expanded state, in which the size of the shelf robot 20 in the vertical direction is maximum. When at least one shelf robot 20 is in the expanded state, the plurality of shelf robots 20 can cover all the storage layers 11 of the shelf 10 in the vertical direction.

[0076] For example, in the vertical direction, two shelf robots 20 are distributed on the shelf 10, one of the two shelf robots 20 is in the expanded state, and the other of the two shelf robots 20 is not in the expanded state, which can cover all the storage layers 11 of the shelf 10 in the vertical direction. Alternatively, both of the two shelf robots 20 are in the expanded state, and the two shelf robots 20 can cover all the storage layers 11 of the shelf 10 in the vertical direction. Alternatively, both of the two shelf robots 20 are not in the expanded state, which can cover all the storage layers 11 of the shelf 10 in the vertical direction.

[0077] By designing the size of the shelf robot 20 in the vertical direction to be variable, the shelf robot 20 can cover different heights of the shelf 10 layers, adapt to various storage needs and shelf 10 designs, and the shelf robot 20 can adjust its working height according to real-time needs, flexibly cope with different warehouse tasks and changing workloads. The shelf robot 20 can directly stretch in the vertical direction to the required height, reducing the time of horizontal movement and up and down movement, thereby improving the speed of picking and storing. Since the shelf robot 20 can flexibly adjust the height, the shelf 10 can be designed more compact and efficient, maximizing the utilization of warehouse space. By designing the plurality of shelf robots 20 to cover all the storage layers 11 of the shelf 10 in the vertical direction when at least one shelf robot 20 is in the expanded state, it can be ensured that the plurality of shelf robots 20 can cover all the storage layers 11 of the shelf 10 in the vertical direction, while reducing the total number of shelf robots 20 required, thereby reducing the initial equipment cost and maintenance cost.

[0078] Optionally, in the length direction, a plurality of shelf robots 20 can be arranged at the same height and spaced apart in the length direction, so that the shelf robots 20 distributed at different positions in the length direction are responsible for fewer areas, thereby improving the working efficiency of the shelf robots 20.

[0079] The following will be described taking the shelf 10 including twenty storage layers 11 and the number of shelf robots 20 being two, i.e., the first shelf robot 21 and the second shelf robot 22 as an example. The "plurality of shelf robots 20 distributed at different heights of the shelf 10 in the vertical direction" can specifically refer to that the first shelf robot 21 is responsible for picking and storing the storage layers 11 from the first layer to the tenth layer, and the second shelf robot 22 is responsible for picking and storing the storage layers 11 from the eighth layer to the twentieth layer. In this way, the shelf 10 can be arranged without being limited by the picking and storing height of the shelf robot 20, and the arrangement of a high shelf 10 becomes possible.

[0080] It should be noted that the first shelf robot 21 being responsible for picking and storing the storage layers 11 from the first layer to the tenth layer means that the first shelf robot 21 can cover the first layer to the tenth layer of the storage layers 11 in the vertical direction when in the expanded state. The second shelf robot 22 being responsible for picking and storing the storage layers 11 from the eighth layer to the twentieth layer means that the second shelf robot 22 can cover the eighth layer to the twentieth layer of the storage layers 11 in the vertical direction when in the expanded state.

[0081] Continuing to refer to FIG. 1, the shelf 10 can include a guide rail 13 arranged in the length direction of the shelf, wherein in the length direction, the shelf robot 20 is movably connected with the guide rail 13, and the guide rail 13 is configured as a track for the shelf robot 20 to move in the length direction.

[0082] By arranging the guide rails 13 along the length direction of the shelf 10, the shelf robot 20 can move along the length direction of the shelf 10, so that the shelf robot 20 can cover multiple storage positions 12 in the length direction of the shelf 10, thereby expanding the carrying range of the shelf robot 20. In this way, when the shelf 10 has a large size in the length direction, fewer shelf robots 20 can be arranged, thereby reducing the cost of the warehouse system 100.

[0083] It should be noted that in the embodiments of the present application, the specific structure of the guide rail 13 is not limited further, as long as the shelf robot 20 can move along the guide rail 13 in the length direction. The sizes of the storage layers 11 located at different layers in the vertical direction can be the same or different.

