CN111950966A

CN111950966A - Goods cross-layer transfer system, method, electronic equipment and storage medium

Info

Publication number: CN111950966A
Application number: CN202010898758.7A
Authority: CN
Inventors: 汪旭
Original assignee: Beijing Geekplus Technology Co Ltd
Current assignee: Beijing Geekplus Technology Co Ltd
Priority date: 2020-08-31
Filing date: 2020-08-31
Publication date: 2020-11-17

Abstract

The present disclosure provides a cargo cross-layer transfer system, method, electronic device and storage medium, the method comprising: the control server determines a first robot for carrying goods to be transferred and a second robot for cross-layer transfer according to the source shelf position of a source storage space layer where the goods to be transferred are located and a target storage space layer for cross-layer transfer of the goods, sends a first goods cross-layer transfer control instruction to the first robot, and sends a second goods cross-layer transfer control instruction to the second robot; the first robot carries the goods to be transferred to the designated position according to the first goods cross-layer transfer control instruction; and after the second robot acquires the goods to be transferred according to the second goods cross-layer transfer control instruction, transferring the goods to be transferred to the target storage space layer. According to the embodiment of the disclosure, the first robot and the second robot which execute the cross-layer transfer of the goods are determined according to the position information of the goods to be transferred, and the cross-layer transfer of the goods is completed by utilizing the two robots, so that the cost of the cross-layer transfer of the goods is reduced.

Description

Goods cross-layer transfer system, method, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a goods cross-layer transfer system, a goods cross-layer transfer method, electronic equipment and a storage medium.

Background

With the rapid development of electronic commerce, the goods storage capacity in the e-commerce storage system is larger and larger, the goods storage capacity in the warehousing system often determines the order fulfillment efficiency and the customer service quality, and the cross-layer warehousing system can fully utilize the vertical space, effectively improve the goods storage capacity and is concerned by e-commerce warehouse logistics enterprises.

In a warehousing system, robotic picking may be accomplished by a bin robot that transports bins placed on shelves to a workstation. In the cross-floor warehousing system, in order to realize cross-floor transmission of bins between different floors, in the prior art, communication exchange is performed between different floors by using equipment such as a hoist and a conveyor line, as shown in fig. 1, the hoist and the conveyor line are deployed at each floor of the warehousing system, and a bin robot carries the bins to be transferred across floors to the hoist, and then transmits the bins to adjacent floors through the conveyor line.

In the solution, not only the deployment cost of the hoister and the conveyor line is high, but also once the installation is finished, the secondary expansion is difficult, and the deployment flexibility of the warehousing system is reduced.

Disclosure of Invention

The embodiment of the disclosure at least provides a goods cross-layer transfer system, a goods cross-layer transfer method, electronic equipment and a storage medium, so that the cost of cross-layer goods transfer is reduced, and the flexibility of the deployment of a cross-layer warehousing system is improved.

In a first aspect, an embodiment of the present disclosure provides a cargo cross-layer transfer system, including: the system comprises a control server, at least one first robot, at least one second robot and a multi-layer warehousing space; wherein:

the control server is configured to respond to a goods cross-layer transfer request, determine a first robot for carrying goods to be transferred and a second robot for transferring the goods to be transferred in a cross-layer manner according to a source shelf position of a source storage space layer where the goods to be transferred are located and a target storage space layer where the goods are transferred in a cross-layer manner, and send a first goods cross-layer transfer control instruction to the first robot; sending a second cargo cross-layer transfer control instruction to the second robot;

the first robot is configured to respond to the received first goods cross-layer transfer control command, move to the source shelf position and carry the goods to be transferred to the designated position;

and the second robot is configured to respond to the received second goods cross-layer transfer control instruction, and transfer the goods to be transferred to the target storage space layer after obtaining the goods to be transferred from the designated position by the first robot.

In one possible implementation mode, a goods cross-layer transfer space is arranged in each layer of storage space, and the goods cross-layer transfer space is used for transferring and transferring goods in a cross-layer manner; the first robot and the second robot are different in height, the first robot is deployed in a source warehousing space layer, and the second robot is deployed in a goods cross-layer transfer space of the source warehousing space layer or a target warehousing space layer.

