Warehousing system and storage and retrieval method

Abstract

Provided in the embodiments of the present application are a warehousing system and a storage and retrieval method. The warehousing system is provided with a first robot for picking and placing totes between a tote storage layer and a tote temporary storage layer, and a second robot for transporting totes between a work station and the tote temporary storage layer of a temporary storage rack; the first robot and the second robot cooperate with one another in a relay manner to implement storage and retrieval of totes in the warehousing system, thereby improving the pick-and-place efficiency of the warehousing system. In addition, the second robot implements picking and placing of totes by means of the horizontal movement of a pick-and-place mechanism relative to the tote temporary storage layer, such that the height of the tote temporary storage layer from the ground is configured to be slightly higher than the height of a goods-bearing platform, i.e. the tote temporary storage layer is configured to be lower so that more tote storage layers can be provided and the storage capacity of a rack is improved.

Description

A warehousing system and inbound / outbound method

[0001] This application claims two inventions: Invention No. 202422681082.2, filed on November 4, 2024, entitled "Mobile Robot, Handling and Docking Platform and Handling System," filed on November 28, 2024, entitled "A Warehousing System and Inbound / Outbound Method," filed on November 28, 2024, entitled "Invention." Priority to Chinese Patent Application No. 202520712439.0, entitled "A Warehousing System," filed on April 15, 2025, with the patent application number 202520712439.0, and to PCT International Application No. PCT / CN2025 / 115421, entitled "A Mobile Robot, Handling and Docking Platform, and Handling System," filed on August 18, 2025, with the patent application number PCT / CN2025 / 115421, both the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of logistics and warehousing technology, and in particular to a warehousing system and inbound / outbound method. Background Technology

[0003] In related technologies, the warehousing system includes multiple shelves and handling robots. The handling robots can climb on the shelves and walk on the ground, thereby moving the boxes waiting to be shipped from the shelves to the workstation for shipment, or moving the goods waiting to be received to the shelves.

[0004] In this type of retrieval and placement method, the warehousing system only includes one type of handling robot. The handling robot needs to move goods on the ground and climb the shelves to retrieve and place goods, resulting in low retrieval and placement efficiency of the warehousing system. Summary of the Invention

[0005] The purpose of this application is to provide a warehousing system and an inbound / outbound method to improve the efficiency of warehousing system operations. The specific technical solution is as follows:

[0006] This application provides a warehousing system, including: a shelf, a first robot, a second robot, and a workstation; the shelf includes: a storage shelf and a buffer shelf; the storage shelf is provided with a bin storage layer for storing bins; the buffer shelf is adjacent to or integrally formed with the storage shelf; the buffer shelf is provided with a bin buffer layer for buffering bins; the first robot is disposed on at least one side of the storage shelf and is used to pick up and place bins between the bin storage layer and the bin buffer layer; the second robot is capable of transporting bins between the workstation and the bin buffer layer (122) of the buffer shelf; the second robot includes: a motion chassis, a loading platform, and a picking and placing mechanism; the loading platform is installed on the top of the motion chassis; the picking and placing mechanism is fixed to the loading platform and is used to move bins on the bin buffer layer to the loading platform or to move bins on the loading platform to the bin buffer layer when the second robot moves to a position corresponding to the bin buffer layer.

[0007] This application embodiment also provides a warehousing method applied to a control device, wherein the control device is communicatively connected to the first and second robots of the aforementioned warehousing system; the method includes:

[0008] Obtain the location information of the target free bin storage location and the target free bin buffer location for each bin to be put into storage;

[0009] The second robot is instructed to move the bins to be put into storage from the workstation to the target empty bin cache position on the cache shelf. When the second robot moves to the position corresponding to the target empty bin cache position, the picking and placing mechanism of the second robot moves horizontally relative to the target empty bin cache position based on the loading platform, and moves the bins to be put into storage on the loading platform to the target empty bin cache position.

[0010] Instruct the first robot to move the bin to be stored to the target empty bin storage location on the storage shelf.

[0011] This application also provides an outbound method applied to a control device, wherein the control device is communicatively connected to the first and second robots of the aforementioned warehousing system; the method includes:

[0012] Obtain the location information of each material bin to be shipped on the storage shelf, and the location information of the target free material bin cache position on the cache shelf;

[0013] Instruct the first robot to move the expiring bins on the storage shelf to the target empty bin cache position on the cache shelf;

[0014] The second robot is instructed to retrieve the outbound bin from the target idle bin buffer position. When the second robot moves to the position corresponding to the target idle bin buffer position, the picking and placing mechanism moves horizontally relative to the target idle bin buffer position based on the loading platform, and moves the outbound bin on the target idle bin buffer position to the loading platform.

[0015] Instruct the second robot to carry the boxes of materials to be shipped out to the workstation.

[0016] The warehousing system and inbound / outbound method provided in this application embodiment involve a first robot retrieving and placing boxes between a box storage layer and a box buffer layer, and a second robot transporting boxes between a workstation and the box buffer layer of the buffer rack. The first and second robots work in tandem to achieve the inbound and outbound of boxes in the warehousing system, thereby improving the efficiency of the warehousing system. Furthermore, the second robot retrieves and places boxes by moving horizontally relative to the box buffer layer using a retrieval mechanism. This allows the height of the box buffer layer from the ground to be set slightly higher than the height of the loading platform, meaning the box buffer layer can be set lower, allowing for more box storage layers and increasing the storage capacity of the racks.

[0017] This application embodiment also provides another warehousing system, including: a shelf, a first robot, a second robot, and a workstation; the shelf includes: a storage area and a buffer area; the storage area is provided with a bin storage layer for storing bins; the buffer area is located at the bottom of the storage area; the top of the buffer area has a preset height with the ground, forming a receiving space, and a bin buffer layer is provided in the receiving space for buffering bins; the first robot is disposed on one side of the shelf and is used to pick up and place bins between the bin storage layer and the bin buffer layer; the second robot is capable of transporting bins between the workstation and the bin buffer layer of the shelf; the second robot includes: a motion chassis, a loading platform, and a lever mechanism; the loading platform is installed on the top of the motion chassis; the lever mechanism is fixed to the loading platform and is used to move the bins on the bin buffer layer to the loading platform, or move the bins on the loading platform to the bin buffer layer, when the second robot moves to a position in the receiving space corresponding to the bin buffer layer.

[0018] This application embodiment also provides another warehousing method, applied to a control device, wherein the control device is communicatively connected to a first robot and a second robot of the other warehousing system described above;

[0019] The material bin storage layer has multiple layers, and each material bin storage layer is divided into multiple material bin storage positions; multiple through slots are spaced apart on the material bin buffer layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the shelves on both sides form a material bin buffer position; the method includes:

[0020] Obtain the location information of the target free bin storage location and the target free bin buffer location for each bin to be put into storage;

[0021] The second robot is instructed to move the bin to be put into storage from the workstation to the target empty bin buffer position. When the second robot moves to the position corresponding to the target empty bin buffer position within the shelf's storage space, the lever mechanism moves the bin to be put into storage on the loading platform to the target empty bin buffer position.

[0022] Instruct the first robot to move the bin to be stored to the target empty bin storage location.

[0023] This application embodiment also provides another outbound method, applied to a control device, wherein the control device is communicatively connected to a first robot and a second robot of the other warehousing system described above;

[0024] The material bin storage layer has multiple layers, and each material bin storage layer is divided into multiple material bin storage positions; multiple through slots are spaced apart on the material bin buffer layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the shelves on both sides form a material bin buffer position; the method includes:

[0025] Obtain the location information of the target free material bin buffer position for each material bin to be dispatched in the storage area;

[0026] Instruct the first robot to move the emptied bins in the storage area to the target empty bin buffer position;

[0027] The second robot is instructed to move the bin to be shipped from the bin buffer position to the workstation. When the second robot moves to the position corresponding to the bin buffer position within the shelf's storage space, the lever mechanism moves the bin to be shipped onto the loading platform.

[0028] This application also provides a control device, including:

[0029] Memory, used to store computer programs;

[0030] The processor, when executing a program stored in memory, implements any of the above-described insertion method; or any of the above-described retrieval method.

[0031] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements any of the above-described input methods or any of the above-described output methods.

[0032] This application provides another warehousing system and inbound / outbound method. In this system, a first robot retrieves and places boxes between a box storage layer and a box buffer layer, while a second robot transports boxes between a workstation and the box buffer layer on the shelf. The first and second robots work in tandem to achieve box inbound / outbound operations, thereby improving the efficiency of the warehousing system. Furthermore, the second robot uses a lever mechanism to retrieve and place boxes, allowing the height of the box buffer layer from the ground to be slightly higher than the height of the loading platform. This means the box buffer layer can be set lower, increasing storage space and enabling more box storage layers, thus increasing the shelf's storage capacity. Moreover, using the lever mechanism to retrieve and place boxes eliminates the need to lift the boxes from the box buffer layer, reducing the distance between the buffer layer and the storage layer, further increasing storage space and shelf capacity. Attached Figure Description

[0033] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0034] Figure 1 is a three-dimensional structural diagram of a warehousing system provided in the first embodiment of this application;

[0035] Figure 2 is a front view schematic diagram of the warehousing system shown in Figure 1;

[0036] Figure 3 is a top view of the warehousing system shown in Figure 1;

[0037] Figure 4 is a schematic diagram of the first structure of the shelving in the storage system shown in Figure 1;

[0038] Figure 5 shows a second structural diagram of the shelving system shown in Figure 1.

[0039] Figure 6 shows a third structural diagram of the shelving system shown in Figure 1.

[0040] Figure 7 is a first structural diagram of the bin buffer layer of the storage system shown in Figure 1;

[0041] Figure 8 is a second structural diagram of the bin buffer layer of the storage system shown in Figure 1;

[0042] Figure 9 is a three-dimensional structural diagram of the first robot of the warehousing system provided in the first embodiment of this application;

[0043] Figure 10 is a first structural diagram of the second robot of the warehousing system provided in the first embodiment of this application;

[0044] Figure 11 is a second structural diagram of the second robot of the warehousing system provided in the first embodiment of this application;

[0045] Figure 12 is a third structural diagram of the second robot of the warehousing system provided in the first embodiment of this application;

[0046] Figure 13 is a fourth structural diagram of the second robot of the warehousing system provided in the first embodiment of this application;

[0047] Figure 14 is a fifth structural diagram of the second robot of the warehousing system provided in the first embodiment of this application;

[0048] Figure 15a is a sixth structural diagram of the second robot of the warehousing system provided in the first embodiment of this application;

[0049] Figure 15b is a schematic diagram of the second robot and the cache shelf shown in Figure 15a;

[0050] Figure 16 is a flowchart illustrating the first method for data entry provided in this application embodiment;

[0051] Figure 17 is a flowchart illustrating the first outbound method provided in this application embodiment;

[0052] Figure 18 is a three-dimensional structural diagram of a warehousing system provided in the second embodiment of this application;

[0053] Figure 19 is a front view schematic diagram of the warehousing system shown in Figure 18;

[0054] Figure 20 is a side view of the warehousing system shown in Figure 18;

[0055] Figure 21 is a top view of the warehousing system shown in Figure 18;

[0056] Figure 22 is a side view of a warehousing system (first robot not shown) provided in the third embodiment of this application;

[0057] Figure 23 is a side view of a warehousing system (first robot not shown) provided in the fourth embodiment of this application;

[0058] Figure 24 is a three-dimensional structural diagram of a workstation in the warehousing system provided in the second embodiment of this application;

[0059] Figure 25 is a flowchart of the first embodiment of the second data entry method provided in this application;

[0060] Figure 26 is a flowchart of a second embodiment of the second data entry method provided in this application;

[0061] Figure 27 shows the flowchart of the third embodiment of the second data entry method provided in this application;

[0062] Figure 28 is a flowchart of the fourth embodiment of the second data entry method provided in this application;

[0063] Figure 29 is a flowchart of the fifth embodiment of the second data entry method provided in this application;

[0064] Figure 30 is a flowchart of the first embodiment of the second outbound method provided in this application;

[0065] Figure 31 is a flowchart of a second embodiment of the second outbound method provided in this application;

[0066] Figure 32 is a flowchart of the third embodiment of the second outbound method provided in this application;

[0067] Figure 33 is a flowchart of the fourth embodiment of the second outbound method provided in this application;

[0068] Figure 34 is a schematic diagram of the structure of the control device provided in the embodiment of this application.

[0069] Reference numerals: Shelf 100; Storage shelf 110; Storage area 1100; Bin storage layer 111; Bin storage position 1111; Buffer shelf 120; Buffer area 1200; Capacity space 121; Bin buffer layer 122; Bin buffer position 1221; Picking slot 123; Through slot 123A; Single opening slot 123B; Comb-shaped slot 1230; Crossbeam 130; First robot 200; Mounting frame 210; Picking and placing assembly 220; Lifting assembly 230; Second robot 300; Motion chassis 310; Cargo platform 320; Picking and placing mechanism 330; Lever mechanism 330A; First fork assembly 331; Second fork assembly 332; Suction mechanism 330B; Telescopic mechanism 340; Guide plate 350; Workstation 400; Sorting table 410; Outbound material box interface 411; Inbound material box interface 412; Conveying mechanism 413; First lifting channel 414; Second lifting channel 415; Material box 500; Aisle 600; First channel 710; Second channel 720; Third channel 730; Fourth channel 740; Fifth channel 750; Sixth channel 760. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0071] As mentioned in the background art, in related technologies, the warehousing system includes multiple shelves and handling robots. The handling robots can climb on the shelves and walk on the ground, thereby moving the boxes waiting to be shipped out of the shelves to the workstation for shipment, or moving the goods waiting to be received into the warehouse to the shelves.

[0072] In this type of retrieval and placement method, the warehousing system only includes one type of handling robot. The handling robot needs to move goods on the ground and climb the shelves to retrieve and place goods, resulting in low retrieval and placement efficiency of the warehousing system.

[0073] To improve the efficiency of picking and placing goods in the warehousing system, this application provides two warehousing systems and inbound / outbound methods, which are described in detail below.

[0074] First, the first type of warehousing system provided in the embodiments of this application will be described in detail.

[0075] Referring to Figures 1 to 3, Figure 1 is a perspective structural diagram of the warehousing system provided in the fourth embodiment of this application; Figure 2 is a front view of the warehousing system shown in Figure 1; and Figure 3 is a top view of the warehousing system shown in Figure 1. As shown in Figures 1 to 3, the warehousing system includes: a shelf 100, a first robot 200, a second robot 300, and a workstation 400.

[0076] The rack 100 includes a storage rack 110 and a buffer rack 120. The storage rack 110 is provided with a material box storage layer 111 for storing material boxes 500; the buffer rack 120 is arranged adjacent to or integrated with the storage rack 110; the buffer rack 120 is provided with a material box buffer layer 122 for buffering material boxes 500.

[0077] The first robot 200 is disposed on at least one side of the storage rack 110 and is used to pick up and place the bin 500 between the bin storage layer 111 and the bin buffer layer 122.

[0078] The second robot 300 is capable of moving the bin 500 between the workstation 400 and the bin buffer layer 122 of the buffer shelf 120.

[0079] The second robot 300 includes: a motion chassis 310, a loading platform 320, and a pick-and-place mechanism 330; the loading platform 320 is mounted on the top of the motion chassis 310; the pick-and-place mechanism 330 is fixed on the loading platform 320 and is used to move the loading platform 320 horizontally relative to the material box buffer layer 122 when the second robot 300 moves to the position corresponding to the material box buffer layer 122, thereby moving the material box 500 on the material box buffer layer 122 to the loading platform 320, or moving the material box 500 on the loading platform 322 to the material box buffer layer 122.