[0084] In some embodiments, as shown in FIG. 2, which is a structural schematic diagram of a shelf robot of a warehouse system provided by an embodiment of the present application, the shelf robot 20 can include a column gantry 23, a carrying device 24, and a connecting device 25. The carrying device 24 is movably connected to the column gantry 23 in the vertical direction, and the column gantry 23 is configured as a track for the carrying device 24 to move in the vertical direction. The connecting device 25 is connected to the column gantry 23, and the connecting device 25 is used to connect the shelf robot 20 and the shelf 10. The connecting device 25 includes a driving motor and a driving wheel. The driving wheel can cooperate with the guide rail 13 on the shelf, the driving motor can drive the driving wheel to rotate, and thus the driving wheel drives the column gantry 23 to move along the guide rail 13.

[0085] It should be noted that in order to improve the stability of the connection between the shelf robot 20 and the shelf, at least two guide rails 13, for example, two or three, are arranged on the shelf corresponding to each shelf robot. The at least two guide rails 13 are arranged in the vertical direction. The shelf robot 20 is provided with two connecting devices 25 for cooperating with the guide rails. As shown in FIG. 1, when the number of shelf robots is two, and each shelf robot corresponds to two guide rails 13, the number of guide rails 13 of the two shelf robots is four.

[0086] The structure of the carrying device includes but is not limited to a fork, a hook arm, a suction cup, or the like. The carrying device can complete the bidirectional transfer of goods from the shelf to the conveying line, machine table, or other common in-plant logistics equipment below the shelf. When the guide rail 13 on the shelf extends outward, the bidirectional transfer of the conveying line, machine table, or other common in-plant logistics equipment can also be arranged on the outside of the shelf.

[0087] In this way, the carrying device 24 can move along the column gantry 23 in the vertical direction, so as to realize carrying of goods between shelves 10 at different vertical levels. By arranging the connecting device 25, the shelf robot 20 and the shelf 10 can be connected, and the connection stability between the shelf robot 20 and the shelf 10 can be improved.

[0088] For example, the column gantry 23 can be provided with a sliding rail structure, and part of the structure of the carrying device 24 is connected with the sliding rail structure. One of the column gantry 23 and the carrying device 24 can be provided with a driving device, wherein the driving device is used to drive the carrying device 24 to move along the sliding rail structure of the column gantry 23 in the vertical direction.

[0089] In a possible implementation, as shown in FIG. 3, the column gantry 23 can be a telescopic column gantry 23. The telescopic column gantry 23 is used to change the size of the telescopic column gantry 23 in the vertical direction when the telescopic column gantry 23 is telescoped, so as to change the size of the shelf robot 20 in the vertical direction.

[0090] By arranging the column gantry 23 as a telescopic column gantry 23, the length of the shelf robot 20 in the vertical direction can be changed, so as to adapt to different carrying scenes and improve the adaptability of the shelf robot 20. In addition, when the shelf robot 20 moves along the length direction on the shelf 10, the length of the shelf robot 20 in the vertical direction can be shortened to prevent collision between shelf robots 20 at different heights, and the adaptability of the shelf robot 20 is improved.

[0091] For example, the telescopic movement of the column gantry 23 can be realized by a telescopic member, the telescopic member can move along the gantry body in the vertical direction, and the carrying device 24 can move along the telescopic member in the vertical direction; the telescopic member can extend from above the gantry body or from below the gantry body along the gantry body.

[0092] Exemplarily, as shown in FIG. 3, FIG. 3 is a structural schematic diagram of a column gantry of a shelf robot of a warehouse system provided in an embodiment of the present application; the column gantry 23 can include a support rod 231 and a telescopic rod 232, where the support rod 231 is a gantry body, and the telescopic rod 232 is a telescopic part, and the telescopic rod 232 is slidably connected with the support rod 231 in the vertical direction. The telescopic rod 232 shown in FIG. 3 can be extended from above or below the support rod 231. Exemplarily, the telescopic rod 232 and the support rod 231 can be insertedly connected. The column gantry 23 can include an extended state and a retracted state, in the extended state, one end of the telescopic rod 232 extends to the outside of the support rod 231 in the vertical direction, and in the retracted state, the telescopic rod 232 is located in the support rod 231. When the shelf robot 20 is in the unfolded state, the column gantry 23 is in the extended state, and in the unfolded state, the telescopic rod 232 of the column gantry 23 extends the maximum distance.