In one possible embodiment, the designated position comprises a temporary goods storage platform arranged in the goods cross-layer transfer space;

the first robot is configured to respond to a received first goods cross-layer transfer control instruction, move to a source shelf position and carry the goods to be transferred to the goods temporary storage platform;

the second robot is configured to respond to a received second goods cross-layer transmission control instruction, move to the goods temporary storage platform to acquire goods to be transmitted by the first robot, and transmit the goods to be transmitted to a target storage space layer.

In one possible embodiment, the first robot is deployed in a source storage space layer, the second robot includes a power relay cache platform deployed in the source storage space layer, and the power relay cache platform connects the source storage space layer and the target storage space layer;

the first robot is further configured to respond to a received first goods cross-layer transmission control instruction, move to a source shelf position according to the goods cross-layer transmission control instruction and carry the goods to be transmitted to the power relay cache platform;

the power relay cache platform is configured to respond to a received second goods cross-layer transmission control instruction and transmit goods to be transmitted by the first robot to a target storage space layer according to the second goods cross-layer transmission control instruction.

In a possible implementation manner, the control server is further configured to, in response to the cargo cross-layer transfer request, determine a third robot that relays to transfer the cargo to be transferred according to target position information of a target warehousing space layer, which is included in the cargo cross-layer transfer request and is transferred across layers, and send a third cargo cross-layer transfer control instruction to the third robot;

the third robot is configured to respond to a received third goods cross-layer transmission control instruction, obtain goods to be transmitted by the second robot, and transmit the goods to be transmitted to a target position of a target storage space layer, wherein the target position comprises a target workstation or a target shelf position.

In one possible embodiment, the goods cross-floor transfer space includes goods transfer platforms disposed around the goods shelves of each warehouse space floor or goods cross-floor transfer holes disposed in each warehouse space floor.

In a second aspect, an embodiment of the present disclosure provides a cargo cross-layer transfer method, including:

the control server responds to a goods cross-layer transfer request, and determines a first robot for carrying goods to be transferred and a second robot for transferring the goods to be transferred in a cross-layer manner according to the source shelf position of a source storage space layer where the goods to be transferred are located and a target storage space layer where the goods are transferred in the cross-layer manner;

the control server sends a first goods cross-layer transmission control instruction to the first robot and sends a second goods cross-layer transmission control instruction to the second robot;

the first robot responds to the received first goods cross-layer transfer control command and moves to the source shelf position to carry the goods to be transferred to the designated position;

and the second robot responds to the received second goods cross-layer transmission control instruction, obtains the goods to be transmitted by the first robot from the designated position, and transmits the goods to be transmitted to the target storage space layer.

In a possible embodiment, the designated position comprises a temporary goods storage platform arranged in the goods cross-layer transfer space;

the first robot responds to the received first goods cross-layer transfer control command, moves to the source shelf position to carry the goods to be transferred to the designated position, and specifically comprises:

the first robot responds to a received first goods cross-layer transfer control instruction, moves to a source shelf position and carries the goods to be transferred to the goods temporary storage platform;

the second robot responds to a received second goods cross-layer transmission control instruction, obtains goods to be transmitted by the first robot from the designated position, and transmits the goods to be transmitted to a target storage space layer, and the method specifically comprises the following steps:

and the second robot responds to the received second goods cross-layer transmission control instruction, moves to the goods temporary storage platform to acquire the goods to be transmitted by the first robot, and transmits the goods to be transmitted to the target storage space layer.

the first robot responds to a received first goods cross-layer transmission control instruction, and moves to a source shelf position according to the goods cross-layer transmission control instruction to carry the goods to be transmitted to the power relay cache platform;

and the power relay cache platform responds to the received second goods cross-layer transmission control instruction and transmits the goods to be transmitted by the first robot to the target storage space layer according to the goods cross-layer transmission control instruction.

In a possible implementation manner, the control server responds to a cargo cross-layer transfer request, determines a third robot for relaying and transferring the cargo to be transferred according to target position information of a target storage space layer, which is transmitted by the cargo cross-layer, contained in the cargo cross-layer transfer request, and sends a third cargo cross-layer transfer control instruction to the third robot;

and the third robot responds to the received third goods cross-layer transmission control instruction, obtains goods to be transmitted by the second robot, and transmits the goods to be transmitted to the target position of the target storage space layer, wherein the target position comprises a target workstation or a target shelf position.