[0080] The warehousing system provided in this application embodiment includes a first robot 200 that retrieves and places boxes 500 between the box storage layer 111 and the box buffer layer 122, and a second robot 300 that transports boxes 500 between the workstation 400 and the box buffer layer 122 of the buffer rack 120. The first robot 200 and the second robot 300 work together to achieve the inbound and outbound operations of boxes 500 in the warehousing system, thereby improving the retrieval and placement efficiency of the warehousing system. Furthermore, the second robot 300 retrieves and places boxes 500 by moving horizontally relative to the box buffer layer 122 using a retrieval and placement mechanism 330. This allows the height of the box buffer layer 122 from the ground to be set slightly higher than the height of the loading platform 320, meaning the box buffer layer 122 can be set lower, thus allowing for more box storage layers 111 and increasing the storage capacity of the rack 100.

[0081] Specifically, in the warehousing system, the cache rack 120 and the storage rack 110 can be adjacent in the vertical direction or in the horizontal direction. The specific positional relationship between the two will be explained later.

[0082] In this embodiment, the first robot 200 can be mounted on at least one side of the storage shelf 110 via the crossbeam 130. The specific structure will be described in detail later.

[0083] The picking and placing mechanism 330 of the second robot 300 can be a lever mechanism 330A or a suction mechanism 330B, etc. The specific structure of the picking and placing mechanism 330 will be explained in detail later.

[0084] In some embodiments of this application, referring to Figures 4 to 6, Figure 4 is a first structural diagram of the shelving of the storage system shown in Figure 1; Figure 5 is a second structural diagram of the shelving of the storage system shown in Figure 1; and Figure 6 is a third structural diagram of the shelving of the storage system shown in Figure 1.

[0085] As shown in Figure 4, the storage rack 110 and the buffer rack 120 are integrated racks. The bottom layer of the integrated rack is the material box buffer layer 122, and the remaining layers are material box storage layers 111. Each material box storage layer 111 is divided into multiple material box storage positions 1111, and each material box storage position 1111 is used to store one material box 500.

[0086] Alternatively, as shown in Figure 5, the storage rack 110 and the buffer rack 120 are two independent racks; the bottom layer 111 of the storage rack 110 has a preset height between itself and the ground, forming a storage space to accommodate the buffer rack 120.

[0087] Alternatively, as shown in Figure 6, the storage shelf 110 and the cache shelf 120 are two separate shelves; the cache shelf 120 is located on at least one side of the storage shelf 110 and is spaced apart from the storage shelf 110 to accommodate the first robot 200.

[0088] Specifically, when using the shelf 100 structure shown in Figures 4 and 5, the second robot 300 moves horizontally relative to the bin buffer layer 122 via the pick-and-place mechanism 330 to pick up and place the bin 500. This eliminates the need to lift the bin 500 from the bin buffer layer 122, reducing the distance between the bin buffer layer 122 and the bin storage layer 111, further increasing the space of the storage shelf 110, allowing for more bin storage layers 111 to be set up, thereby increasing the storage capacity of the shelf 100.

[0089] When using the shelf 100 structure shown in Figure 6, the bottom of the storage shelf 110 does not need to reserve space for accommodating the buffer layer, allowing for more storage bins 111, thereby increasing the storage capacity of the shelf 100. Furthermore, the picking and placing component 220 of the first robot 200 can extend and retract bidirectionally in the horizontal direction relative to the column mast (also called the mounting frame) to pick and place bins 500 located on the storage shelf 110 and buffer shelf 120 on both sides of the first robot 200.

[0090] The embodiments of this application will be described below using the integrated shelf 100 structure shown in Figure 4 as an example.

[0091] In some embodiments of this application, as shown in Figures 1 and 2, a plurality of bin buffer positions 1221 are sequentially arranged along the length direction on the bin buffer layer 122, and each bin buffer position 1221 is used to hold a bin 500.

[0092] Each bin buffer position 1221 is provided with at least one picking slot 123, the picking slot 123 being perpendicular to the length direction of the buffer shelf 120; the bin buffer layer 122 forms a bin buffer position 1221 at each picking slot 123 for holding a bin 500.

[0093] The loading platform 320 of the second robot 300 is used to cooperate with the picking slot 123 and can move to or out of the bottom of the picking slot 123. The picking and placing mechanism 330 can move horizontally under the drive of the loading platform 320.

[0094] When the goods are received, the material box 500 on the loading platform 320 is connected to the picking and placing mechanism 330. The loading platform 320 moves to the bottom of the picking slot 123, so that the material box 500 moves to the material box buffer position 1221. The picking and placing mechanism 330 disconnects from the material box 500 and moves out of the bottom of the picking slot 123 under the drive of the loading platform 320, so as to move the material box 500 from the loading platform 320 to the material box buffer layer 122.

[0095] When the goods are being shipped out, the loading platform 320 moves the picking and placing mechanism 330 to the bottom of the picking slot 123. The picking and placing mechanism 330 is connected to the material box 500. The loading platform 320 moves the picking and placing mechanism 330 out of the bottom of the picking slot 123 to move the material box 500 from the material box buffer layer 122 to the loading platform 320.

[0096] By applying the embodiments of this application, the loading platform 320 drives the picking and placing mechanism 330 to complete the entry and exit of the warehouse. It is not necessary to lift the material box 500 from the material box buffer layer 122. The material box 500 can be transferred between the loading platform 320 and the material box buffer layer 122, which improves the docking and picking efficiency of the second robot 300.

[0097] In some embodiments of this application, referring to Figures 7 and 8, Figure 7 is a first structural diagram of the bin buffer layer of the storage system shown in Figure 1; Figure 8 is a second structural diagram of the bin buffer layer of the storage system shown in Figure 1. As shown in Figure 7, each bin buffer position 1221 has one picking slot 123, which is a through slot 123A. Each through slot 123A and the shelves on both sides form a bin buffer position 1221; the loading platform 320 of the second robot 300 is flat to cooperate with the through slot 123A.

[0098] Alternatively, as shown in Figure 8, there are multiple picking slots 123 on each material bin buffer position 1221. Each picking slot 123 is a single-opening slot 123B with its opening facing the inside of the buffer shelf 120. Multiple single-opening slots 123B are spaced apart to form a comb-shaped slot 1230. The loading platform 320 is comb-shaped to cooperate with the comb-shaped slot 1230.

[0099] In some embodiments of this application, the first robot can be referred to in Figures 1, 2, 3 and 9, wherein Figure 9 is a perspective structural diagram of the first robot of the warehousing system provided in the first embodiment of this application. As shown in Figures 1, 2, 3 and 9, the first robot 200 is mounted on the outside of the shelf 100 via crossbeams 130 spaced apart in the vertical direction, and the first robot 200 is movably connected to the crossbeams 130 in the direction of the aisle 600.

[0100] The first robot 200 is able to move within the aisle 600 based on the crossbeam 130 to pick up and place different bins 500 of the shelf 100 along the direction of the aisle 600.

[0101] Specifically, as shown in Figures 1, 2 and 9, in this embodiment, the first robot 200 is installed on the shelf 100 via two crossbeams 130, and the crossbeams 130 are fixedly connected to the outer side of the shelf 100 in the length direction.

[0102] Using the embodiments of this application, the first robot 200 can move horizontally along the aisle 600 of the shelf 100, that is, along the length of the shelf 100, to pick up and place various material boxes 500 along the length direction. In addition, the picking and placing component 220 of the first robot 200 can move up and down along the height of the shelf 100 to pick up and place material boxes 500 at different heights of the shelf 100. Specific methods for picking up and placing material boxes will be detailed later.

[0103] In some embodiments of this application, as shown in Figures 1, 2 and 9, the first robot 200 includes: a mounting frame 210 and a picking and placing assembly 220.

[0104] The mounting frame 210 is movably connected to the crossbeam 130 along the aisle 600. The picking and placing component 220 installed on the mounting frame 210 can move horizontally along the crossbeam 130 with the mounting frame 210 to pick up and place different material boxes 500 of the shelves 100 on both sides of the aisle 600 along the aisle 600.

[0105] The picking and placing component 220 is movably connected to the mounting frame 210 in the vertical direction. The picking and placing component 220 can be raised and lowered along the mounting frame 210 to pick and place different material boxes 500 on both sides of the aisle 600 in the height direction of the shelf 100.

[0106] Specifically, the mounting frame 210 can be a single column, or as shown in Figure 9, a column-mounted frame composed of two opposing columns. In this embodiment, the mounting frame 210 is a column-mounted frame. The picking and placing assembly 220 is disposed between the two columns of the column-mounted frame. The picking and placing assembly 220 is slidably connected to the columns on both sides in the vertical direction. The form of the picking and placing assembly 220 includes, but is not limited to, fork-arm type, suction cup type, roller type, hook arm, etc. The picking and placing assembly 220 can extend out of the column-mounted frame to pick and place the material boxes 500 on the shelves 100 on both sides of the aisle 600.

[0107] The first robot 200 also includes a lifting assembly 230, which is mounted on a column mast. A picking / placing assembly 220 is installed on the lifting assembly 230. The lifting assembly 230 can drive the picking / placing assembly 222 to move vertically to pick up and place material boxes 500 at different heights on the shelves 100 on both sides of the aisle 600. The lifting assembly 230 may include a lifting motor and a pulley transmission mechanism. The lifting motor drives the pulley transmission mechanism to lift and lower the picking / placing assembly 220.

[0108] Using the embodiments of this application, the picking and placing component 220 of the first robot 200 can pick and place the material box 500 of the storage shelf 110 or the cache shelf 120 in the horizontal direction based on the crossbeam 130; and can pick and place the material box 500 of the storage shelf 110 or the cache shelf 120 in the vertical direction based on the mounting frame 210 and the lifting component 230.

[0109] The second robot in this application embodiment can be implemented in multiple ways.

[0110] In this embodiment, Figures 10-15b show the structures of six types of second robots. Among them, Figure 10 is a structural diagram of the first type of second robot of the warehousing system provided in the first embodiment of this application. Its loading platform 320 is flat and is used to cooperate with the through slot 123A of the material bin buffer layer shown in Figure 7; its picking and placing mechanism 330 is a lever mechanism 330A including a pair of levers.

[0111] Figure 11 is a second structural diagram of the second robot of the warehousing system provided in the first embodiment of this application; its loading platform 320 is flat and is used to cooperate with the through slot 123A of the material box buffer layer shown in Figure 7; its picking and placing mechanism 330 is a lever mechanism 330A including two pairs of levers located in the front and rear directions of the loading platform 320.

[0112] Figure 12 is a third structural diagram of the second robot of the warehousing system provided in the first embodiment of this application; its loading platform 320 is flat and is installed on the top of the motion chassis 310 through the telescopic mechanism 340, for cooperating with the through groove 123A of the material box buffer layer shown in Figure 7; its picking and placing mechanism 330 is a lever mechanism 330A containing a pair of levers.

[0113] Figure 13 is a fourth structural diagram of the second robot of the warehousing system provided in the first embodiment of this application; its loading platform 320 is flat and is used to cooperate with the through groove 123A of the material box buffer layer shown in Figure 7. The picking and placing mechanism 330 is a suction mechanism 330B, which includes two suction cups.

[0114] Figure 14 is a fifth structural diagram of the second robot of the warehousing system provided in the first embodiment of this application; its loading platform 320 is comb-shaped and is used to cooperate with the comb-shaped groove 1230 of the material box buffer layer shown in Figure 8; the picking and placing mechanism 330 is a suction mechanism 330B, which includes two suction cups.

[0115] As can be seen from Figures 11, 12, and 13, the cargo platform 320 of the second robot 300 is flat and is used to cooperate with the through slot 123A. As shown in Figure 14, the cargo platform 320 of the second robot 300 is comb-shaped and is used to cooperate with the comb-shaped slot 1230. The number of comb teeth on the cargo platform 320 corresponds to the number of single-opening slots 123B in each comb-shaped slot 1230, but the specific number is not limited in this application. For example, as shown in Figures 8 and 14, the number of comb teeth on the cargo platform 320 is 5, and correspondingly, the number of single-opening slots 123B in each comb-shaped slot 1230 is also 5.

[0116] In addition, the picking and placing mechanism 330 of the second robot 300 in Figures 13 and 14 is a suction mechanism 330B. The suction mechanism 330B includes two suction cups. The second robot 300 uses the suction cups to pick up or release the hopper 500, so as to move the hopper 500 on the hopper buffer layer 122 to the loading platform 320, or move the hopper 500 on the loading platform 320 to the hopper buffer layer 122.

[0117] In this embodiment, the number of suction cups is not limited and can be set according to the size of the loading platform 320 and the weight of the material box 500. For example, as shown in Figure 13, there are two suction cups, located at both ends of the loading platform 320, to pick up both ends of the material box 500, thereby improving the stability of the connection between the picking and placing mechanism 330 and the material box 500, as well as the stability when transferring the material box 500.

[0118] The suction cup 331 is level with or slightly higher than the loading platform 320. As long as the suction cup can move with the loading platform 320 into the picking slot 123, the picking and placing of the material box 500 can be completed.

[0119] Alternatively, as shown in Figure 10, the picking and placing mechanism 330 of the second robot 300 is a lever mechanism 330A. The second robot 300 moves the material box 500 on the material box buffer layer 122 to the loading platform 320, or moves the material box 500 on the loading platform 322 to the material box buffer layer 122, through the lever mechanism 330A.

[0120] As shown in Figure 2, when the picking and placing mechanism 330 of the second robot 300 is a lever mechanism 330A, during the picking process, when the second robot 300 moves toward the target material box buffer position 1221, it can lift the lever mechanism 330A. The moving chassis 310 drives the loading platform 320 through the through groove 123A, so that the lever mechanism 330A can move the material box 500 to the loading platform 320. During the whole process, the second robot 300 does not need to stop at the material box buffer position 1221, thereby improving the picking efficiency.

[0121] In addition to the suction mechanism 330B and the lever mechanism 330A, in other embodiments of this application, the pick-up and place mechanism 330 may also be a clamping pick-up and place mechanism, which clamps and picks up the material box 500 when the cargo platform 320 is moved to the bottom of the picking slot 123.

[0122] In some embodiments of this application, as shown in FIG10, the cargo platform 320 of the second robot 300 is fixed to the top of the motion chassis 310; the cargo platform 320 can be moved to the bottom of the picking slot 123 or moved out of the bottom of the picking slot 123 under the drive of the motion chassis 310.

[0123] By applying the embodiments of this application, only the movement of the motion chassis 310 needs to be controlled. In addition to realizing the walking function of the second robot 300, it is also possible to move the cargo platform 320 to or out of the bottom of the cargo retrieval slot 123, which simplifies the control part of the second robot 300.

[0124] In some embodiments of this application, as shown in FIG12, the cargo platform 320 of the second robot 300 is mounted on the top of the motion chassis 310 via a telescopic mechanism 340. The cargo platform 320 can be moved to or out of the bottom of the picking slot 123 by the telescopic mechanism 340.

[0125] By applying the embodiments of this application, the second robot 300 can move to one end of the picking slot 123 and extend towards the material box buffer layer 122 via the telescopic mechanism 340 to dock with the picking and placing material box 500. This increases the movement docking path of the second robot 300, reduces the situation where multiple second robots 300 need to avoid each other, and improves the picking and placing efficiency of the warehousing system.