[0093] Specifically, the support rod 231 can be a sleeve, and the telescopic rod 232 can move up or down in the sleeve.

[0094] By setting the column gantry 23 to include the support rod 231 and the telescopic rod 232, the column gantry 23 can have a telescopic function, that is, the height of the shelf robot 20 in the vertical direction can be changed, and thus the shelf robot 20 can be applied to different application scenarios.

[0095] It should be noted that the column gantry 23 in the embodiments of the present application includes but is not limited to the structure shown in FIG. 3, in some embodiments, the column gantry 23 can be a fixed rod structure, that is, the size of the column gantry 23 in the vertical direction cannot be changed, and in the case of the fixed rod structure of the column gantry 23, the shelf robot 20 is always in the unfolded state.

[0096] In addition, in some embodiments, the column gantry 23 can also be realized by other forms of structures to realize telescopic movement in the vertical direction, and thus realize the size change of the shelf robot 20 in the vertical direction, and in the embodiments of the present application, the specific structure of the column gantry 23 is not limited further.

[0097] In a possible implementation manner, the carrying device 24 can include a telescopic mechanism 241, the telescopic mechanism 241 is used for telescopic movement in the depth direction of the shelf (that is, the y direction in the figure), and the depth direction (that is, the y direction in the figure) is perpendicular to the length direction (that is, the x direction in the figure) and the vertical direction (that is, the z direction in the figure). Specifically, the telescopic mechanism 241 can be a telescopic fork arm, for example, can be a one-stage telescopic fork arm or a two-stage telescopic fork arm.

[0098] In this way, the carrying device 24 can be adapted to different depths of the storage locations 12 to adapt to storage locations 12 with different depths, improving the applicability of the shelf robot 20. It should be noted that different depths refer to different positions in the y direction. As shown in FIG. 4, which is a structural schematic diagram of a carrying device of a shelf robot of a warehouse system according to an embodiment of the present application; the A position and the B position shown in FIG. 4 refer to storage locations 12 with different depths. When the telescopic mechanism 241 is located at the dashed line position in FIG. 4, it can grasp the goods at the B position, and when the telescopic mechanism 241 is located at the solid line position, it can grasp the goods at the A position.

[0099] It should be noted that the range in which the carrying device 24 can be telescoped in the y direction is not limited in the embodiments of the present application. For example, the size of the carrying device 24 that can be telescoped in the y direction can cover one depth of positions on the shelf 10, or two depths of positions on the shelf 10, or of course three depths of positions on the shelf 10, or more.

[0100] Continuing to refer to FIG. 1, in some embodiments, the shelf 10 can further include at least one transfer area 15, wherein when there are multiple transfer areas 15, the multiple transfer areas 15 can be spaced apart in the vertical direction. One of the storage layers 11 of the shelf 10 or multiple adjacent storage layers 11 is configured as a transfer area 15.

[0101] For example, in the vertical direction, the storage layer 11 below the transfer area 15 is a lower storage area, and the storage layer 11 above the transfer area 15 is an upper storage area. Each transfer area 15 is provided with a shelf robot 20 corresponding to the lower storage area and the upper storage area. The first shelf robot 21 covers all the storage layers 11 in the lower storage area, the second shelf robot 22 covers all the storage layers 11 in the upper storage area, and the first shelf robot 21 and the second shelf robot 22 can simultaneously cover at least one storage layer 11 of the transfer area 15.

[0102] When the first to-be-carried goods located in the lower storage area are carried to the upper storage area, the first shelf robot 21 is used to carry the first to-be-carried goods to the transfer area 15, and the second shelf robot 22 carries the first to-be-carried goods in the transfer area 15 to the upper storage area.