In a third aspect, this disclosure also provides an electronic device, a processor, and a memory, where the memory stores machine-readable instructions executable by the processor, and the processor is configured to execute the machine-readable instructions stored in the memory, and when the machine-readable instructions are executed by the processor, the machine-readable instructions are executed by the processor to perform the steps in the first aspect or any one of the possible implementations of the first aspect.

In a fourth aspect, this disclosure also provides a computer-readable storage medium having a computer program stored thereon, where the computer program is executed to perform the steps in the first aspect or any one of the possible implementation manners of the first aspect.

For the above description of the effect of the cargo cross-layer transfer method, the electronic device and the computer-readable storage medium, reference is made to the above description of the cargo cross-layer transfer system, and details are not repeated here.

In the goods cross-layer transfer system, the goods cross-layer transfer method, the electronic device and the storage medium provided by the embodiment of the disclosure, the first robot and the second robot which execute the goods cross-layer transfer are determined according to the position information of the goods to be transferred before cross-layer transfer and the position information after cross-layer transfer, the goods to be transferred are carried to the designated position of the source storage space by the first robot, and then the goods to be transferred are acquired from the designated position by the second robot and are transferred to the target storage space layer, so that the purpose of utilizing the two robots to complete the cross-layer transfer of the goods is achieved.

Further, the goods cross-layer transfer method provided by the embodiment of the disclosure can also be used as a second robot to realize the goods cross-layer transfer with the first robot of the source target storage space layer by using the power relay cache platform deployed in the storage space, and then the deployment number of the robots is optimized on the basis of the realization of the existing deployed robots, thereby further reducing the deployment cost of the goods cross-layer transfer.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

FIG. 1 is a schematic diagram illustrating a cargo cross-floor transfer system provided by an embodiment of the present disclosure;

fig. 2a is a schematic flow chart illustrating an implementation process of transferring goods from a lower-level warehouse space to a higher-level warehouse space when a first robot and a fixed second robot provided by the embodiment of the disclosure are different in height;

fig. 2b is a schematic view illustrating an implementation flow of goods transferring from a lower-level warehouse space to a higher-level warehouse space when the first robot and the movable second robot provided by the embodiment of the disclosure have different heights;

fig. 2c is a schematic view illustrating an implementation flow of goods transferring from the high-level warehouse space to the low-level warehouse space when the first robot and the second movable robot provided by the embodiment of the disclosure are different in height;

fig. 2d illustrates an implementation flow diagram of cargo cross-layer transfer when the second robot is the power relay cache platform provided in the embodiment of the present disclosure;

FIG. 3 is a flow chart illustrating a method for cross-layer delivery of cargo provided by an embodiment of the present disclosure;

fig. 4 shows a schematic diagram of an electronic device provided by an embodiment of the disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of embodiments of the present disclosure, as generally described and illustrated herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

Furthermore, the terms "first," "second," and the like in the description and in the claims, and in the drawings described above, in the embodiments of the present disclosure are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein.

Reference herein to "a plurality or a number" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

According to research, in a cross-floor warehousing system, in order to achieve cross-floor transfer of goods, a lifting machine and a conveying belt need to be deployed at the edge of a warehousing space, when goods cross-floor transfer requirements exist, a robot deployed on the floor transports the goods to be transferred to the conveying belt on the floor, then the goods are conveyed to the conveying belt on the adjacent floor through the lifting machine, and finally the goods are taken away by the robot deployed on the adjacent floor and placed to a designated position or continuously transferred to the adjacent floor. In the cross-layer transfer method, the hoister and the conveyer belt need to be separately deployed, on one hand, the cost of goods cross-layer transfer is increased, on the other hand, after the hoister and the conveyer belt are installed, the goods cross-layer transfer is difficult to expand again, and the flexibility of the goods cross-layer transfer is reduced.

Based on the research, the present disclosure provides a cargo cross-floor transfer system, a cargo cross-floor transfer method, an electronic device, and a storage medium, wherein the cargo cross-floor transfer is realized by two deployed robots, and a lifting machine, a conveying belt, and the like for the cross-floor transfer are not required to be deployed separately, so that the cost of the cargo cross-floor transfer is reduced, and moreover, compared with the deployment of the lifting machine and the conveying belt, the cargo cross-floor transfer mode realized by the robots is more flexible.