[0126] Figure 15a is a sixth structural diagram of the second robot of the warehousing system provided in the first embodiment of this application; Figure 15b is a schematic diagram of the second robot shown in Figure 15a cooperating with the buffer shelf. In some embodiments, the buffer shelf is formed by a row of multiple spaced docking platforms installed on the ground, each docking platform forming a material box buffer position 1221.

[0127] In this configuration, as shown in Figures 15a and 15b, the loading platform 320 of the second robot 300 is a flat plate positioned on top of the motion chassis 310, with guide plates 350 on both sides. The gap between the sides of the loading platform 320 and the guide plates 350 allows it to engage with the two cantilever arms of the docking platform. By moving the second robot 300 and engaging with the lever structure 330A, it can pick up and place the material box 500 in the material box buffer position 1221.

[0128] The cache rack 120 formed by the docking platforms can be set at the bottom of the storage rack 110 or on one side of the storage rack 110. This application embodiment does not limit the specific location of the cache rack 120.

[0129] Next, the first method of data entry provided in this application example will be explained.

[0130] The first warehousing method provided in this application embodiment is applied to a control device, which is communicatively connected to the first and second robots of the aforementioned warehousing system.

[0131] Referring to Figure 16, Figure 16 is a flowchart illustrating the first method for data entry provided in this application embodiment; the method includes:

[0132] Step S1601: Obtain the location information of the target empty bin storage location and the target empty bin buffer location for each bin to be put into storage;

[0133] Step S1602: Instruct the second robot to move the bin to be put into storage from the workstation to the target empty bin cache position on the cache shelf. When the second robot moves to the position corresponding to the target empty bin cache position, the picking and placing mechanism of the second robot moves horizontally relative to the target empty bin cache position based on the loading platform, and moves the bin to be put into storage on the loading platform to the target empty bin cache position.

[0134] Step S1603: Instruct the first robot to move the bin to be put into storage to the target empty bin storage position on the storage shelf.

[0135] As shown in Figure 16, the warehousing method involves instructing the second robot to move the bin to be stored from the workstation to the target empty bin buffer position, and instructing the first robot to move the bin to the target empty bin storage position. The first and second robots work together to realize the storage of bins in the warehousing system, thereby improving the retrieval and placement efficiency of the warehousing system. Moreover, the second robot only needs to move the loading platform horizontally relative to the target empty bin buffer position to move the bin to be stored on the loading platform to the target empty bin buffer position. Compared with the related technology where the second robot needs to perform lifting operations to move the bin to be stored onto the shelf, this method further improves the retrieval and placement efficiency of the warehousing system.

[0136] In some embodiments, each material bin cache position obtained by the warehousing system is provided with at least one retrieval slot.

[0137] In this case, step S1602 above, instructing the second robot to move the bin to be put into storage from the workstation to the target empty bin cache position on the cache shelf, may specifically include:

[0138] With the material bin to be put into storage on the loading platform of the second robot connected to the picking and placing mechanism, the second robot is instructed to carry the material bin to be put into storage from the workstation to the target empty material bin cache position on the cache shelf, so that the loading platform moves to the bottom of the picking slot. The picking and placing mechanism moves horizontally under the drive of the loading platform, moves the material bin to be put into storage to the target empty material bin cache position, disconnects from the material bin to be put into storage, and moves out of the bottom of the picking slot under the drive of the loading platform.

[0139] In this embodiment, by connecting and disconnecting the picking and placing mechanism from the material box, the material box waiting to be put into storage on the loading platform can be moved to the target idle material box buffer position, making the control simpler.

[0140] Next, the first outbound method provided in this application will be described.

[0141] The first outbound method provided in this application embodiment is applied to a control device, which is communicatively connected to the first and second robots of the aforementioned warehousing system.

[0142] Referring to Figure 17, Figure 17 is a flowchart illustrating the first outbound method provided in an embodiment of this application; the method includes:

[0143] Step S1701: Obtain the location information of each material box to be shipped on the storage shelf, and the location information of the target empty material box cache position on the cache shelf;

[0144] Step S1702: Instruct the first robot to move the vacant bins on the storage shelf to the target empty bin cache position on the cache shelf;

[0145] Step S1703: Instruct the second robot to retrieve the outbound bin from the target idle bin buffer position. When the second robot moves to the position corresponding to the target idle bin buffer position, the picking and placing mechanism moves horizontally relative to the target idle bin buffer position based on the loading platform, and moves the outbound bin on the target idle bin buffer position to the loading platform.

[0146] Step S1704: Instruct the second robot to move the material box to be shipped to the workstation.

[0147] As shown in Figure 17, the outbound method involves instructing the first robot to move the outbound bins from the storage rack to the target empty bin buffer position, and instructing the second robot to move the outbound bins from the buffer position to the workstation. The first and second robots work together to achieve the outbound of bins in the warehousing system, thereby improving the retrieval and placement efficiency of the warehousing system. Moreover, the second robot only needs to move its loading platform horizontally relative to the target empty bin buffer position to move the outbound bins from the target empty bin buffer position to the loading platform. This is significantly better than the method in related technologies where the second robot needs to perform lifting operations to move the outbound bins to the loading platform, further improving the retrieval and placement efficiency of the warehousing system.

[0148] In some embodiments, each material bin cache position obtained by the warehousing system is provided with at least one retrieval slot.

[0149] In this case, step S1703, instructing the second robot to retrieve the refurbished bin from the target idle bin buffer position, includes:

[0150] The idle second robot is instructed to remove the empty bin from the target idle bin buffer position. When the idle second robot moves to the position corresponding to the target idle bin buffer position, the loading platform drives the picking and placing mechanism to move to the bottom of the picking slot. The picking and placing mechanism is connected to the empty bin and causes the loading platform to drive the picking and placing mechanism to move out of the bottom of the picking slot, so as to move the empty bin from the target idle bin buffer position to the loading platform.

[0151] In this embodiment, by connecting the picking and placing mechanism with the material box, the material box to be shipped out is moved from the target idle material box buffer position to the loading platform, making the control simpler.

[0152] Next, the second type of warehousing system provided in the embodiments of this application will be described in detail.

[0153] Referring to Figures 18 to 21, Figure 18 is a perspective structural diagram of the warehousing system provided in the first embodiment of this application; Figure 19 is a front view of the warehousing system shown in Figure 18; Figure 20 is a side view of the warehousing system shown in Figure 18; and Figure 21 is a top view of the warehousing system shown in Figure 18. As shown in Figures 18 to 21, the warehousing system includes: a shelf 100, a first robot 200, a second robot 300, and a workstation 400.

[0154] The shelf 100 includes a storage area 1100 and a buffer area 1200; the storage area 1100 is provided with a material box storage layer 111 for storing material boxes 500; the buffer area 1200 is located at the bottom of the storage area 1100; the top of the buffer area 1200 has a preset height between it and the ground, forming a receiving space 121, and a material box buffer layer 122 is provided in the receiving space 121 for buffering material boxes 500.

[0155] The first robot 200 is located on one side of the shelf 100 and is used to pick up and put away the material box 500 between the material box storage layer 111 and the material box buffer layer 122.

[0156] The second robot 300 is capable of moving the bin 500 between the workstation 400 and the bin buffer layer 122 of the shelf 100.

[0157] The second robot 300 includes a motion chassis 310, a loading platform 320, and a lever mechanism 330A. The loading platform 320 is mounted on the top of the motion chassis 310; the lever mechanism 330A is fixed to the loading platform 320 and is used to move the material box 500 on the material box buffer layer 122 to the loading platform 320, or to move the material box 500 on the loading platform 320 to the material box buffer layer 122, when the second robot 300 moves to the position corresponding to the material box buffer layer 122 within the accommodating space 121.

[0158] The warehousing system provided in this application embodiment includes a first robot 200 that retrieves and places boxes 500 between the box storage layer 111 and the box buffer layer 122, and a second robot 300 that transports boxes 500 between the workstation 400 and the box buffer layer 122 of the shelf 100. The first robot 200 and the second robot 300 work together to achieve the inbound and outbound movement of boxes 500 in the warehousing system, thereby improving the retrieval and placement efficiency of the warehousing system. Furthermore, the second robot 300 retrieves and places boxes 500 by actuating a lever mechanism 330A, allowing the height of the box buffer layer 122 from the ground to be slightly higher than the height of the loading platform 320. That is, the box buffer layer 122 can be set lower, increasing the space of the storage area 1100 and allowing for more box storage layers 111, thereby increasing the storage capacity of the shelf 100. Furthermore, by using the lever mechanism 330A to pick up and put down the material box 500, it is not necessary to lift the material box 500 from the material box buffer layer 122. This reduces the distance between the material box buffer layer 122 and the material box storage layer 111, further increasing the space of the storage area 1100 and improving the storage capacity of the shelf 100.

[0159] In some embodiments of this application, as shown in Figures 18 to 20, there are multiple bin storage layers 111, each bin storage layer 111 is divided into multiple bin storage positions 1111, and each bin storage position 1111 is used to store one bin 500; the bin buffer layer 122 is divided into multiple bin buffer positions 1221, and each bin buffer position 1221 is used to buffer one bin 500.

[0160] By applying the embodiments of this application, the material boxes 500 on the shelf 100 can be arranged neatly, facilitating retrieval and placement by the first robot 200 and the second robot 300. The first robot 200 can retrieve and place material boxes 500 between each material box storage position 1111 and the material box buffer position 1221, and the second robot 300 can retrieve and place material boxes 500 between each material box buffer position 1221 and the workstation 400.

[0161] In some embodiments of this application, as shown in FIG21, there are multiple shelves 100, which are spaced apart, and the spaced areas between the shelves 100 form aisles 600.

[0162] The first robot 200 is installed on either shelf 100 on both sides of the aisle 600 and can pick up and put in the material boxes 500 on the shelves 100 on both sides of the aisle 600.

[0163] Specifically, as shown in Figure 21, each shelf 100 can be composed of multiple sub-shelves arranged along the length of the shelf 100, where the length of the shelf 100 is the x-direction shown in Figure 21. Each sub-shelf is equipped with a first robot 200, or multiple sub-shelves can be jointly handled by a single first robot 200 for picking and placing items. This application does not limit the number of sub-shelves or the number of first robots 200, as long as there is at least one first robot 200 in each aisle 600.

[0164] As shown in Figure 21, the warehousing system in this embodiment includes five spaced-apart shelves 100, each shelf 100 including two sub-shelves arranged along the length of the shelf 100. To improve the utilization rate of the first robot 200, the three middle shelves 100 are double-deep shelves, and the two shelves 100 located on both sides of the warehousing system are single-deep shelves.

[0165] In the embodiments of this application, the first robot 200 is set in the aisle 600, which can improve the space utilization of the warehousing system; by the first robot 200 picking up and placing the material boxes on the shelves 100 on both sides of the aisle 600, the width of the aisle 600 can be reduced, thereby improving the utilization rate of the first robot 200; the first robot 200 is set on the shelf 100, which can avoid the situation where multiple robots in the aisle 600 need to avoid each other.

[0166] In some embodiments of this application, the first robot can be referred to in Figures 1, 2, and 9 above. It will not be repeated here.

[0167] In some embodiments of this application, as shown in Figures 18 and 19, a plurality of through slots 123A are provided at intervals on the material bin buffer layer 122, and the through slots 123A are perpendicular to the length direction of the shelf 100; each through slot 123A and the shelves on both sides form a material bin buffer position 1221 for supporting a material bin 500.

[0168] In this case, the second robot can be the second robot shown in Figure 10 or Figure 11. In this embodiment, the cargo platform 320 of the second robot 300 is used to cooperate with the through channel 123A and can move to the bottom of the through channel 123A or move out of the bottom of the through channel 123A.

[0169] As shown in Figures 10 and 11, the lever mechanism 330A of the second robot may include: a first fork assembly 331 disposed on the front end face of the loading platform 320 and / or a second fork assembly 332 disposed on the rear end face of the loading platform 320; when the second robot 300 moves to the position corresponding to the material box buffer layer 122 in the accommodating space 121, the material box 500 on the material box buffer layer 122 is moved to the loading platform 320 by the first fork assembly 331 or the second fork assembly 332; or, the material box 500 on the loading platform 320 is moved to the material box buffer layer 122 by the first fork assembly 331 or the second fork assembly 332.

[0170] As shown in Figure 11, in this embodiment, the lever mechanism 330A includes a first lever fork assembly 331 disposed on the front end face of the cargo platform 320 and a second lever fork assembly 332 disposed on the rear end face of the cargo platform 320.

[0171] Specifically, during the process of moving the cargo platform 320 to the bottom of the channel 123A, the second robot 300 is in a forward-moving state; during the process of moving the cargo platform 320 out of the bottom of the channel 123A, the second robot 300 is in a backward-moving state.

[0172] Each shelf on both sides of the through-slot 123A has a ramp at the end away from the aisle 600. The ramp gradually increases in height from the inside to the outside along the width of the shelf. The lowest point of the ramp is at the same height as the bottom of the hopper 500 carried by the loading platform 320. This allows the second robot 300 to move forward during the inbound process, and the hopper 500 can be pushed by the second fork assembly 332 on the rear end face of the loading platform 320 to move along the ramp to the hopper buffer position 1221. During the outbound process, the second robot 300 moves backward during the outbound process, and the hopper 500 can be pushed by the first fork assembly 331 on the front end face of the loading platform 320 to move along the ramp onto the loading platform 320.

[0173] If the lever mechanism 330A includes only one set of fork assemblies, taking the first fork assembly 331 located on the front face of the cargo platform 320 as an example, its outbound process is the same as the outbound process of the embodiment where the lever mechanism 330A has two sets of fork assemblies. However, during the inbound process, before the cargo platform 320 is moved to the bottom of the channel 123A, the second robot 300 needs to first turn its direction so that the rear end of the cargo platform 320 is located near the channel 123A, and then move towards the channel 123A to move the cargo platform 320 to the bottom of the channel 123A. At this time, the first fork assembly 331 located at the end of the second robot 300 away from the channel 123A pushes the hopper 500 to move along the ramp to the hopper buffer position 1221.

[0174] By applying the embodiments of this application, by setting a first fork assembly 331 on the front face of the loading platform 320 and / or setting a second fork assembly 332 on the rear face of the loading platform 320, the material box 500 can be moved to the loading platform 320 and to the material box buffer layer 122 by the first fork assembly 331 or the second fork assembly 332 during the process of the loading platform 320 being moved to the bottom of the through slot 123A and out of the through slot 123A, so as to complete the inbound and outbound process. It is not necessary to lift the material box 500 from the material box buffer layer 122 to move the material box 500 to the material box buffer layer 122, thereby improving the docking and picking efficiency of the second robot 300, and also reducing the distance between the material box buffer layer 122 and the material box storage layer 111, increasing the space of the storage area 1100 and increasing the storage capacity of the shelf 100.

[0175] In some embodiments of this application, as shown in Figures 10, 11, and 19, taking the lever mechanism 330A, which includes two sets of lever forks, as an example, the first lever fork assembly 331 includes: a first lever fork drive motor and a first lever fork; the first lever fork is disposed on the front end face of the cargo platform 320 and can be rotated and raised or lowered under the drive of the first lever fork drive motor. The second lever fork assembly 332 includes: a second lever fork drive motor and a second lever fork; the second lever fork is disposed on the rear end face of the cargo platform 320 and can be rotated and raised or lowered under the drive of the second lever fork drive motor.