[0103] When the second to-be-carried goods located in the upper storage area are carried to the lower storage area, the second shelf robot 22 is used to carry the second to-be-carried goods to the transfer area 15, and the first shelf robot 21 carries the second to-be-carried goods in the transfer area 15 to the lower storage area.

[0104] At least one shelf robot 20 is arranged at each end of each transfer area 15, and the shelf robots 20 arranged at the two ends of the transfer area 15 are configured as a first shelf robot 21 and a second shelf robot 22, which can cover at least one same storage layer 11 of the transfer area 15 in the vertical direction.

[0105] For example, the first shelf robot 21 and the second shelf robot 22 can cover one same, two same, three same, or four same storage layers 11 of the transfer area 15, and in the embodiment of the present application, the number of storage layers 11 that can be covered by the first shelf robot 21 and the second shelf robot 22 of the transfer area 15 is not limited further.

[0106] It should be noted that the first shelf robot 21 and the second shelf robot 22 can cover at least one storage layer 11 of the transfer area 15 simultaneously in the unfolded state, or can cover at least one storage layer 11 of the transfer area 15 simultaneously in the non-unfolded state. In the embodiment of the present application, the state in which the first shelf robot and the second shelf robot can cover at least one storage layer 11 of the transfer area 15 simultaneously is not limited further.

[0107] By arranging the transfer area 15, the goods transfer between two adjacent shelf robots 20 in the vertical direction can be facilitated, and the shelf robots 20 at different heights in the vertical direction can be coordinated to work, so as to store the goods in the higher storage layer 11 of the shelf 10, or to transport the goods in the higher storage layer 11 of the shelf 10 to the lower part of the shelf 10. By arranging the first shelf robot 21 and the second shelf robot 22 to cover one same storage layer 11 of the transfer area 15 in the vertical direction, a connection area can be formed on the storage layer 11 in the transfer area 15 covered by the first shelf robot 21 and the second shelf robot 22, that is, the goods can be transported to the connection area by the first shelf robot 21, and then transported to the target storage position by the second shelf robot 22, so that the shelf robots 20 at different heights can be seamlessly connected, and the working efficiency of the warehouse system 100 is improved.

[0108] When there are multiple transfer areas 15, the multiple transfer areas 15 are arranged in the vertical direction. In this way, the goods can be transferred in multiple areas, and the transfer efficiency can be improved.

[0109] It should be noted that in the embodiments of the present application, the number of layers of the object platform occupied by the transfer area 15 in the vertical direction is not further limited, for example, it can be one layer, two layers, three layers, four layers or more. The transfer area 15 is used for the relay carrying of the shelf robots 20 located at different heights, so that two shelf robots 20 located at different heights can cover more layers of storage layers 11 in the vertical direction in the form of relay.

[0110] It should be noted that for FIG. 1, when the first shelf robot 21 located below places the goods on the transfer area 15, the first shelf robot 21 is in an expanded state, and after the first shelf robot 21 places the goods on the transfer area 15, it changes from the expanded state to the retracted state, so that the movement of the second shelf robot 22 will not interfere with the first shelf robot 21 and can move freely along the guide rail 13. Similarly, when the second shelf robot 22 located above places the goods on the transfer area 15, the second shelf robot 22 is in an expanded state, and after the second shelf robot 22 places the goods on the transfer area 15, it changes from the expanded state to the retracted state, so that the movement of the first shelf robot 21 will not interfere with the second shelf robot 22 and can move freely along the guide rail 13.

[0111] In a possible implementation, two shelf robots 20 adjacent in the vertical direction satisfy: the shelf robot 20 at the low position in the two shelf robots 20 covers the a-th to the a+b-th storage layers 11. The shelf robot 20 at the high position in the two shelf robots 20 covers the a+b+1-c-th to the a+b+1-c+d-th storage layers 11. Wherein a, b and d are all integers greater than 0. c is an integer greater than or equal to 0 and less than b+1.

[0112] It should be noted that for convenience of description, the shelf robot at the low position in the two shelf robots 20 adjacent in the vertical direction can be taken as the first shelf robot 21, and the shelf robot at the high position can be taken as the second shelf robot 22. Wherein the first shelf robot 21 covers the a-th to the a+b-th storage layers 11, and the second shelf robot 22 covers the a+b+1-c-th to the a+b+1-c+d-th storage layers 11.