The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

To facilitate understanding of the present embodiment, an application scenario of the cargo cross-layer delivery method disclosed in the embodiments of the present disclosure is first described. The cargo cross-layer transfer method provided by the embodiment of the disclosure can be applied to the cargo cross-layer transfer system shown in fig. 1. The goods cross-floor transfer system comprises a control server 120, at least one first robot 100, at least one second robot 110 and a multi-floor storage space 130, wherein the first robot 100 is used for carrying goods to be transferred from a source storage space floor, and can be a rack-to-human robot for carrying racks of the storage area 130 and can also be a bin robot for carrying storage containers (such as bins and the like) for taking and storing goods from the racks, and the second robot is used for transferring goods to be transferred across floors, and can be a bin robot, and in some embodiments, can also be a power buffer platform for connecting different storage space floors; the warehousing area 130 of each level is provided with a plurality of shelves (which may be conventional shelves or pallet shelves) on which inventory items are placed that may be picked into order containers in response to order assignments, one order container being associated with at least one order. Typically, a plurality of workstations are provided on one side of the warehousing area 130 of the first floor. In a cargo picking scenario, the workstation may also be referred to as a picking station; in a cargo restocking scenario, the workstation may also be referred to as a restocking station. As an implementation, the picking station and replenishment station may be multiplexed. Wherein:

the control server 120 is configured to, in response to a cargo cross-layer transfer request, determine a first robot 100 that carries a cargo to be transferred and a second robot 110 that transfers the cargo to be transferred across layers according to a source shelf position of a source storage space layer where the cargo to be transferred is located and a target storage space layer where the cargo is transferred across layers, and send a first cargo cross-layer transfer control instruction to the first robot 100; and send a second cargo cross-layer transfer control instruction to the second robot 110.

The control server 120 is a software system with data storage and information processing capabilities running on a server, and can be connected with each robot, a hardware input system and other software systems through wireless or wired connection. The control server 120 may include one or more servers, and may be a centralized control architecture or a distributed computing architecture. The control server 120 has a processor 121 and a memory 122, and may have an order pool 123 in the memory 122.

The control server 120 wirelessly communicates with the first robot 100 and the second robot 110, and the operator can operate the control server 120 through the console 160, and the robot 110 performs corresponding tasks under the control of the control server 120. For example, the control server 120 plans the movement paths for the first robot 100 and the second robot 110 according to the tasks, and the first robot 100 and the second robot 110 travel along the empty spaces in the shelf array composed of the shelves according to the movement paths.

In order to plan the moving path for the first robot 100 and the second robot 110, the working area of the first robot 100 and the second robot 110 (the working area at least includes the area where the multi-layer warehousing area 130 is located) is divided into a plurality of sub-areas (i.e., cells) in advance, and the first robot 100 and the second robot 110 move cell by cell to form a moving track.

In specific implementation, when receiving a cargo cross-layer transmission demand sent by an upstream system, the control server 120 generates a cargo cross-layer transmission control instruction according to the cargo cross-layer transmission demand. Generally, the cargo cross-layer delivery requirement carries source location information and target location information of the cargo to be delivered, where the source location information includes at least one of the following information: the source storage space layer identification and the source shelf position information of the goods to be transferred, and the target position information comprises at least one of the following information: the control server 120 determines the first robot 100 for carrying goods to be transferred according to the source shelf position information, plans a path for the first robot 100 according to the source shelf position information and the current position information of the first robot 100, and generates a first goods cross-layer transfer control instruction; further, the control server 120 determines the second robot 110 that transfers the goods to be transferred across layers according to the target shelf position information, generates a second goods transfer control instruction across layers for the second robot 110, sends the first goods transfer information across layers to the first robot 100, and sends the second goods transfer control instruction across layers to the second robot 110.