[0176] When the goods are put into storage, the two first forks of the first fork assembly 331 are in the lowered state, and the two second forks of the second fork assembly 332 are raised upward under the drive of the second fork drive motor, and move towards the through slot 123A along with the loading platform 320, so as to move the material box 500 on the loading platform 320 onto the material box buffer layer 122.

[0177] When the goods are being shipped out, the second fork assembly 332 is in the lowered state. The two first forks of the first fork assembly 331 are moved to the bottom of the through slot 123A along with the loading platform 320, and then lifted upward under the drive of the first fork drive motor. After that, they move out of the bottom of the through slot 123A along with the loading platform 320, and move the material box 500 to the loading platform 320.

[0178] Specifically, there is at least one first fork and one second fork, the exact number of which depends on the width of the cargo platform 320. As shown in Figures 10 and 11, in this embodiment, there are two first forks and two second forks.

[0179] During the process of loading the cargo platform 320 to the bottom of the channel 123A, the second fork assembly 332 abuts against the hopper 500 from the rear, so that the hopper 500 follows the second robot 300 and moves along the ramp to the hopper buffer position 1221.

[0180] During the outbound process, as the loading platform 320 is moved out of the bottom of the channel 123A, the second fork assembly 332 abuts against the material box 500 from the front, so that the material box 500 follows the second robot 300 backward and moves along the ramp onto the loading platform 320.

[0181] By controlling the lifting and lowering of the first and second forks in this embodiment, the picking and placing of the material box 500 can be achieved, simplifying the control process. Furthermore, the rotation of the first and second forks can be controlled simultaneously with the movement of the second robot 300, saving time and improving picking and placing efficiency. Compared to robots using lifting mechanisms, which require lifting the material box, moving it to the bottom of the channel, and lowering it during entry, and moving it below the channel and lifting it again during exit, this embodiment completes the placement of the material box 500 on the material box buffer layer 122 when the loading platform 320 is moved to the bottom of the channel 123A, and completes the placement of the material box 500 on the loading platform 320 when the loading platform 320 is moved out of the bottom of the channel 123A, resulting in higher picking and placing efficiency.

[0182] In some embodiments of this application, as shown in Figures 10, 11 and 19, the cargo platform 320 of the second robot 300 is fixed to the top of the motion chassis 310; the cargo platform 320 can be moved to the bottom of the through groove 123A under the drive of the motion chassis 310.

[0183] During the warehousing process, the second robot 300 drives the second fork assembly 332 to lift upward via the second fork drive motor, and moves the cargo platform 320 toward the through slot 123A via the motion chassis 310, so as to move the material box from the rear end of the material box 500 onto the material box buffer layer 122.

[0184] During the outbound process, the second robot 300 moves the loading platform 320 to the bottom of the channel 123A via the motion chassis 310, so that the fork of the first fork assembly 331 is located on the first side of the material box 500. Then, the first fork drive motor drives the fork of the first fork assembly 331 to lift upward, and the motion chassis 310 moves the loading platform 320 towards the second side of the material box 500 to take the material box 500 away from the material box buffer layer 122 and move it to the loading platform 320.

[0185] By applying the embodiments of this application, only the movement of the motion chassis 310 needs to be controlled. In addition to realizing the walking function of the second robot 300, the cargo platform 320 can also be moved to or out of the bottom of the through channel 123A, which simplifies the control part of the second robot 300.

[0186] In some embodiments of this application, the second robot 300 may be the second robot shown in FIG12. The cargo platform 320 of the second robot 300 is mounted on top of the motion chassis 310 via a telescopic mechanism 340.

[0187] The cargo platform 320 can be moved to the bottom of the channel 123A or moved out of the bottom of the channel 123A by the telescopic mechanism 340.

[0188] During the warehousing process, the second robot 300 moves the cargo platform 320 to one end of the through slot 123A via the motion chassis 310. Then, the second fork drive motor drives the fork of the second fork assembly 332 to lift upwards, and the telescopic mechanism 340 drives the cargo platform 320 to extend towards the through slot 123A, so as to move the material box from the rear end of the material box 500 onto the material box buffer layer 122.

[0189] During the outbound process, the second robot 300 moves the cargo platform 320 to one end of the channel 123A via the motion chassis 310. Then, the telescopic mechanism 340 extends towards the channel 123A, moving the cargo platform 320 to the bottom of the channel 123A, so that the first fork assembly 331 is located on the side of the material box 500 away from the motion chassis 310. Then, the second robot 300 drives the first fork of the first fork assembly 331 to lift upward via the first fork drive motor, and then retracts via the telescopic mechanism 340, moving the cargo platform 320 out of the bottom of the channel 123A, so as to take the material box 500 away from the material box buffer layer 122 and move it to the cargo platform 320.

[0190] Specifically, as shown in Figure 12, in this embodiment, the telescopic mechanism 340 is a telescopic fork plate, which is set at the bottom of the cargo platform 320 and is slidably connected to the cargo platform 320. It can drive the cargo platform 320 to extend and retract horizontally, so as to move the cargo platform 320 to the bottom of the through groove 123A or move it out of the bottom of the through groove 123A.

[0191] The telescopic mechanism 340 can also be a telescopic slide rail, a scissor mechanism, etc. This application does not limit the specific structure of the telescopic mechanism 340.

[0192] Using the embodiments of this application, the second robot 300 can move to one end of the channel 123A and extend towards the material box buffer layer 122 via the telescopic mechanism 340 to dock with the pick-up and drop-off box 500. This increases the movement docking path of the second robot 300, reduces the situation where multiple second robots 300 need to avoid each other, and improves the picking and dropping efficiency of the warehousing system.

[0193] In some embodiments of this application, as shown in Figures 18 to 21, each shelf 100 is a double-deep shelf, and the bin buffer layer 122 of each shelf 100 is a single-deep shelf, and is close to the first side of the shelf 100 along its length. The bin buffer layer 122 is at least one depth away from the second side of the shelf 100 along its length, such that the accommodating space 121 forms a first channel 710 from the bottom of the bin buffer layer 122 to the ground and a second channel 720 from the top of the buffer area 1200 to the ground.

[0194] The height of the first channel 710 is sufficient for the second robot 300 to travel unloaded, and the height of the second channel 720 is sufficient for the second robot 300 to travel carrying the material box 500.

[0195] The second robot 300 is used to travel along the aisle 600, the first channel 710 or the second channel 720 to one side of the material box buffer layer 122, move the loading platform 320 to the bottom of the through channel 123A, and pick up and put down the material box 500 on the material box buffer layer 122 through the lever mechanism 330A.

[0196] Specifically, when the second robot 300 is unloaded, it can travel along any passage in the roadway 600 and buffer area 1200 on the ground. When it is carrying the material box 500, it can travel along the roadway 600 and the second passage 720. When there are other second robots 300 in the direction of travel of the second robot 300, the second robot 300 can avoid them and continue to travel in other passages.

[0197] The first robot 200 can be a single-depth pick-and-place robot, and each aisle 600 needs to be equipped with a first robot 200 for picking and placing the material boxes 500 on the side of the adjacent two shelves 100 that are close to the aisle 600. The first robot 200 can also be a double-depth pick-and-place robot, capable of picking and placing the material boxes 500 on the adjacent two shelves 100 that are close to or far from the aisle 600.

[0198] In this embodiment of the application, multiple channels are set on the ground for the second robot 300 to travel on. When the second robot 300 is unloaded, it can travel along any channel within the aisle 600 and buffer area 1200. When carrying the material box 500, it can travel along the aisle 600 and the second channel 720, allowing the second robot 300 to flexibly avoid obstacles and improve handling efficiency. The specific handling process is detailed in the following description.

[0199] In some embodiments of this application, as shown in Figures 18 to 21, the second robot 300 is used to, during warehousing, carry the material box 500 to be stored from the workstation 400 to the shelf 100, and travel along the aisle 600 or the second channel 720 to one side of the material box buffer layer 122, move the loading platform 320 to the bottom of the through slot 123A, and use the second fork assembly 332 to move the material box 500 on the loading platform 320 to the material box buffer layer 122.

[0200] The second robot 300 is also used to move empty to the shelf 100 during outbound operations, and travel along the aisle 600, the first channel 710 or the second channel 720 to one side of the bin buffer layer 122, move the loading platform 320 to the bottom of the through slot 123A, and use the first fork assembly 331 to move the bin 500 waiting to be outbound on the bin buffer layer 122 to the loading platform 320, and leave the shelf 100 along the aisle 600 or the second channel 720 and go to the workstation 400 to place the bin 500.

[0201] Specifically, after the material bin 500 is put into storage, the second robot 300 can travel unloaded along the aisle 600, the first channel 710 or the second channel 720 to the workstation 400, or pick up the material bin 500 waiting to be put out of storage on the material bin buffer layer 122 and then travel along the aisle 600 or the second channel 720 to the workstation 400.

[0202] After the material bin 500 leaves the warehouse, the second robot 300 can travel unloaded along the aisle 600, the first channel 710 or the second channel 720 to the material bin buffer layer 122 to pick up the material bin 500 to be left out, or pick up the material bin 500 to be put into the warehouse on the workstation 400 and then travel along the aisle 600 or the second channel 722 to the material bin buffer layer 122.

[0203] Based on the handling process of the second robot 300 provided in the embodiments of this application, it can cooperate with the first robot 200 to realize the entry and exit of the material box 500 of the double-deep rack, thereby improving the handling efficiency of the warehousing system.

[0204] In some embodiments of this application, see Figure 22, which is a side view of a storage system (first robot not shown) provided in the third embodiment of this application. As shown in Figure 22, each shelf 100 is a four-deep shelf, with each side of the shelf 100 facing an aisle 600. Each shelf 100 has two material box buffer layers 122, both of which are single-deep, and are respectively set on the side of the shelf 100 facing the aisle 600 along its length.

[0205] The two bin buffer layers 122 of the four-deep rack are at least two depths apart, such that the accommodating space 121 is close to both sides of the aisle 600, forming a third passage 730 from the bottom of the bin buffer layer 122 to the ground, and a fourth passage 740 located in the middle area of ​​the accommodating space 121 from the top of the buffer area 1200 to the ground.

[0206] The height of the third channel 730 is sufficient for the second robot 300 to travel unloaded, and the height of the fourth channel 740 is sufficient for the second robot 300 to travel carrying the material box 500. The second robot 300 can travel along the aisle 600, the third channel 730 or the fourth channel 740 to one side of the material box buffer layer 122, move the loading platform 320 to the bottom of the through channel 123A, and pick up and put down the material box 500 on the material box buffer layer 122 through the lever mechanism 330A.

[0207] Specifically, the first robot 200 is a double-deep or multi-deep picking and placing robot, capable of picking and placing double-deep or multi-deep bins 500 on two adjacent shelves 100.

[0208] The width of the fourth channel 740 is at least two depths. When the second robot 300 needs to pick up or put down a hopper 500 on one side of the hopper buffer layer 122, it can travel to the aisle 600 or the fourth channel 740 near the hopper buffer layer 122 to pick up or put down the hopper.

[0209] In this embodiment of the application, the rack 100 is a four-depth rack, which increases the storage capacity of the warehousing system and widens the aisles within the buffer area for the second robot 300 to travel. Multiple aisles are provided on the ground for the second robot 300 to travel. When unloaded, the second robot 300 can travel along any aisle 600 and within the buffer area 1200. When carrying a material box 500, it can travel along aisle 600 and the fourth aisle 740, allowing the second robot 300 to maneuver flexibly and improve handling efficiency. Detailed handling processes are described later.

[0210] In some embodiments of this application, as shown in FIG22, when the second robot 300 is entering the warehouse, it carries the material box 500 to be stored from the workstation 400 to the shelf 100, and travels along the aisle 600 or the fourth channel 740 to one side of the material box buffer layer 122, moves the loading platform 320 to the bottom of the through slot 123A, and moves the material box 500 on the loading platform 320 to the material box buffer layer 122 through the second fork assembly 332.

[0211] The second robot 300 is also used to move empty to the shelf 100 during outbound operations, and travel along the aisle 600, the third channel 730 or the fourth channel 740 to one side of the bin buffer layer 122, move the loading platform 320 to the bottom of the through slot 123A, and use the first fork assembly 331 to move the bin 500 waiting to be outbound on the bin buffer layer 122 to the loading platform 320, and leave the shelf 100 along the aisle 600 or the fourth channel 740 and go to the workstation 400 to place the bin 500.

[0212] Specifically, after the material bin 500 is put into storage, the second robot 300 can travel unloaded along the aisle 600, the third channel 730 or the fourth channel 740 to the workstation 400, or pick up the material bin 500 waiting to be put out of storage on the material bin buffer layer 122 and then travel along the aisle 600 or the fourth channel 740 to the workstation 400.

[0213] After the material bin 500 leaves the warehouse, the second robot 300 can travel unloaded along the aisle 600, the third channel 730 or the fourth channel 740 to the material bin buffer layer 122 to pick up the material bin 500 to be left out, or pick up the material bin 500 to be put into the warehouse on the workstation 400 and then travel along the aisle 600 or the fourth channel 740 to the material bin buffer layer 122.

[0214] Based on the handling process of the second robot 300 provided in the embodiments of this application, it can cooperate with the first robot 200 to realize the entry and exit of the material box 500 of the four-deep shelf, thereby improving the handling efficiency of the warehousing system.

[0215] In some embodiments of this application, see Figure 23, which is a side view of a warehousing system (the first robot is not shown) provided in the fourth embodiment of this application. As shown in Figure 23, the four-deep rack includes: two back-to-back double-deep racks, and two bin buffer layers 122 are respectively disposed on the side of the two double-deep racks near the aisle 600.

[0216] The middle area of ​​the accommodating space 121 includes a fourth aisle 740 from the top of the buffer area 1200 to the ground, comprising a fifth aisle 750 located at the bottom of the first double-deep shelving and a sixth aisle 760 located at the bottom of the second double-deep shelving.

[0217] The second robot 300 is used to travel along aisle 600, third aisle 730 or fifth aisle 750 to one side of the bin buffer layer 122 of the first double-deep rack, move the loading platform 320 to the bottom of the through slot 123A, and pick up or put down the bin 500 on the bin buffer layer 122 through lever mechanism 330A; or, travel along aisle 600, third aisle 730 or sixth aisle 760 to one side of the bin buffer layer 122 of the second double-deep rack, move the loading platform 320 to the bottom of the through slot 123A, and pick up or put down the bin 500 on the bin buffer layer 122 through lever mechanism 330A.

[0218] Specifically, the four-deep rack includes two double-deep racks spliced ​​back to back. The rack legs on one side of the splicing surface of the two double-deep racks divide the fourth aisle 740 into a fifth aisle 750 located at the bottom of the first double-deep rack and a sixth aisle 760 located at the bottom of the second double-deep rack.

[0219] The second robot 300 enters from the end of the fifth aisle 750 or the sixth aisle 760, and can then switch between the fifth aisle 750 and the sixth aisle 760 to approach the bin buffer layer 122 of the first double-deep rack or the second double-deep rack to pick up or put down the bin 500.

[0220] Based on the handling process of the second robot 300 provided in the embodiments of this application, it can cooperate with the first robot 200 to realize the entry and exit of the material box 500 of two back-to-back double-deep shelves, thereby improving the handling efficiency of the warehousing system.