[0113] When c is 0, the first shelf robot 21 and the second shelf robot 22 can cover all the storage layers 11 on the shelf, but there is no transfer area 15.

[0114] When c is greater than or equal to 1, the first shelf robot 21 and the second shelf robot 22 can cover the a+b-th storage layer 11 at the same time, that is, the transfer area 15 is formed on the a+b-th storage layer 11.

[0115] The following takes the example of the shelf 10 including twenty storage layers 11, and the number of shelf robots 20 being two, i.e. a first shelf robot 21 and a second shelf robot 22.

[0116] For example, the first shelf robot 21 is responsible for picking and placing goods in the first to tenth storage layers 11, and the second shelf robot 22 is responsible for picking and placing goods in the eighth to twentieth storage layers 11. At least one of the eighth to tenth storage layers 11 can be used as the transfer area 15, for example, the eighth and ninth storage layers 11 can be used as the transfer area 15, or the ninth and tenth storage layers 11 can be used as the transfer area 15, or the eighth, ninth or tenth storage layers 11 can be used as the transfer area 15, etc.

[0117] In this way, goods can be transported between the storage layers 11 at higher levels and the storage layers 11 at lower levels, i.e. through a relay manner to cover all the storage layers 11 in the vertical direction of the shelf 10, so as to improve the utilization rate of the shelf 10, and the height of the shelf 10 is not limited by the height of the shelf robot 20, so that the shelf 10 can make full use of the headroom of the warehouse, improve the utilization rate of the warehouse, and reduce the warehousing cost.

[0118] The following takes the example of transporting goods in the first storage layer 11 to the fifteenth storage layer 11, and the transfer area 15 being the ninth storage layer 11.

[0119] In use, the first shelf robot 21 can be used to transport goods in the first storage layer 11 to the ninth storage layer 11, and then the second shelf robot 22 can be used to transport goods in the ninth storage layer 11 to the fifteenth storage layer 11.

[0120] When transporting goods in the fifteenth storage layer 11 to the first storage layer 11, the second shelf robot 22 can be used to transport goods in the fifteenth storage layer 11 to the ninth storage layer 11 first, and then the first shelf robot 21 can be used to transport goods in the ninth storage layer 11 to the first storage layer 11.

[0121] In some embodiments, continuing to refer to FIG. 1, the bottom of the shelf 10 is provided with a plurality of buffer locations 14, and the shelf robot 20 is used to transport the to-be-transported goods in the target storage location to the buffer location 14, and / or the shelf robot 20 is used to transport the to-be-transported goods in the buffer location 14 to the target storage location. By providing the buffer location 14, the goods can be temporarily stored for easy transportation.

[0122] Exemplarily, the buffer position 14 can be arranged at the bottom of the shelf 10, that is, the lower part of the storage layer 11 closest to the ground 200, or a plurality of buffer positions 14 are arranged on the storage layer 11 closest to the ground 200, that is, the buffer position 14 is arranged on the first storage layer 11 from the ground of the shelf 10. In the embodiment of the present application, the position of the buffer position 14 is not limited further.

[0123] As shown in FIG. 5, FIG. 5 is a structural schematic diagram of a ground robot of a warehouse system provided by the embodiment of the present application; the warehouse system 100 can further include a ground robot 30, wherein the ground robot 30 is used to carry the to-be-carried goods located at the buffer position 14 to the target work station, and / or the ground robot 30 is used to carry the to-be-carried goods located at the target work station to the buffer position 14.

[0124] By arranging the ground robot 30, the transfer of goods between the shelf 10 and the work station can be realized. In this way, the goods on the storage layers 11 at different heights of the shelf 10 can be carried by the shelf robot 20, and then the transfer of goods between the work stations can be realized by the ground robot 30, thereby effectively improving the carrying efficiency of the entire warehouse system 100.

[0125] It should be noted that the work station refers to a receiving position or a delivery position, and the position of the work station is not limited further in the embodiment of the present application.