The first robot 100 is configured to move to the source shelf position to carry the goods to be transferred to the designated position in response to the received first goods cross-layer transfer control command;

in specific implementation, the first robot responds to the received first goods cross-layer transmission control instruction, moves to the source shelf position where the goods to be transmitted are located according to the path planned by the control server to obtain the goods to be transmitted, and conveys the goods to be transmitted to the specified position of goods transmission. The designated location may be a specific location of the source storage space layer, for example, the designated location may be a ground of the source storage space layer, or a temporary storage platform for goods disposed on the source storage space layer.

And the second robot is configured to respond to the received second goods cross-layer transfer control instruction, and after the goods to be transferred transmitted by the first robot are obtained from the designated position, the goods to be transferred are transferred to the target storage space layer.

In specific implementation, the second robot responds to the received second goods cross-layer transmission control instruction, obtains goods to be transmitted from the designated position, and transmits the goods to the target storage space layer.

Under the condition that the designated position is a certain ground of the source storage space layer, the first robot 100 carries the goods to be transferred to the certain ground, and the second robot 110 obtains the goods to be transferred from the certain ground according to the received second goods cross-layer transfer control instruction. In one embodiment, the certain ground may be a location of the second robot 110, in this embodiment, the second robot 110 may obtain the goods to be transferred from the certain ground without moving, in another embodiment, the certain ground may be any other location of the source storage space layer, in this embodiment, the control server is further configured to plan a path for the second robot to move to the certain ground according to the certain ground and the current location of the second robot 110, and control the second robot 110 to move to the certain ground to obtain the goods to be transferred according to the planned path.

Under the condition that the designated position is the temporary storage platform for goods arranged on the source storage space layer, the first robot 100 carries the goods to be transferred to the temporary storage platform for goods, and the second robot 110 obtains the goods to be transferred from the temporary storage platform for goods according to the received cross-layer transfer control instruction for the second goods. In an embodiment, the cargo temporary storage platform may be disposed at a position of the second robot 110, in this embodiment, the second robot 110 may obtain the cargo to be transferred from the cargo temporary storage platform without moving, in another embodiment, the cargo temporary storage platform may be disposed at any other position of the source storage space layer, in this embodiment, the control server is further configured to plan a path for the second robot 110 to move to the cargo temporary storage platform according to the position of the cargo temporary storage platform and the current position of the second robot 110, and control the second robot to move to the cargo temporary storage platform according to the planned path to obtain the cargo to be transferred.

In some embodiments, the first robot 100 may also transfer the goods to be transferred to the second robot 110 directly, in which case the second robot 110 may move to a designated position, and transfer the goods to the second robot 110 directly after the first robot 100 transfers the goods to be transferred to the designated position, or transfer the goods to the second robot 110 directly after the first robot 110 transfers the goods to be transferred to the position of the second robot 110, and transfer the goods to be transferred to the target storage space layer by the second robot 110.

According to the goods cross-layer transfer system provided by the embodiment of the disclosure, a third robot 140 may be deployed on the target storage space layer, and the control server 120 may be further configured to, in response to the goods cross-layer transfer request, determine the third robot 140 that relays the goods to be transferred according to the target position information of the target storage space layer, which is transmitted across layers of goods, included in the goods cross-layer transfer request, and send a third goods cross-layer transfer control instruction to the third robot 140;

the third robot 140 is configured to, in response to the received third goods cross-layer transfer control instruction, acquire goods to be transferred by the second robot, and transfer the goods to be transferred to a target position of the target storage space layer, where the target position includes a target workstation or a target shelf position.

In one embodiment, the first robot and the second robot are different in height, the second robot being higher than the first robot. The goods cross-layer transfer space comprises goods transfer platforms which are arranged around goods shelves of each storage space layer or goods cross-layer transfer holes which are arranged in each storage space layer. In this embodiment, different numbers of second robots may be deployed at the goods transfer platform or the goods cross-layer transfer holes, and the goods to be transferred are transferred to the target storage space layer by the second robots. If the second robot is deployed at the goods transfer platform, the second robot can move at will on the goods transfer platform, and if the second robot is deployed at the goods cross-layer transfer hole, the second robot can move in the goods cross-layer transfer hole.

In the implementation, the implementation flow of the embodiment of the present disclosure is different according to the cargo transferring direction, and the following description is given separately.

In the first embodiment, the goods are transferred from the low-level storage space to the high-level storage space.