[0221] In some embodiments of this application, see Figure 24, which is a perspective structural diagram of the workstation shown in Figure 21. As shown in Figures 21 and 24, the workstation 400 is provided with a sorting table 410, which is provided with a material box interface 411 to be shipped out and a material box interface 412 to be received.

[0222] The sorting station 410 can receive the material box 500 at the outbound material box interface 411, then transport the material box 500 for sorting, and output the sorted material box 500 at the inbound material box interface 412.

[0223] The second robot 300 is used to carry the outbound material box 500 to the outbound material box interface 411, dock with the outbound material box interface 411 to unload the material box 500, and then go to the inbound material box interface 412 to pick up the material box 500 or go to the shelf 100 to continue picking up the outbound material box 500.

[0224] Specifically, the second robot 300 is also used to move unloaded to the material box interface 412, dock with the material box interface 412 to pick up the material box 500, and then go to the shelf 100 to place the material box 500 in the material box buffer layer 122.

[0225] The outgoing material box interface 411 and the incoming material box interface 412 are located at the bottom of the sorting table 410. The top of the sorting table 410 is equipped with a conveying mechanism 413. The outgoing material box interface 411 is connected to the conveying mechanism 413 through the first lifting channel 414, and the incoming material box interface 412 is connected to the conveying mechanism 413 through the second lifting channel 415.

[0226] The specific sorting process is as follows: The second robot 300, carrying the outbound bins 500, moves to below the outbound bin docking interface 411 and docks with it. The first lifting channel 414 moves the outbound bins 500 upward to the conveying mechanism 413. The conveying mechanism 413 transports the outbound bins 500 towards the second lifting channel 415. During the transport process on the conveying mechanism 413, the staff sorts the outbound bins 500 on the conveying mechanism 413, sorting out the goods that need to be shipped. The sorted bins 500, i.e., the inbound bins 500, are transported by the conveying mechanism 413 to the second lifting channel 415, and then moved downward through the second lifting channel 415 to the empty second robot 300 located below the inbound bin docking interface 412. The second robot 300 then moves back to the shelf 100 for storage.

[0227] By applying the embodiments of this application, the second robot 300 only needs to briefly pause at the outbound material box interface 411 or the inbound material box interface 412 to complete the docking and loading / unloading of the material box 500, thereby improving the efficiency of the warehousing system for loading and unloading goods.

[0228] In other embodiments of this application, the workstation 400 may also be in the form of a conveyor line. The upstream of the conveyor line is used to dock with the second robot 300 to receive the outgoing material box 500 on the second robot 300. The worker is located next to the conveyor line to sort the outgoing material box 500 transported from the upstream, or to place external incoming material boxes 500 on the conveyor line. The downstream of the conveyor line is used to dock with the second robot 300 to transfer the sorted material box 500 and the incoming material box 500 placed on the conveyor line by the worker to the empty second robot 300.

[0229] Next, the second method of data entry provided in this application example will be explained.

[0230] The warehousing method provided in this application is applied to a control device, which is communicatively connected to the first and second robots of the aforementioned warehousing system.

[0231] In this embodiment, there are multiple material bin storage layers, and each material bin storage layer is divided into multiple material bin storage positions; multiple through slots are provided at intervals on the material bin buffer layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the shelves on both sides form a material bin buffer position.

[0232] Referring to Figure 25, Figure 25 is a flowchart of the first embodiment of the second data entry method provided in this application; the flowchart includes the following steps:

[0233] Step S251: Obtain the location information of the target empty bin storage location and the target empty bin buffer location for each bin to be put into storage;

[0234] In this step, the location information of the target empty storage location and the target empty buffer location for each empty material box can be determined based on the number of boxes to be put into storage and the number and location of empty storage locations and empty buffer locations on the shelf.

[0235] Step S252: Instruct the second robot to move the bin to be put into storage from the workstation to the target empty bin buffer position, so that when the second robot moves to the position corresponding to the target empty bin buffer position in the shelf's accommodating space, the lever mechanism moves the bin to be put into storage on the loading platform to the target empty bin buffer position.

[0236] Step S253: Instruct the first robot to move the bin to be put into storage to the target empty bin storage location.

[0237] Specifically, in step S251, the target empty bin storage location for each bin to be put into storage can be determined based on the principle of moving the first robot from near to far, and / or the principle that the target empty bin storage locations are concentrated on the shelf.

[0238] For example, on a shelf, there are several relatively concentrated empty storage bins at the first position closest to the starting point of the first robot; and several relatively concentrated empty storage bins at the second position slightly farther from the starting point of the first robot. If the number of bins to be received does not exceed the number of relatively concentrated empty storage bins at the first position, then the several empty storage bins at the first position that have the same number of bins to be received are identified as the target empty storage bins.

[0239] If the number of boxes to be put into storage exceeds the number of relatively concentrated empty box storage locations in the first position, then all of the relatively concentrated empty box storage locations in the first position will be designated as target empty box storage locations; and the few empty box storage locations in the relatively concentrated empty box storage locations in the second position that are the same number as the remaining boxes to be put into storage will also be designated as target empty box storage locations.

[0240] In practical applications, the inbound and outbound processes of a warehousing system are parallel. Specifically, the storage locations and buffer locations of tote boxes on the shelves of the warehousing system are allocated in a certain ratio for tote boxes awaiting outbound and tote boxes awaiting inbound. For example, 50% of the tote box buffer locations on the shelves are used to hold tote boxes awaiting outbound from the storage area, and the other 50% are used to hold tote boxes awaiting inbound brought in by a second robot. When the proportion of full tote box buffer locations used to hold tote boxes awaiting inbound reaches a certain percentage, such as 50%, the control equipment instructs the first robot to move the tote boxes awaiting inbound. The above percentage example can be set according to the actual scenario, and this application does not limit it.

[0241] The embodiments of this application are applied to the above-mentioned warehousing system. The method instructs the second robot to move the bin to be put into storage from the workstation to the target empty bin buffer position, and instructs the first robot to move the bin to be put into storage to the target empty bin storage position. The first robot and the second robot work together to realize the storage of bins in the warehousing system, thereby improving the retrieval and release efficiency of the warehousing system.

[0242] In some embodiments of this application, the cargo platform of the second robot is fixed to the top of the motion chassis; the lever mechanism includes a second fork assembly; the second fork assembly includes a second fork drive motor and a second fork; the second fork is disposed on the rear end face of the cargo platform and can rotate to lift or lower under the drive of the second fork drive motor.

[0243] In this example, step S252 shown in Figure 25 may specifically include the following two steps:

[0244] First, instruct the second robot to carry the material box to be put into storage from the workstation and move it to the side of the target empty material box buffer position; then instruct the second robot to drive the second fork upward through the second fork drive motor, and drive the loading platform towards the through slot through the moving chassis, so as to move the material box to be put into storage from the rear of the material box to the target empty material box buffer position.

[0245] In the embodiments of this application, the loading platform of the second robot is fixed to the top of the motion chassis. It is only necessary to instruct the second fork to lift up and move in coordination with the motion chassis. There is no need to move the material box downward after entering the bottom of the material box buffer layer. This can realize the movement of the material box to be put into storage to the target empty material box buffer position, thereby improving the docking and picking efficiency of the second robot.

[0246] In some embodiments of this application, the cargo platform of the second robot is mounted on the top of the motion chassis via a telescopic mechanism; the lever mechanism includes a second fork assembly; the second fork assembly includes a second fork drive motor and a second fork; the second fork is disposed on the rear end face of the cargo platform and can rotate to lift or lower under the drive of the second fork drive motor.

[0247] In another embodiment, step S252 shown in FIG25 may specifically include the following two steps:

[0248] First, instruct the second robot to carry the material box to be stored from the workstation and move it to the side of the target empty material box buffer position. Then, instruct the second robot to drive the second fork upward through the second fork drive motor, and drive the loading platform to extend towards the through slot through the telescopic mechanism, moving the material box from the rear end of the material box to the target empty material box buffer position.

[0249] In the embodiments of this application, the cargo platform of the second robot is mounted on the top of the motion chassis via a telescopic mechanism. The second robot can move to the side of the target idle material box buffer position and extend towards the through slot via the telescopic mechanism to dock with the pick-up and drop-off box. This increases the movement docking path of the second robot, reduces the situation where multiple second robots need to avoid each other, and improves the picking and dropping efficiency of the warehousing system.

[0250] In some embodiments of this application, there are multiple shelves, and the intervals between the shelves form aisles; each shelf is a double-deep shelf, and the material box buffer layer of each shelf is a single-deep shelf, and is close to the first side of the length direction of the shelf, so that the accommodating space forms a first channel from the bottom of the material box buffer layer to the ground and a second channel from the top of the buffer area to the ground.

[0251] Referring to Figure 26, Figure 26 is a flowchart of a second embodiment of the second data entry method provided in this application; the flowchart includes the following steps:

[0252] Step S261: Obtain the location information of the target empty bin storage location and the target empty bin buffer location for each bin to be put into storage;

[0253] Step S262: Instruct the second robot to carry the material box to be put into storage from the workstation to the shelf, and travel along the aisle or the second channel to the side of the target empty material box buffer position. Move the loading platform to the bottom of the channel, and use the lever mechanism to move the material box to be put into storage on the loading platform to the target empty material box buffer position.

[0254] Step S263: Instruct the first robot to move the bin to be put into storage to the target empty bin storage location.

[0255] Specifically, after the second robot moves the second robot shelf to the target empty material box storage position, it can leave the shelf and go to the standby area to wait for the next instruction, or go to the workstation to continue to pick up the material boxes to be put into storage, or it can temporarily stay at the target empty material box storage position and wait for the next movement instruction. There are no restrictions here.

[0256] By applying the embodiments of this application, the second robot is instructed to travel along the alley or the second channel to the side of the target empty material box buffer position, and place the material box to be put into storage in the target empty material box buffer position, thus realizing the docking and picking function of the second robot. The docking path of the second robot is multiple, which can flexibly dock with the target empty material box buffer position, reduce the avoidance situation, and improve the picking and placing efficiency of the warehousing system.

[0257] In some embodiments of this application, there are multiple shelves, and the intervals between the shelves form aisles; each shelf is a four-deep shelf, and each shelf has two material box buffer layers, both of which are single-deep, and are respectively set on one side of the shelf facing the aisle in the length direction of the shelf; the two sides of the accommodating space near the aisle respectively form a third channel from the bottom of the material box buffer layer to the ground, and a fourth channel located in the middle area of ​​the accommodating space from the top of the buffer area to the ground.

[0258] Referring to Figure 27, Figure 27 is a flowchart of a third embodiment of the second data entry method provided in this application; the flowchart includes the following steps:

[0259] Step S271: Obtain the location information of the target empty bin storage location and the target empty bin buffer location for each bin to be put into storage;

[0260] Step S272: Instruct the second robot to carry the material box to be put into storage from the workstation to the shelf, and travel along the aisle or the fourth channel to the side of the target empty material box buffer position. Move the loading platform to the bottom of the channel, and use the lever mechanism to move the material box to be put into storage on the loading platform to the target empty material box buffer position.

[0261] Step S273: Instruct the first robot to move the bin to be put into storage to the target empty bin storage location.

[0262] By applying the embodiments of this application, the second robot is instructed to travel along the aisle or the fourth channel to the side of the target empty material box buffer position, and place the material box to be put into storage on the target empty material box buffer position, thus realizing the docking and picking function of the second robot. The second robot has multiple docking paths, which can flexibly dock with the target empty material box buffer position, reduce the avoidance situation, and improve the picking and placing efficiency of the warehousing system.

[0263] In some embodiments of this application, the four-deep rack includes two back-to-back double-deep racks, with two hopper buffer layers respectively located on the side of each double-deep rack closest to the aisle; the middle area of ​​the accommodating space includes a fourth aisle from the top of the buffer area to the ground, comprising: a fifth aisle located at the bottom of the first double-deep rack, and a sixth aisle located at the bottom of the second double-deep rack.

[0264] Referring to Figure 28, Figure 28 is a flowchart of the fourth embodiment of the second data entry method provided in this application; the flowchart includes the following steps:

[0265] Step S281: Obtain the location information of the target empty bin storage location and the target empty bin buffer location for each bin to be put into storage;

[0266] Step S282: Instruct the second robot to carry the material box to be put into storage from the workstation to the shelf, and travel along the aisle or the fifth channel to the side of the target empty material box buffer position of the first double-deep shelf. Move the loading platform to the bottom of the channel, and use the lever mechanism to move the material box to be put into storage on the loading platform to the target empty material box buffer position of the first double-deep shelf; or, travel along the aisle or the sixth channel to the side of the target empty material box buffer position of the second double-deep shelf, and place the material box to be put into storage on the target empty material box buffer position of the second double-deep shelf.

[0267] Step S283: Instruct the first robot to move the bin to be put into storage to the target empty bin storage location.

[0268] By applying the embodiments of this application, the second robot is instructed to travel along the aisle or the fifth channel to the side of the target empty material box buffer position of the first double-deep shelf, and place the material box to be put into storage on the target empty material box buffer position of the first double-deep shelf, thus realizing the docking and picking function of the second robot. The second robot has multiple docking paths, which can flexibly dock with the target empty material box buffer position, reduce the avoidance situation, and improve the picking and placing efficiency of the warehousing system.

[0269] In some embodiments of this application, the first robot includes: a mounting frame and a picking and placing assembly.

[0270] Referring to Figure 29, Figure 29 is a flowchart of the fifth embodiment of the second data entry method provided in this application; the flowchart includes the following steps:

[0271] Step S291: Obtain the location information of the target empty bin storage location and the target empty bin buffer location for each bin to be put into storage;

[0272] Step S292: Instruct the second robot to move the bin to be put into storage from the workstation to the target empty bin buffer position, so that when the second robot moves to the position corresponding to the target empty bin buffer position in the shelf's accommodating space, the lever mechanism moves the bin to be put into storage on the loading platform to the target empty bin buffer position.

[0273] Step S293: Send a first operation instruction to the first robot, which includes a target bin cache position and a target free bin storage position, so that the first robot moves horizontally on the shelf using the mounting frame to the position corresponding to the target bin cache position, and moves the picking and placing component downward along the mounting frame to the corresponding position on the target bin cache position, and uses the picking and placing component to take out the bin to be put into storage from the target bin cache position, and moves it upward to place it on the corresponding target free bin storage position.

[0274] According to the embodiments of this application, the first robot moves sequentially to each target bin buffer position and target idle bin storage position according to the first operation instruction, and performs the storage operation until all containers to be stored are moved to the bin buffer positions. The first robot and the second robot work together to realize the storage of bins in the warehousing system, thereby improving the retrieval and placement efficiency of the warehousing system.

[0275] Next, the second outbound method provided in this application will be described.

[0276] The outbound method provided in this application embodiment is applied to a control device, which is communicatively connected to the first and second robots of the aforementioned warehousing system.

[0277] In this embodiment, there are multiple material bin storage layers, and each material bin storage layer is divided into multiple material bin storage positions; multiple through slots are provided at intervals on the material bin buffer layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the shelves on both sides form a material bin buffer position.

[0278] Referring to Figure 30, Figure 30 is a flowchart of the first embodiment of the outbound method provided in this application; the flowchart includes the following steps:

[0279] Step S301: Obtain the location information of the target free material box buffer position for each material box to be dispatched in the storage area;

[0280] In this step, the location information of the target empty material box buffer position for each material box to be shipped can be determined based on the number and location of the material boxes to be shipped, as well as the number and location of the empty material box buffer positions on the shelf.