[0126] In the embodiment of the present application, the ground robot 30 can include a chassis 31 and a lifting mechanism 32, wherein the lifting mechanism 32 is located at the top of the chassis 31, the lifting mechanism 32 can be extended and retracted in the vertical direction, and the top of the lifting mechanism 32 is used to carry the to-be-carried goods. The bottom of the chassis 31 is provided with a plurality of rollers 33.

[0127] By arranging the lifting mechanism 32, the extension and retraction of the ground robot 30 in the vertical direction can be realized, thereby realizing the handover of goods between the ground robot 30 and the shelf robot 20, and the adaptability can be improved to meet the needs of work stations at different heights. By arranging the rollers 33 on the chassis 31, the ground robot 30 can move freely on the ground 200 to realize the carrying function.

[0128] Exemplarily, the rollers 33 arranged at the bottom of the chassis 31 can be a plurality of rollers, and the plurality of rollers 33 can include a driving wheel and a steering wheel, the driving wheel has a driving force and can be used to drive the ground robot 30 to move, and the steering wheel can be steered to make the ground robot 30 move in different directions.

[0129] Exemplarily, the lifting mechanism 32 of the ground robot 30 includes, but is not limited to, a guide rail type lifting mechanism, a connecting rod type lifting mechanism, a sleeve type lifting mechanism, and the like. In the embodiments of the present application, the specific form of the lifting mechanism is not further limited.

[0130] Of course, in other embodiments, the ground robot 30 can also not be provided with the lifting mechanism 32, that is, the ground robot 30 includes the chassis 31 and the loading platform (not shown in the figure) provided at the top end of the chassis 31, and the bottom of the chassis 31 is provided with the rolling wheels 33. In use, the goods can be placed on the loading platform. In the embodiments of the present application, the structure of the ground robot 30 is not further limited.

[0131] The way of the goods connection between the shelf robot 20 and the ground robot 30 is described below.

[0132] Exemplarily, when the ground robot 30 includes the lifting mechanism 32, and the shelf includes the buffer position 14, the shelf robot 20 is connected with the ground robot 30 through the buffer position 14.

[0133] In other embodiments, when the ground robot 30 does not include the lifting mechanism 32, and the shelf includes the buffer position 14, the shelf robot 20 is connected with the ground robot 30 through the buffer position 14.

[0134] In other embodiments, when the ground robot 30 does not include the lifting mechanism 32, and the shelf 10 does not include the buffer position 14, the shelf robot 20 can directly place the goods on the loading platform of the ground robot 30, or directly take the goods from the loading platform of the ground robot 30.

[0135] The use process of the warehouse system 100 is described in detail below when the shelf includes the buffer position.

[0136] When the warehouse system 100 needs to be in the warehouse and on the shelf.

[0137] Firstly, the in-warehouse shelving task is generated, and the system dispatches the ground robot 30 to the working station to carry the goods. The warehouse system 100 allocates the target storage position on the shelf 10 for the in-warehouse goods.

[0138] Secondly, the in-warehouse working station can be provided with a buffer shelf, and the goods are manually carried to the buffer shelf, waiting for the ground robot 30 to take the goods on the buffer shelf into the warehouse. Or, the goods are directly placed on the ground robot 30 by manual.

[0139] Then, the warehouse system 100 selects the target buffer position closest to the target storage position of the high shelf 10 and idle according to the occupancy of the buffer position 14 at the bottom of the current shelf 10.

[0140] Then, the ground robot 30 carries the goods to the target buffer location.

[0141] Finally, the goods located at the target buffer location are carried to the target storage location of the shelf 10 by the shelf robot 20.

[0142] In some embodiments, when the target storage location requires multiple shelf robots 20 of different heights to relay, the warehouse system 100 needs to select a transfer area 15 where the shelf robots 20 of different heights can take and place goods, and the selection rule can be that the shelf robots 20 of lower heights are as few as possible to be vertically lifted, that is, the vertical lifting height of the lower shelf robots 20 is less than that of the higher shelf robots 20, and in the length direction, the storage location 12 of the transfer area 15 closest to the goods is preferentially selected.