In this embodiment, the first robot 100 is deployed on the source storage space layer, the second robot 110 is a robot higher than the first robot 100, the goods cross-floor transfer space deployed on the source storage space layer is deployed, and the goods transfer platform is deployed around the storage space goods shelf, and the goods transfer platform may be a steel frame platform, as shown in fig. 1, or goods cross-floor transfer holes are disposed in the storage space. In specific implementation, the goods cross-layer transfer holes can utilize the existing holes in the storage space, and can also be newly opened in the storage space.

It should be noted that, in this embodiment, a third robot 140 may be deployed at the target warehouse space level to assist in completing the cross-level transfer of the goods, and moving the goods to be transferred to the target cargo space of the target shelf of the target warehouse level.

For a better understanding of the embodiments of the present disclosure, specific implementations of the present disclosure are described below in conjunction with specific processes for cargo delivery. In this example, the designated position is taken as a temporary storage platform for goods.

As shown in fig. 2a, it is a schematic diagram of an implementation flow of transferring from a low-level warehouse space to a high-level warehouse space, and includes the following steps:

s201, the control server receives the cargo cross-layer transmission demand information.

In specific implementation, the cargo cross-layer transfer demand information may be generated in response to an order task, or may be information submitted by a user, and the like, which is not limited in the embodiment of the present disclosure.

The goods cross-layer transmission demand information comprises source position information and target position information of goods to be transmitted, wherein the source position information can comprise a source storage space layer and a source shelf position, the target position information can comprise a target storage space layer, a target shelf position and the like, and the control server determines a first robot for carrying the goods to be transmitted and a second robot for transmitting the goods to be transmitted cross-layer according to the source shelf position.

S202, the control server sends a first cargo cross-layer transfer control instruction to the first robot.

The first goods cross-layer transmission control instruction is generated according to the position of a source goods shelf of goods to be transmitted and the position of a goods temporary storage platform, and carries path planning information for controlling the first robot to move.

In this example, the second robot is not moved, and in this case, the position of the cargo temporary storage platform is the same as the position of the second robot.

S203, the first robot moves to the source shelf position to carry goods to the goods temporary storage platform.

In the step, the first robot moves to the position of the source goods shelf according to the path planning information carried in the received first goods cross-layer transmission control instruction, and carries the goods to the goods temporary storage platform.

S204, the first robot sends a confirmation message of goods transportation to the goods temporary storage platform to the control server.

And S205, the control server sends a second cargo cross-layer transfer control instruction to the second robot.

S206, the second robot transfers goods to be transferred to the target storage space layer.

During specific implementation, the second robot transmits the goods to be transmitted to the target storage space layer after acquiring the goods to be transmitted from the goods temporary storage platform according to the received second goods cross-layer transmission control instruction.

Taking the second robot as an example of the bin robot, after the goods to be transferred are obtained, the bin robot raises the container conveying mechanism to a position which can meet the height of the target storage space layer, and places the goods to be transferred at the specified position of the target storage space layer.

And S207, the second robot sends a confirmation message that the goods are transferred to the target storage space layer to the control server.

And S208, the control server sends a third cargo cross-layer transfer control instruction to the third robot.

In specific implementation, the control server plans a path for the third robot according to the specified position of the target storage space layer and the current position of the third robot, and sends a third goods cross-layer transfer control instruction to the third robot.

S209, the third robot moves to the designated position to obtain the goods to be transferred.

In this step, the third robot responds to the received third cargo cross-layer transfer control instruction, and moves to a corresponding designated position according to the path planned by the control server to obtain the cargo to be transferred.

After the third robot obtains the goods to be transferred, further, the third robot can carry the goods to be transferred to the target goods position of the target goods shelf according to a third goods cross-layer transfer control instruction issued by the control server.

In the second embodiment, the goods are transferred from the low-level storage space to the high-level storage space.

The following description will be given taking an example in which the second robot moves to a predetermined position to acquire a cargo to be transferred. As shown in fig. 2b, the following steps may be included:

s311, the control server receives the cargo cross-layer transmission demand information.

S312, the control server sends a first cargo cross-layer transfer control instruction to the first robot.

S313, the first robot moves to the source shelf position to carry goods to the temporary storage platform.

S314, the first robot sends a confirmation message of goods transportation to the goods temporary storage platform to the control server.