[0281] Step S302: Instruct the first robot to move the vacant bins in the storage area to the target empty bin buffer position;

[0282] Step S303: Instruct the second robot to move the bin to be shipped from the bin buffer position to the workstation, so that when the second robot moves to the position corresponding to the bin buffer position in the shelf's storage space, the lever mechanism moves the bin to be shipped to the loading platform.

[0283] Specifically, in step S301, the target empty material box buffer position of each material box to be shipped out can also be determined according to the principle of moving the first robot from near to far, and / or the principle that the target empty material box buffer positions are concentrated on the shelf.

[0284] For example, on a shelf, there are several relatively concentrated empty material box buffer positions at the first position closest to the starting point of the first robot; and several relatively concentrated empty material box buffer positions at the second position slightly farther from the starting point of the first robot. If the number of materials to be shipped does not exceed the number of the relatively concentrated empty material box buffer positions at the first position, then the several empty material box buffer positions at the first position that have the same number of materials to be shipped are identified as the target empty material box buffer positions.

[0285] If the number of boxes to be shipped exceeds the number of relatively concentrated idle box buffer positions in the first position, then all of the relatively concentrated idle box buffer positions in the first position will be designated as target idle box buffer positions; and the idle box buffer positions in the relatively concentrated idle box buffer positions in the second position that are the same as the number of remaining boxes to be shipped will also be designated as target idle box buffer positions.

[0286] This embodiment is applied to the above-mentioned warehousing system. The method instructs the first robot to move the boxes to be shipped from the storage area to the target empty box buffer position, and instructs the second robot to move the boxes to be shipped from the box buffer position to the workstation. The first robot and the second robot work together to realize the shipment of boxes in the warehousing system, thereby improving the picking and placing efficiency of the warehousing system.

[0287] In some embodiments of this application, the cargo platform of the second robot is fixed to the top of the motion chassis; the lever mechanism includes a first fork assembly; the first fork assembly includes a first fork drive motor and a first fork; the first fork is disposed on the front end face of the cargo platform and can rotate to lift or lower under the drive of the first fork drive motor.

[0288] In this embodiment, step S302 in Figure 30 may specifically include the following two steps:

[0289] First, instruct the second robot to move unloaded to one side of the target bin buffer position; then instruct the second robot to move the loading platform to the bottom of the channel via the motion chassis, so that the first fork is located on the first side of the bin to be shipped out. Then, drive the first fork drive motor to lift the first fork upward, and then drive the loading platform towards the second side of the bin via the motion chassis, so as to take the bin away from the bin buffer layer and move it to the loading platform. After that, go to the workstation to place the bin.

[0290] In the embodiments of this application, the loading platform of the second robot is fixed to the top of the motion chassis. It is only necessary to instruct the first fork to lift up, and move the motion chassis in coordination. It is not necessary to lift the material box after entering the bottom of the material box buffer layer. This can move the material box to be put into storage from the material box buffer position to the loading platform, thereby improving the docking and picking efficiency of the second robot.

[0291] In some embodiments of this application, the cargo platform of the second robot is mounted on the top of the motion chassis via a telescopic mechanism; the lever mechanism includes a first fork assembly; the first fork assembly includes a first fork drive motor and a first fork; the first fork is disposed on the front end face of the cargo platform and can rotate to lift or lower under the drive of the first fork drive motor.

[0292] In another embodiment, step S302 in FIG30 may specifically include the following two steps:

[0293] First, instruct the second robot to move unloaded to one side of the target hopper buffer position; then instruct the second robot to move the loading platform to one end of the channel via the motion chassis. Afterward, the telescopic mechanism drives the loading platform to extend towards the channel, moving the loading platform to the bottom of the channel, so that the first fork is located on the side of the hopper away from the motion chassis. Then, the second robot drives the first fork to lift upward via the first fork drive motor, and then retracts via the telescopic mechanism, moving the loading platform out of the bottom of the channel, taking the hopper away from the hopper buffer layer, and moving it to the loading platform, and then proceeding to the workstation to place the hopper.

[0294] In the embodiments of this application, the cargo platform of the second robot is mounted on the top of the motion chassis via a telescopic mechanism. The second robot can move to the side of the target material box buffer position and extend towards the through slot via the telescopic mechanism to dock with the material box. This increases the movement docking path of the second robot, reduces the situation where multiple second robots need to avoid each other, and improves the picking and placing efficiency of the warehousing system.

[0295] In some embodiments of this application, there are multiple shelves, and the intervals between the shelves form aisles; each shelf is a double-deep shelf, and the material box buffer layer of each shelf is a single-deep shelf, and is close to the first side of the length direction of the shelf, so that the accommodating space forms a first channel from the bottom of the material box buffer layer to the ground and a second channel from the top of the buffer area to the ground.

[0296] Referring to Figure 31, Figure 31 is a flowchart of a second embodiment of the second outbound method provided in this application; the flowchart includes the following steps:

[0297] Step S311: Obtain the location information of the target free material box buffer position for each material box to be shipped out in the storage area;

[0298] Step S312: Instruct the first robot to move the vacant bins in the storage area to the target empty bin buffer position;

[0299] Step S313: Instruct the second robot to move unloaded along the aisle, the first channel or the second channel to the side of the target material box buffer position, move the loading platform to the bottom of the channel, and use the lever mechanism to move the material box to be shipped out on the material box buffer position to the loading platform;

[0300] Step S314: Instruct the second robot to carry the outbound bins away from the shelf along the aisle or second passage and proceed to the workstation to place the bins.

[0301] By applying the embodiments of this application, the second robot is instructed to move unloaded along the aisle, the first channel, or the second channel to the side of the target material box buffer position, and carry the material box to be shipped out along the aisle or the second channel to leave the shelf and go to the workstation to place the material box. This realizes the docking and picking function of the second robot. The docking path of the second robot is multiple, which can flexibly dock with the target empty material box buffer position, reduce the avoidance situation, and improve the picking and placing efficiency of the warehousing system.

[0302] In some embodiments of this application, there are multiple shelves, and the intervals between the shelves form aisles; each shelf is a four-deep shelf, and each shelf has two material box buffer layers, both of which are single-deep, and are respectively set on one side of the shelf facing the aisle in the length direction of the shelf; the two sides of the accommodating space near the aisle respectively form a third channel from the bottom of the material box buffer layer to the ground, and a fourth channel located in the middle area of ​​the accommodating space from the top of the buffer area to the ground.

[0303] Referring to Figure 32, Figure 32 is a flowchart of a third embodiment of the second outbound method provided in this application; the flowchart includes the following steps:

[0304] Step S321: Obtain the location information of the target free material box buffer position for each material box to be shipped in the storage area;

[0305] Step S322: Instruct the first robot to move the vacant bins in the storage area to the target empty bin buffer position;

[0306] Step S323: Instruct the second robot to move unloaded along the aisle, third channel or fourth channel to the side of the target material box buffer position, move the loading platform to the bottom of the channel, and use the lever mechanism to move the material box to be shipped out on the material box buffer position to the loading platform;

[0307] Step S324: Instruct the second robot to carry the outbound bins away from the shelf along the aisle or the fourth channel and proceed to the workstation to place the bins.

[0308] By applying the embodiments of this application, the second robot is instructed to move unloaded along the aisle, third channel, or fourth channel to the side of the target material box buffer position, and carry the material box to be shipped out along the aisle or fourth channel to leave the shelf and go to the workstation to place the material box. This realizes the docking and picking function of the second robot. The second robot has multiple docking paths, which can flexibly dock with the target empty material box buffer position, reduce the avoidance situation, and improve the picking and placing efficiency of the warehousing system.

[0309] In some embodiments of this application, the four-deep rack includes two back-to-back double-deep racks, with two hopper buffer layers respectively located on the side of each double-deep rack closest to the aisle; the middle area of ​​the accommodating space includes a fourth aisle from the top of the buffer area to the ground, comprising: a fifth aisle located at the bottom of the first double-deep rack, and a sixth aisle located at the bottom of the second double-deep rack.

[0310] In this embodiment, step S323 in Figure 32 may specifically include the following two steps:

[0311] First, instruct the second robot to move unloaded along the aisle, third channel, or fifth channel to the target bin buffer position of the first double-deep rack; or, instruct the second robot to move unloaded along the aisle, third channel, or sixth channel to the target bin buffer position of the second double-deep rack.

[0312] Next, move the loading platform to the bottom of the channel, and use the lever mechanism to move the material box to be shipped out from the material box buffer position to the loading platform.

[0313] In this embodiment, step S324 in Figure 32 can be: instructing the second robot to carry the outbound box away from the first double-deep shelf along the aisle or the fifth channel and go to the workstation to place the box, or instructing the second robot to carry the outbound box away from the second double-deep shelf along the aisle or the sixth channel and go to the workstation to place the box.

[0314] In the embodiments of this application, the second robot cooperates with the first robot to realize the entry and exit of the material boxes of two back-to-back double-deep shelves. The second robot has multiple docking paths and can flexibly dock with the target empty material box buffer position, reducing the need for avoidance and improving the picking and placing efficiency of the warehousing system.

[0315] In some embodiments of this application, the first robot includes: a mounting frame and a picking and placing assembly.

[0316] Referring to Figure 33, Figure 33 is a flowchart of the fourth embodiment of the outbound method provided in this application; the flowchart includes the following steps:

[0317] Step S331: Obtain the location information of the target free material box buffer position for each material box to be dispatched in the storage area;

[0318] Step S332: Send a second operation instruction to the first robot, which includes the target bin storage location and the target idle bin buffer location, so that the first robot can use the mounting frame to move horizontally on the shelf to the position corresponding to the target bin storage location, and move the picking and placing component down along the mounting frame to the position corresponding to the target bin storage location, use the picking and placing component to take out the bin to be shipped from the target bin storage location, and move it down to place it in the corresponding target idle bin buffer location;

[0319] Step S333: Instruct the second robot to move the bin to be shipped from the bin buffer position to the workstation, so that when the second robot moves to the position corresponding to the bin buffer position in the shelf's storage space, the lever mechanism moves the bin to be shipped to the loading platform.

[0320] According to the embodiments of this application, the first robot moves sequentially to each target storage bin and target idle storage bin buffer position according to the second operation instruction, and performs the outbound operation until all containers to be outbound are moved to the storage bin buffer positions. The first robot and the second robot work together to realize the outbound of bins in the warehousing system, thereby improving the retrieval and placement efficiency of the warehousing system.

[0321] Finally, the control device provided in the embodiments of this application will be described.

[0322] Referring to Figure 34, which is a schematic diagram of the structure of the control device provided in the embodiment of this application.

[0323] This application embodiment also provides a control device, as shown in FIG34, including:

[0324] Memory 3401 is used to store computer programs;

[0325] When processor 3402 executes the program stored in memory 3401, it implements the steps of the first data entry method described above:

[0326] Obtain the location information of the target free bin storage location and the target free bin buffer location for each bin to be put into storage;

[0327] The second robot is instructed to move the bins to be put into storage from the workstation to the target empty bin cache position on the cache shelf. When the second robot moves to the position corresponding to the target empty bin cache position, the picking and placing mechanism of the second robot moves horizontally relative to the target empty bin cache position based on the loading platform, and moves the bins to be put into storage on the loading platform to the target empty bin cache position.

[0328] Instruct the first robot to move the bin to be put into storage to the target empty bin storage location on the storage shelf;

[0329] Alternatively, implement the steps of the first outbound method described above:

[0330] Obtain the location information of each material bin to be shipped on the storage shelf, and the location information of the target free material bin cache position on the cache shelf;

[0331] Instruct the first robot to move the expiring bins on the storage shelf to the target empty bin cache position on the cache shelf;

[0332] The second robot is instructed to retrieve the outbound bin from the target idle bin buffer position. When the second robot moves to the position corresponding to the target idle bin buffer position, the picking and placing mechanism moves horizontally relative to the target idle bin buffer position based on the loading platform, and moves the outbound bin on the target idle bin buffer position to the loading platform.

[0333] Instruct the second robot to carry the outbound material box to the workstation;

[0334] Alternatively, implement the steps for the second data entry method described above:

[0335] Obtain the location information of the target free bin storage location and the target free bin buffer location for each bin to be put into storage;

[0336] The second robot is instructed to move the bin to be put into storage from the workstation to the target empty bin buffer position. When the second robot moves to the position corresponding to the target empty bin buffer position within the shelf's storage space, the lever mechanism moves the bin to be put into storage on the loading platform to the target empty bin buffer position.

[0337] Instruct the first robot to move the bin to be stored to the target empty bin storage location;

[0338] Alternatively, the steps to implement the second outbound method described above are as follows:

[0339] Obtain the location information of the target free material bin buffer position for each material bin to be dispatched in the storage area;

[0340] Instruct the first robot to move the emptied bins in the storage area to the target empty bin buffer position;

[0341] The second robot is instructed to move the bin to be shipped from the bin buffer position to the workstation. When the second robot moves to the position corresponding to the bin buffer position within the shelf's storage space, the lever mechanism moves the bin to be shipped onto the loading platform.

[0342] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 3402, the communication interface, and the memory 3401 communicating with each other via the communication bus.

[0343] In addition, the aforementioned control device can be implemented by a computer and may also include a communication module, such as a wired network card or a wireless network card, for communication connection with the first robot and the second robot.

[0344] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0345] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0346] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0347] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0348] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described inbound or outbound methods.

[0349] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the inbound or outbound methods described in the above embodiments.