[0143] Of course, in other embodiments, the selection rule can also have other rules, and in the embodiments of the present application, the rule for selecting the first machine and the transfer area 15 when the target storage location requires multiple shelf robots 20 of different heights to relay is not limited further.

[0144] When the warehouse system 100 needs to perform outbound shelving.

[0145] First, the warehouse system 100 receives an outbound task, and the system schedules the shelf robot 20 to carry the goods at the target storage location of the shelf 10 to the target buffer location at the bottom of the shelf 10. (When the target storage location requires multiple shelf robots 20 of different heights to relay, the warehouse system 100 needs to select a transfer area 15 where the shelf robots 20 of different heights can take and place goods, and the selection rule can be that the shelf robots 20 of lower heights are as few as possible to be vertically lifted, that is, the vertical lifting height of the lower shelf robots 20 is less than that of the higher shelf robots 20, and in the length direction, the storage location 12 of the transfer area 15 closest to the goods is preferentially selected.

[0146] Of course, in other embodiments, the selection rule can also have other rules, and in the embodiments of the present application, the rule for selecting the first machine and the transfer area 15 when the target storage location requires multiple shelf robots 20 of different heights to relay is not limited further.

[0147] Secondly, the system allocates the target buffer location at the bottom of the shelf 10 to the goods and locks it. The system preferentially selects the buffer location 14 closest to the transfer area 15 in the length direction as the target buffer location according to the distance judgment.

[0148] Then, the system dispatches the ground robot 30 to the target storage location at the bottom of the shelf 10 to pick up the goods.

[0149] Finally, the ground robot 30 carries the goods to the workstation.

[0150] The warehouse system 100 in the embodiments of the present application can realize the application of the super-high shelf 10 through the shelf robot 20 and the ground robot 30. The shelf robot 20 is arranged in different height directions, so that the height of the shelf 10 breaks through the height limit of a single robot for picking and placing goods. Through the cooperative work of the shelf robots 20 in different heights, the goods can be stored in higher layers of the shelf 10. At the same time, the ground robot 30 transfers the goods between the shelf 10 and the workstation, and the shelf robot 20 only carries the goods between the high and low positions of the shelf 10, which can effectively improve the carrying efficiency of the shelf robot 20. For example, in the prior art, the height of the shelf is 10 m, and a first robot with a picking height of 10 m is configured. The robot needs to be lifted and lowered between the first layer of the shelf and the storage layer up to 10 m. In the embodiments of the present application, two robots with a picking height of 5 m can be vertically arranged. The lower robot only needs to be lifted between the cache position and the storage layer of 5 m, which improves the turnover efficiency of the goods between the cache position and the storage layer of the shelf.

[0151] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0152] In the description of the present application, it should be understood that the terms "include" and "have" and any variations thereof used herein are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units need not be limited to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0153] Unless specifically stated and defined, the terms "mounting", "connected", "connecting", "fixed", and the like, should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or become an integral; can be directly connected, or indirectly connected through an intermediate medium, can be connected inside two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0154] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A warehousing system characterized by, The warehouse comprises a plurality of shelves and a plurality of shelf robots; wherein, The shelves comprise a plurality of storage layers arranged in a vertical direction, each of the storage layers comprises a plurality of storage positions; The size of the shelves in the vertical direction is greater than the size of the shelf robots in the vertical direction; The plurality of shelf robots are distributed at different heights of the shelves in the vertical direction, so that the plurality of shelf robots can cover all the storage layers of the shelves in the vertical direction, and the shelf robots are used at least for carrying goods to be carried to target storage positions.

2. The warehousing system according to claim 1, characterized in that, The size of the shelf robot in the vertical direction is variable; wherein, The shelf robot comprises an expanded state, in which the size of the shelf robot in the vertical direction is maximum; When at least one of the shelf robots is in the expanded state, the plurality of shelf robots can cover all the storage layers of the shelves in the vertical direction.

3. The warehousing system according to claim 2, characterized in that, The shelf robot comprises a column gantry, a carrying device and a connecting device; wherein, The carrying device is movably connected with the column gantry in the vertical direction, and the column gantry is configured as a track for the carrying device to move in the vertical direction; The connecting device is connected with the column gantry, and the connecting device is used to connect the shelf robot with the shelves.

4. The warehousing system according to claim 3, characterized in that, The column gantry is a telescopic column gantry; wherein, The telescopic column gantry is used to change the size of the telescopic column gantry in the vertical direction when the telescopic column gantry is telescoped in the vertical direction, so as to change the size of the shelf robot in the vertical direction.

5. The warehousing system according to claim 4, characterized in that, The column gantry comprises a support rod and a telescopic rod; wherein, The telescopic rod is slidably connected with the support rod in the vertical direction; The column gantry comprises an extended state and a retracted state, in the extended state, one end of the telescopic rod extends to the outside of the support rod in the vertical direction, and in the retracted state, the telescopic rod is located in the support rod; When the shelf robot is in the expanded state, the column gantry is in the extended state.

6. The warehousing system according to claim 5, characterized in that, The carrying device comprises a telescopic mechanism for telescopic movement in the depth direction of the shelf, and the depth direction is perpendicular to the vertical direction.

7. The warehousing system according to any one of claims 1-6, characterized in that, The shelf comprises guide rails arranged in the length direction of the shelf; wherein, In the length direction, the shelf robot is movably connected with the guide rails, and the guide rails are configured as tracks for the shelf robot to move in the length direction, and the length direction is perpendicular to the depth direction and the vertical direction.

8. The warehousing system according to any one of claims 1-6, characterized in that, One of the storage layers of the shelves or a plurality of adjacent storage layers of the shelves is configured as a transfer area; When the transfer area is a plurality of transfer areas, the plurality of transfer areas are arranged at intervals in the vertical direction; In the vertical direction, the storage layer below the transfer area is a low-level storage area, and the storage layer above the transfer area is a high-level storage area, and each of the transfer areas corresponds to the low-level storage area and the high-level storage area, and each of the transfer areas is provided with the shelf robot; wherein, The first shelf robot covers all the storage layers in the low-layer storage area, the second shelf robot covers all the storage layers in the high-layer storage area, and the first shelf robot and the second shelf robot can simultaneously cover at least one layer of the storage layers in the transfer area; When transporting a first to-be-transported cargo located in the low-layer storage area to the high-layer storage area, the first shelf robot is used to transport the first to-be-transported cargo to the transfer area, and the second shelf robot is used to transport the first to-be-transported cargo in the transfer area to the high-layer storage area; When transporting a second to-be-transported cargo located in the high-layer storage area to the low-layer storage area, the second shelf robot is used to transport the second to-be-transported cargo to the transfer area, and the first shelf robot is used to transport the second to-be-transported cargo in the transfer area to the low-layer storage area.

9. The warehousing system according to any one of claims 1-6, characterized in that, Two shelf robots adjacent in the vertical direction satisfy: The shelf robot at the low position in the two shelf robots covers the a-th layer to the a+b-th layer of the storage layers, and the shelf robot at the high position in the two shelf robots covers the a+b+1-c-th layer to the a+b+1-c+d-th layer of the storage layers; wherein, a, b, and d are all integers greater than 0; c is an integer greater than or equal to 0 and less than b+1.

10. The warehousing system according to any one of claims 1-6, characterized in that, The bottom of the shelf is provided with a plurality of buffer positions; The shelf robot is used to transport a to-be-transported cargo located in the target storage position to the buffer position, and / or the shelf robot is used to transport a to-be-transported cargo located in the buffer position to the target storage position.

11. The warehousing system according to claim 10, characterized in that, Further comprising a ground robot; wherein, The ground robot is used to transport a to-be-transported cargo located in the buffer position to a target work station, and / or the ground robot is used to transport a to-be-transported cargo located in the target work station to the buffer position.

12. The warehousing system according to claim 11, characterized in that, The ground robot comprises a chassis and a lifting mechanism; wherein, The lifting mechanism is located at the top of the chassis, the lifting mechanism can move in the vertical direction, and the top of the lifting mechanism is used to carry a to-be-transported cargo; The bottom of the chassis is provided with a rolling wheel.

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