[0350] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially 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 and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0351] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0352] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0353] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

A warehousing system, characterized in that, include: Shelves (100), first robot (200), second robot (300), and workstations (400); The shelf (100) includes: a storage shelf (110) and a buffer shelf (120); the storage shelf (110) is provided with a material box storage layer (111) for storing material boxes (500); the buffer shelf (120) is arranged adjacent to or integrally with the storage shelf (110); the buffer shelf (120) is provided with a material box buffer layer (122) for buffering material boxes (500); The first robot (200) is disposed on at least one side of the storage shelf (110) and is used to pick up and place the bin (500) between the bin storage layer (111) and the bin buffer layer (122); The second robot (300) is capable of moving bins (500) between the workstation (400) and the bin buffer layer (122) of the buffer shelf (120); The second robot (300) includes: a motion chassis (310), a loading platform (320), and a pick-and-place mechanism (330); the loading platform (320) is mounted on the top of the motion chassis (310); the pick-and-place mechanism (330) is fixed on the loading platform (320) and is used to move the loading platform (320) horizontally relative to the loading platform (122) when the second robot (300) moves to a position corresponding to the loading platform (122), thereby moving the loading platform (320) to the loading platform (320) or moving the loading platform (320) to the loading platform (122). The warehousing system according to claim 1 is characterized in that, The material box buffer layer (122) is provided with a plurality of material box buffer positions (1221) along the length direction, and each material box buffer position (1221) is used to hold a material box (500); Each material bin buffer position (1221) is provided with at least one picking slot (123), the picking slot (123) being perpendicular to the length direction of the buffer shelf (120); The cargo platform (320) of the second robot (300) is used to cooperate with the picking slot (123) and can move to the bottom of the picking slot (123) or move out of the bottom of the picking slot (123); The loading and unloading mechanism (330) is capable of moving horizontally under the drive of the cargo platform (320); When the goods are received, the bins (500) on the loading platform (320) are connected to the picking and placing mechanism (330). The loading platform (320) moves to the bottom of the picking slot (123), so that the bins (500) move to the bin buffer position (1221). The picking and placing mechanism (330) disconnects from the bins (500) and moves out of the bottom of the picking slot (123) under the drive of the loading platform (320) to move the bins (500) from the loading platform (320) to the bin buffer layer (122). During outbound processing, the loading platform (320) drives the picking and placing mechanism (330) to move to the bottom of the picking slot (123). The picking and placing mechanism (330) is connected to the material box (500). The loading platform (320) drives the picking and placing mechanism (330) to move out of the bottom of the picking slot (123) to move the material box (500) from the material box buffer layer (122) to the loading platform (320). The warehousing system according to claim 2 is characterized in that, The cargo platform (320) of the second robot (300) is fixed to the top of the motion chassis (310); the cargo platform (320) can be moved to the bottom of the picking slot (123) or moved out of the bottom of the picking slot (123) under the drive of the motion chassis (310). The warehousing system according to claim 2 is characterized in that, The cargo platform (320) of the second robot (300) is mounted on top of the motion chassis (310) via a telescopic mechanism (340); The cargo platform (320) can be moved to the bottom of the picking slot (123) or moved out of the bottom of the picking slot (123) by the telescopic mechanism (340). The warehousing system according to claim 1 is characterized in that, The picking and placing mechanism (330) is a suction mechanism (330B), which includes a suction cup. The second robot (300) uses the suction cup to pick up or release the bin (500) to move the bin (500) on the bin buffer layer (122) to the loading platform (320), or to move the bin (500) on the loading platform (320) to the bin buffer layer (122). Alternatively, the picking and placing mechanism (330) is a lever mechanism (330A), in which the second robot (300) moves the bin (500) on the bin buffer layer (122) to the loading platform (320) or moves the bin (500) on the loading platform (320) to the bin buffer layer (122) via the lever mechanism (330A). The warehousing system according to claim 2 is characterized in that, Each of the aforementioned bin buffer positions (1221) has one picking slot (123), which is a through slot (123A). Each of the aforementioned through slots (123A) and the shelves on both sides form one of the aforementioned bin buffer positions (1221). The loading platform (320) is flat to cooperate with the through slot (123A). Alternatively, each of the material bin buffer positions (1221) may have multiple picking slots (123), each picking slot (123) being a single-opening slot (123B) with its opening facing the interior of the buffer shelf (120); the multiple single-opening slots (123B) are spaced apart to form a comb-shaped slot (1230); the loading platform (320) is comb-shaped to cooperate with the comb-shaped slot (1230). The warehousing system according to claim 1 is characterized in that, The storage rack (110) and the buffer rack (120) are integrated racks. The bottom layer of the integrated rack is the material box buffer layer (122), and the remaining layers are the material box storage layers (111). Alternatively, the storage rack (110) and the cache rack (120) are two independent racks; the bottom storage layer (111) of the storage rack (110) has a preset height with the ground to form a accommodating space for accommodating the cache rack (120); Alternatively, the storage shelf (110) and the cache shelf (120) are two separate shelves; the cache shelf (120) is located on at least one side of the storage shelf (110) and is spaced apart from the storage shelf (110) to accommodate the first robot (200). A method for data entry, characterized in that, The control device is applied to a control device that is communicatively connected to a first robot and a second robot of the warehousing system according to any one of claims 1 to 7; The method includes: Obtain the location information of the target free bin storage location and the target free bin buffer location for each bin to be put into storage; The second robot is instructed to move the bins to be put into storage from the workstation to the target empty bin cache position on the cache shelf. When the second robot moves to the position corresponding to the target empty bin cache position, the picking and placing mechanism of the second robot moves horizontally relative to the target empty bin cache position based on the loading platform, and moves the bins to be put into storage on the loading platform to the target empty bin cache position. Instruct the first robot to move the bin to be stored to the target empty bin storage location on the storage shelf. The warehousing method according to claim 8 is characterized in that, Each material bin buffer position is equipped with at least one retrieval slot; The instruction to the second robot to move the bins to be put into storage from the workstation to the target empty bin cache position on the cache shelf includes: With the material bin to be put into storage on the loading platform of the second robot connected to the picking and placing mechanism, the second robot is instructed to carry the material bin to be put into storage from the workstation to the target empty material bin cache position on the cache shelf, so that the loading platform moves to the bottom of the picking slot. The picking and placing mechanism moves horizontally under the drive of the loading platform, moves the material bin to be put into storage to the target empty material bin cache position, disconnects from the material bin to be put into storage, and moves out of the bottom of the picking slot under the drive of the loading platform. A method for issuing goods from warehouses, characterized in that, The control device is applied to a control device that is communicatively connected to a first robot and a second robot of the warehousing system according to any one of claims 1 to 7; The method includes: Obtain the location information of each material bin to be shipped on the storage shelf, and the location information of the target free material bin cache position on the cache shelf; Instruct the first robot to move the expiring bins on the storage shelf to the target empty bin cache position on the cache shelf; The second robot is instructed to retrieve the outbound bin from the target idle bin buffer position. When the second robot moves to the position corresponding to the target idle bin buffer position, the picking and placing mechanism moves horizontally relative to the target idle bin buffer position based on the loading platform, and moves the outbound bin on the target idle bin buffer position to the loading platform. Instruct the second robot to carry the boxes of materials to be shipped out to the workstation. The outbound method according to claim 10 is characterized in that, Each material bin buffer position is equipped with at least one retrieval slot; The instruction to the second robot to retrieve the refurbished bin from the target idle bin buffer position includes: The idle second robot is instructed to retrieve the empty bin from the target idle bin buffer position. When the idle second robot reaches the position corresponding to the target idle bin buffer position, the loading platform drives the picking and placing mechanism to move to the bottom of the picking slot. The picking and placing mechanism is connected to the empty bin and causes the loading platform to drive the picking and placing mechanism to move out of the bottom of the picking slot, thereby moving the empty bin from the target idle bin buffer position to the loading platform. A warehousing system, characterized in that, include: Shelves (100), first robot (200), second robot (300), and workstations (400); The shelf (100) includes a storage area (1100) and a buffer area (1200); the storage area (1100) is provided with a material box storage layer (111) for storing material boxes (500); the buffer area (1200) is located at the bottom of the storage area (1100); the top of the buffer area (1200) has a preset height between it and the ground, forming a receiving space (121), and a material box buffer layer (122) is provided in the receiving space (121) for buffering material boxes (500); The first robot (200) is located on one side of the shelf (100) and is used to pick up and put away the bin (500) between the bin storage layer (111) and the bin buffer layer (122); The second robot (300) is capable of moving bins (500) between the workstation (400) and the bin buffer layer (122) of the shelf (100); The second robot (300) includes: a motion chassis (310), a cargo platform (320), and a lever mechanism (330A); the cargo platform (320) is mounted on the top of the motion chassis (310); the lever mechanism (330A) is fixed on the cargo platform (320) and is used to move the bin (500) on the bin buffer layer (122) to the cargo platform (320) or to move the bin (500) on the cargo platform (320) to the bin buffer layer (122) when the second robot (300) moves to the position corresponding to the bin buffer layer (122) in the accommodating space (121). The warehousing system according to claim 12 is characterized in that, The material box buffer layer (122) is provided with a plurality of through slots (123A) spaced apart, and the through slots (123A) are perpendicular to the length direction of the shelf (100); each through slot (123A) and the shelves on both sides form a material box buffer position (1221) for supporting a material box (500); The cargo platform (320) of the second robot (300) is used to cooperate with the through channel (123A) and can move to the bottom of the through channel (123A) or move out of the bottom of the through channel (123A); The lever mechanism (330A) includes: a first fork assembly (331) disposed on the front end face of the cargo platform (320) and / or a second fork assembly (332) disposed on the rear end face of the cargo platform (320); when the second robot (300) moves to the position corresponding to the bin buffer layer (122) in the accommodating space (121), the bin (500) on the bin buffer layer (122) is moved to the cargo platform (320) by the first fork assembly (331) or the second fork assembly (332); or, the bin (500) on the cargo platform (320) is moved to the bin buffer layer (122) by the first fork assembly (331) or the second fork assembly (332). The warehousing system according to claim 13 is characterized in that, The lever mechanism (330A) includes: a first fork assembly (331) disposed on the front end face of the cargo platform (320) and a second fork assembly (332) disposed on the rear end face of the cargo platform (320); The first shift fork assembly (331) includes: a first shift fork drive motor and a first shift fork; the first shift fork is disposed on the front end face of the cargo platform (320) and can be rotated and raised or lowered under the drive of the first shift fork drive motor; The second fork assembly (332) includes: a second fork drive motor and a second fork; the second fork is disposed on the rear end face of the cargo platform (320) and can be rotated and raised or lowered under the drive of the second fork drive motor; When the goods are put into storage, the first fork is in the lowered state, and the second fork is lifted up under the drive of the second fork drive motor, and moves towards the through slot (123A) along with the cargo platform, and moves the material box (500) on the cargo platform (320) onto the material box buffer layer (122); When the goods are being shipped out, the second fork is in the lowered state. The first fork is moved to the bottom of the channel (123A) along with the loading platform (320), and then lifted up under the drive of the first fork drive motor. After that, it moves out of the bottom of the channel (123A) along with the loading platform (320) and moves the material box (500) to the loading platform (320). The warehousing system according to claim 14 is characterized in that, The cargo platform (320) of the second robot (300) is fixed to the top of the motion chassis (310); the cargo platform (320) can be moved to the bottom of the through channel (123A) under the drive of the motion chassis (310); During the warehousing process, the second robot (300) drives the second fork to lift upward via the second fork drive motor, and drives the cargo platform (320) to move toward the through slot (123A) via the motion chassis (310) to move the material box (500) from the rear end to the material box buffer layer (122); During the outbound process, the second robot (300) moves the cargo platform (320) to the bottom of the through channel (123A) via the motion chassis (310), so that the first fork is located on the first side of the material box (500). Then, the first fork is driven to lift upward by the first fork drive motor, and the cargo platform (320) is moved towards the second side of the material box (500) via the motion chassis (310) to take the material box (500) away from the material box buffer layer (122) and move it to the cargo platform (320). The warehousing system according to claim 14 is characterized in that, The cargo platform (320) of the second robot (300) is mounted on top of the motion chassis (310) via a telescopic mechanism (340); The cargo platform (320) can be moved to the bottom of the through channel (123A) or moved out of the bottom of the through channel (123A) under the drive of the telescopic mechanism (340); During the warehousing process, the second robot (300) drives the cargo platform (320) to move to one end of the through slot (123A) via the motion chassis (310). Then, the second fork drive motor drives the second fork (3321) to lift upwards, and the telescopic mechanism (340) drives the cargo platform (320) to extend towards the through slot (123A) to move the material box from the rear end of the material box (500) onto the material box buffer layer (122). During the outbound process, the second robot (300) moves the cargo platform (320) to one end of the through channel (123A) via the motion chassis (310). Then, the telescopic mechanism (340) extends towards the through channel (123A), moving the cargo platform (320) to the bottom of the through channel (123A), so that the first fork is located on the side of the material box (500) away from the motion chassis (310). Then, the second robot (300) drives the first fork to lift upward via the first fork drive motor, and then retracts via the telescopic mechanism (340), moving the cargo platform (320) out of the bottom of the through channel (123A) to take the material box (500) away from the material box buffer layer (122) and move it to the cargo platform (320). The warehousing system according to claim 13 is characterized in that, The number of shelves (100) is multiple, and the multiple shelves (100) are arranged at intervals, with the interval areas between the shelves (100) forming aisles (600); The first robot (200) is set on any shelf (100) on both sides of the aisle (600) and can pick up and put in the material box (500) on the shelf (100) on both sides of the aisle (600). The warehousing system according to claim 17 is characterized in that, Each of the shelves (100) is a double-deep shelf, and the bin buffer layer (122) of each shelf (100) is a single-deep layer, and is close to the first side of the shelf (100) along its length. The bin buffer layer (122) is at least one depth away from the second side of the shelf (100) along its length, such that the accommodating space (121) forms a first channel (710) from the bottom of the bin buffer layer (122) to the ground and a second channel (720) from the top of the buffer area (1200) to the ground; wherein, the height of the first channel (710) is sufficient for the second robot (300) to travel unloaded, and the height of the second channel (720) is sufficient for the second robot (300) to travel carrying the bin (500); The second robot (300) is used to travel along the aisle (600), the first channel (710) or the second channel (720) to one side of the material box buffer layer (122), move the loading platform (320) to the bottom of the through channel (123A), and pick up and put down the material box (500) on the material box buffer layer (122) through the lever mechanism (330A). The warehousing system according to claim 18 is characterized in that, The second robot (300) is used to, during warehousing, carry the material box (500) to be stored from the workstation (400) to the shelf (100), and travel along the aisle (600) or the second channel (720) to one side of the material box buffer layer (122), move the loading platform (320) to the bottom of the through slot (123A), and use the second fork assembly (332) to move the material box (500) on the loading platform (320) to the material box buffer layer (122); The second robot (300) is also used to move empty to the shelf (100) when leaving the warehouse, and travel along the aisle (600), the first channel (710) or the second channel (720) to the side of the bin buffer layer (122), move the loading platform (320) to the bottom of the through slot (123A), and use the first fork assembly (331) to move the bin (500) to be left out of the bin buffer layer (122) to the loading platform (320), leave the shelf (100) along the aisle (600) or the second channel (720) and go to the workstation (400) to place the bin (500). The warehousing system according to claim 17 is characterized in that, Each of the shelves (100) is a four-deep shelf, and each shelf (100) faces an aisle (600) on both sides. Each shelf (100) has two material box buffer layers (122), both of which are single-deep, and are respectively set on the side of the shelf (100) facing the aisle (600) along the length direction. The two bin buffer layers (122) of the four-deep rack are at least two depths apart, such that the accommodating space (121) is located near the aisle (600) on both sides, forming a third aisle (730) from the bottom of the bin buffer layer (122) to the ground, and a fourth aisle (740) located in the middle area of ​​the accommodating space (121) from the top of the buffer area (1200) to the ground; wherein, the height of the third aisle (730) is sufficient for the second robot (300) to... When the robot is unloaded, the height of the fourth channel (740) is sufficient for the second robot (300) to carry the material box (500) to travel. The second robot (300) can travel along the aisle (600), the third channel (730) or the fourth channel (740) to one side of the material box buffer layer (122), move the loading platform (320) to the bottom of the through channel (123A), and pick up and put down the material box (500) on the material box buffer layer (122) through the lever mechanism (330A). The warehousing system according to claim 20 is characterized in that, When the second robot (300) is entering the warehouse, it carries the material box (500) to be stored from the workstation (400) to the shelf (100), and travels along the aisle (600) or the fourth channel (740) to the side of the material box buffer layer (122), moves the loading platform (320) to the bottom of the through slot (123A), and moves the material box (500) on the loading platform (320) to the material box buffer layer (122) through the second fork assembly (332); The second robot (300) is also used to move empty to the shelf (100) when leaving the warehouse, and travel along the aisle (600), the third channel (730) or the fourth channel (740) to the side of the bin buffer layer (122), move the loading platform (320) to the bottom of the through slot (123A), and use the first fork assembly (331) to move the bin (500) to be left out of the bin buffer layer (122) to the loading platform (320), leave the shelf (100) along the aisle (600) or the fourth channel (740) and go to the workstation (400) to place the bin (500). The warehousing system according to claim 21 is characterized in that, The four-deep rack includes: two back-to-back double-deep racks, and two material box buffer layers (122) are respectively set on the side of the two double-deep racks near the aisle (600); The middle area of ​​the accommodating space (121), the fourth channel (740) from the top of the buffer area (1200) to the ground, includes: a fifth channel (750) located at the bottom of the first double-deep shelf, and a sixth channel (760) located at the bottom of the second double-deep shelf; The second robot (300) is used to travel along the aisle (600), the third channel (730) or the fifth channel (750) to one side of the bin buffer layer (122) of the first double-deep rack, move the loading platform (320) to the bottom of the through channel (123A), and pick up and put down the bin (500) on the bin buffer layer (122) through the lever mechanism (330A); or, travel along the aisle (600), the third channel (730) or the sixth channel (760) to one side of the bin buffer layer (122) of the second double-deep rack, move the loading platform (320) to the bottom of the through channel (123A), and pick up and put down the bin (500) on the bin buffer layer (122) through the lever mechanism (330A). The warehousing system according to claim 12 is characterized in that, There are multiple material bin storage layers (111), and each material bin storage layer (111) is divided into multiple material bin storage positions (1111), and each material bin storage position (1111) is used to store one material bin (500). The warehousing system according to claim 17 is characterized in that, The first robot (200) is mounted on the outside of the shelf (100) via crossbeams (130) spaced apart in the vertical direction, and the first robot (200) and the crossbeams (130) are movably connected in the direction of the aisle (600); The first robot (200) is able to move within the aisle (600) based on the crossbeam (130) to pick up and place different bins (500) of the shelf (100) along the direction of the aisle (600). The warehousing system according to claim 24 is characterized in that, The first robot (200) includes: a mounting frame (210) and a picking and placing assembly (220); The mounting frame (210) is movably connected to the crossbeam (130) along the aisle (600). The picking and placing component (220) on the mounting frame (210) can move horizontally along the crossbeam (130) with the mounting frame (210) to pick up and place different material boxes (500) of the shelves (100) on both sides of the aisle (600) along the aisle (600). The picking and placing component (220) is movably connected to the mounting frame (210) in the vertical direction. The picking and placing component (220) can be raised and lowered along the mounting frame (210) to pick up and place different material boxes (500) in the height direction of the shelves (100) on both sides of the aisle (600). The warehousing system according to claim 12 is characterized in that, The workstation (400) is equipped with a sorting table (410), and the sorting table (410) is equipped with a material box docking interface (411) for outbound materials and a material box docking interface (412) for inbound materials. The sorting station (410) can receive the box (500) at the outbound box interface (411), then transport the box (500) for sorting, and output the sorted box (500) at the inbound box interface (412). The second robot (300) is used to carry the outbound bin (500) to the outbound bin docking interface (411), dock with the outbound bin docking interface (411) to unload the bin (500), and then go to the inbound bin docking interface (412) to pick up the inbound bin (500) or go to the shelf (100) to continue picking up the outbound bin (500). A method for data entry, characterized in that, The control device is applied to a control device that is communicatively connected to a first robot and a second robot of the warehousing system according to any one of claims 12 to 26; The material bin storage layer has multiple layers, and each material bin storage layer is divided into multiple material bin storage positions; multiple through slots are provided at intervals on the material bin buffer layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the shelves on both sides form a material bin buffer position; The method includes: Obtain the location information of the target free bin storage location and the target free bin buffer location for each bin to be put into storage; The second robot is instructed to move the bin to be put into storage from the workstation to the target empty bin buffer position. When the second robot moves to the position corresponding to the target empty bin buffer position within the shelf's storage space, the lever mechanism moves the bin to be put into storage on the loading platform to the target empty bin buffer position. Instruct the first robot to move the bin to be stored to the target empty bin storage location. The warehousing method according to claim 27 is characterized in that, The cargo platform of the second robot is fixed to the top of the motion chassis; The lever mechanism includes a second fork assembly; the second fork assembly includes a second fork drive motor and a second fork; the second fork is disposed on the rear end face of the cargo platform and can be rotated and raised or lowered under the drive of the second fork drive motor; The instruction to the second robot to move the bins to be put into storage from the workstation to the target empty bin buffer position includes: Instruct the second robot to carry the material bins to be put into storage from the workstation and move to the side of the target empty material bin buffer position; The second robot is instructed to drive the second fork upward via the second fork drive motor, and move the cargo platform toward the through slot via the motion chassis, so as to move the material box to be put into storage from the rear of the material box to the target empty material box buffer position. The warehousing method according to claim 27 is characterized in that, The cargo platform of the second robot is mounted on top of the motion chassis via a telescopic mechanism; The lever mechanism includes a second fork assembly; the second fork assembly includes a second fork drive motor and a second fork; the second fork is disposed on the rear end face of the cargo platform and can be rotated and raised or lowered under the drive of the second fork drive motor; The instruction to the second robot to move the bins to be put into storage from the workstation to the target empty bin buffer position includes: Instruct the second robot to carry the material bins to be put into storage from the workstation and move to the side of the target empty material bin buffer position; The second robot is instructed to drive the second fork upward via the second fork drive motor, and to extend the cargo platform toward the through slot via the telescopic mechanism, so as to move the cargo box to the target empty cargo box buffer position from the rear end of the cargo box. The warehousing method according to claim 27 is characterized in that, There are multiple shelves, and the gaps between the shelves form aisles; Each of the shelves is a double-deep shelf, and the material bin buffer layer of each shelf is a single-deep shelf, located close to the first side along the length of the shelf, so that the accommodating space forms a first channel from the bottom of the material bin buffer layer to the ground and a second channel from the top of the buffer area to the ground. The instruction to the second robot to move the bins to be put into storage from the workstation to the target empty bin buffer position includes: The second robot is instructed to carry the bins to be stored from the workstation to the shelf, and travel along the aisle or second channel to the side of the target empty bin buffer position. The loading platform is then moved to the bottom of the channel, and the bins to be stored on the loading platform are moved to the target empty bin buffer position by the lever mechanism. The warehousing method according to claim 27 is characterized in that, There are multiple shelves, and the gaps between the shelves form aisles; Each of the aforementioned shelves is a four-deep shelf, and each of the aforementioned shelves has two material bin buffer layers, both of which are single-deep, and are respectively set on one side of the shelf facing the aisle in the length direction of the shelf; the two sides of the accommodating space near the aisle respectively form a third channel from the bottom of the material bin buffer layer to the ground, and a fourth channel located in the middle area of ​​the accommodating space from the top of the buffer area to the ground. The instruction to the second robot to move the bins to be put into storage from the workstation to the target empty bin buffer position includes: The second robot is instructed to carry the bins to be stored from the workstation to the shelf, and travel along the aisle or the fourth channel to the side of the target empty bin buffer position. The loading platform is then moved to the bottom of the channel, and the bins to be stored on the loading platform are moved to the target empty bin buffer position by the lever mechanism. The warehousing method according to claim 31 is characterized in that, The four-deep rack includes two back-to-back double-deep racks, with two material box buffer layers respectively located on the side of each double-deep rack closest to the aisle. The middle area of ​​the accommodating space, the fourth channel from the top of the buffer area to the ground, includes: a fifth channel located at the bottom of the first double-deep shelf, and a sixth channel located at the bottom of the second double-deep shelf; The instruction to move the second robot, carrying the bins to be stored, from the workstation to the shelf, and along the aisle or fourth channel to the side of the target empty bin buffer position, involves moving the loading platform to the bottom of the channel and using a lever mechanism to move the bins to be stored on the loading platform to the target empty bin buffer position, including: The second robot is instructed to carry the bins to be stored from the workstation to the shelf, and travel along the aisle or the fifth channel to the side of the target empty bin buffer position of the first double-deep shelf. The loading platform is then moved to the bottom of the channel, and the bins to be stored on the loading platform are moved to the target empty bin buffer position of the first double-deep shelf via a lever mechanism; or, it travels along the aisle or the sixth channel to the side of the target empty bin buffer position of the second double-deep shelf and places the bins to be stored in the target empty bin buffer position of the second double-deep shelf. The warehousing method according to any one of claims 27 to 32 is characterized in that, The first robot includes: a mounting frame and a picking and placing assembly; The instruction to the first robot to move the bins to be stored on the bin buffer layer to the target empty bin storage location includes: A first operation instruction containing a target bin cache position and a target free bin storage position is sent to the first robot, causing the first robot to move horizontally on the shelf using the mounting frame to the position corresponding to the target bin cache position, and to move the picking and placing component downward along the mounting frame to the corresponding position on the target bin cache position. The picking and placing component is used to take out the bin to be put into storage from the target bin cache position and move it upward to place it on the corresponding target free bin storage position. A method for issuing goods from warehouses, characterized in that, The control device is applied to a control device that is communicatively connected to a first robot and a second robot of the warehousing system according to any one of claims 12 to 26; The material bin storage layer has multiple layers, and each material bin storage layer is divided into multiple material bin storage positions; multiple through slots are provided at intervals on the material bin buffer layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the shelves on both sides form a material bin buffer position; The method includes: Obtain the location information of the target free material bin buffer position for each material bin to be dispatched in the storage area; Instruct the first robot to move the emptied bins in the storage area to the target empty bin buffer position; The second robot is instructed to move the bin to be shipped from the bin buffer position to the workstation. When the second robot moves to the position corresponding to the bin buffer position within the shelf's storage space, the lever mechanism moves the bin to be shipped onto the loading platform. The outbound method according to claim 34 is characterized in that, The cargo platform of the second robot is fixed to the top of the motion chassis; The lever mechanism includes a first shift fork assembly; the first shift fork assembly includes a first shift fork drive motor and a first shift fork; the first shift fork is disposed on the front end face of the cargo platform and can rotate and be raised or lowered under the drive of the first shift fork drive motor; The instruction to the second robot to move the bin to be dispatched from the bin buffer position to the workstation includes: Instruct the second robot to move unloaded to one side of the target hopper buffer position; The second robot is instructed to move the cargo platform to the bottom of the channel via the motion chassis, so that the first fork is located on the first side of the material box to be shipped out. Then, the first fork is driven by the first fork drive motor to lift the first fork upward, and the cargo platform is moved towards the second side of the material box via the motion chassis, so that the material box is taken away from the material box buffer layer and moved to the cargo platform. Then, it goes to the workstation to place the material box. The outbound method according to claim 34 is characterized in that, The cargo platform of the second robot is mounted on top of the motion chassis via a telescopic mechanism; The lever mechanism includes a first shift fork assembly; the first shift fork assembly includes a first shift fork drive motor and a first shift fork; the first shift fork is disposed on the front end face of the cargo platform and can rotate and be raised or lowered under the drive of the first shift fork drive motor; The instruction to the second robot to move the bin to be dispatched from the bin buffer position to the workstation includes: Instruct the second robot to move unloaded to one side of the target hopper buffer position; The second robot is instructed to move the cargo platform to one end of the channel via the motion chassis. Then, the telescopic mechanism causes the cargo platform to extend towards the channel and move to the bottom of the channel, so that the first fork is located on the side of the material box away from the motion chassis. Then, the second robot drives the first fork to lift upward via the first fork drive motor, and then retracts via the telescopic mechanism, moving the cargo platform out of the bottom of the channel, taking the material box away from the material box buffer layer, and moving it to the cargo platform, and then proceeding to the workstation to place the material box. The outbound method according to claim 34 is characterized in that, There are multiple shelves, and the gaps between the shelves form aisles; Each of the shelves is a double-deep shelf, and the material bin buffer layer of each shelf is a single-deep shelf, located close to the first side along the length of the shelf, so that the accommodating space forms a first channel from the bottom of the material bin buffer layer to the ground and a second channel from the top of the buffer area to the ground. The instruction to the second robot to move the bin to be dispatched from the bin buffer position to the workstation includes: The second robot is instructed to move unloaded along the aisle, the first channel or the second channel to the side of the target material box buffer position, move the loading platform to the bottom of the channel, and use the lever mechanism to move the material box to be shipped out of the material box buffer position to the loading platform; The second robot is instructed to carry the outbound bins away from the shelf along the aisle or second passage and proceed to the workstation to place the bins. The outbound method according to claim 34 is characterized in that, There are multiple shelves, and the gaps between the shelves form aisles; Each of the aforementioned shelves is a four-deep shelf, and each of the aforementioned shelves has two material bin buffer layers, both of which are single-deep, and are respectively set on one side of the shelf facing the aisle in the length direction of the shelf; the two sides of the accommodating space near the aisle respectively form a third channel from the bottom of the material bin buffer layer to the ground, and a fourth channel located in the middle area of ​​the accommodating space from the top of the buffer area to the ground. The instruction to the second robot to move the bin to be dispatched from the bin buffer position to the workstation includes: The second robot is instructed to move unloaded along the aisle, third channel or fourth channel to the side of the target material box buffer position, move the loading platform to the bottom of the channel, and use the lever mechanism to move the material box to be shipped out of the material box buffer position to the loading platform; The second robot is instructed to carry the outbound bins away from the shelf along the aisle or the fourth passage and proceed to the workstation to place the bins. The outbound method according to claim 38 is characterized in that, The four-deep rack includes two back-to-back double-deep racks, with two material box buffer layers respectively located on the side of each double-deep rack closest to the aisle. The middle area of ​​the accommodating space, the fourth channel from the top of the buffer area to the ground, includes: a fifth channel located at the bottom of the first double-deep shelf, and a sixth channel located at the bottom of the second double-deep shelf; The instruction to move the second robot unloaded along the aisle, third channel, or fourth channel to the target hopper buffer position includes: Instruct the second robot to move unloaded along the aisle, the third channel, or the fifth channel to the target bin buffer position of the first double-deep rack; or instruct the second robot to move unloaded along the aisle, the third channel, or the sixth channel to the target bin buffer position of the second double-deep rack. The instruction to the second robot to carry the outbound bins along the aisle or fourth passage away from the shelf and proceed to the workstation for placement includes: The second robot is instructed to carry the outbound bins away from the first double-deep rack along the aisle or the fifth channel and proceed to the workstation to place the bins; or, the second robot is instructed to carry the outbound bins away from the second double-deep rack along the aisle or the sixth channel and proceed to the workstation to place the bins. The outbound method according to any one of claims 34 to 39 is characterized in that, The first robot includes: a mounting frame and a picking and placing assembly; The instruction to the first robot to move the expiring bins in the storage area to the target empty bin buffer position includes: A second operation instruction containing a target bin storage location and a target idle bin buffer location is sent to the first robot, causing the first robot to move horizontally on the shelf using the mounting frame to the position corresponding to the target bin storage location, and to move the picking and placing component downward along the mounting frame to the corresponding position on the target bin storage location. The picking and placing component is used to take out the bin to be shipped from the target bin storage location and move it downward to place it on the corresponding target idle bin buffer location. A control device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in a memory, implements the data entry method according to any one of claims 8 to 9; or implements the data entry method according to any one of claims 27 to 33; or implements the data exit method according to any one of claims 10 to 11; or implements the data exit method according to any one of claims 34 to 40. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the data entry method according to any one of claims 8 to 9; or the data entry method according to any one of claims 27 to 33; or the data exit method according to any one of claims 10 to 11; or the data exit method according to any one of claims 34 to 40.

Images