And S315, the control server sends a cargo carrying instruction to the second robot.

In specific implementation, after receiving the confirmation information sent by the first robot, the control server plans a path for the second robot according to the position of the temporary storage platform for the goods to be transferred and the current position of the second robot, and sends a goods carrying instruction to the second robot to obtain the goods to be transferred.

And S316, the second robot acquires the goods to be transferred according to the received goods carrying instruction.

In this step, the second robot responds to the received cargo carrying instruction and moves to the position of the cargo temporary storage platform according to the path planned by the control server to obtain the cargo to be transferred.

And S317, the second robot sends a cargo carrying confirmation message to the control server.

In this step, after the second robot acquires the goods to be transferred from the goods temporary storage platform, the second robot sends confirmation information to the control server to inform the control server that the goods to be transferred have been acquired from the goods temporary storage platform.

And S318, the control server sends a second cargo cross-layer transfer control instruction to the second robot.

And S319, the second robot transfers the goods to be transferred to the target storage space layer.

In specific implementation, the second robot responds to the received second goods cross-layer transmission control instruction and transmits the goods to be transmitted to the target storage space layer.

And S320, the second robot sends a confirmation message that the goods are transferred to the target storage space layer to the control server.

S321, the control server sends a third cargo cross-layer transfer control instruction to the third robot.

S322, the third robot moves to the designated position to obtain goods to be transferred.

In the third embodiment, the goods are transferred from the high-level storage space to the low-level storage space.

In this embodiment, the first robot is deployed in the source storage space layer, the second robot is deployed in the target storage space layer, and the following description takes the second robot moving to a designated location to obtain the goods to be transferred as an example, as shown in fig. 2c, the following steps may be included:

s411, the control server receives the cargo cross-layer transmission demand information.

S412, the control server sends a first cargo cross-layer transmission control instruction to the first robot.

The first goods cross-layer transmission control instruction is generated according to a source storage position of goods to be transmitted and a preset goods temporary storage platform position, and carries path planning information for controlling the first robot to move.

And S413, moving the first robot to the source shelf position to carry the goods to the temporary storage platform.

And S414, the first robot sends a confirmation message of goods transportation to the goods temporary storage platform to the control server.

And S415, the control server sends a cargo carrying instruction to the second robot.

In specific implementation, after receiving the confirmation information sent by the first robot, the control server plans a path for the second robot according to the position of the temporary storage platform for the goods to be transferred and the current position of the second robot, and sends a goods carrying instruction to the second robot.

And S416, the second robot acquires the goods to be transferred according to the received goods carrying instruction.

And S417, the second robot sends a cargo carrying confirmation message to the control server.

And S418, the control server sends a second cargo cross-layer transmission control instruction to the second robot.

S419, the second robot transfers the goods to be transferred to the target storage space layer.

In specific implementation, the second robot responds to the received second goods cross-layer transmission control instruction and transmits the goods to be transmitted to the specified position of the target storage space layer.

Taking the second robot as an example of the bin robot, after the goods to be transferred are obtained, the bin robot lowers the container conveying mechanism to a position which can meet the height of the target storage space layer, and places the goods to be transferred at the specified position of the target storage space layer.

And S420, the second robot sends a confirmation message of goods transportation to the target storage space layer to the control server.

And S421, the control server sends a third cargo cross-layer transfer control instruction to the third robot.

S422, the third robot moves to the designated position to obtain the goods to be transferred.

In this step, the third robot moves to the specified position of the corresponding target storage space layer according to the path planned by the control server to acquire the goods to be transferred in response to the received third goods cross-layer transfer control instruction.

After the third robot obtains the goods to be transferred, further, the third robot can carry the goods to be transferred to a target goods position of a target goods shelf or a target workstation according to a third goods cross-layer transfer control instruction issued by the control server.

In a fourth embodiment, the cross-layer delivery of the goods is realized through a power relay cache platform, in this embodiment, the first robot may be deployed in the source storage space layer, the second robot may include a power relay cache platform deployed in the source storage space layer, and the power relay cache platform connects the source storage space layer and the target storage space layer. In one embodiment, the power relay buffer platform may be composed of a first temporary storage platform for goods disposed on the source storage space layer, a second temporary storage platform for goods disposed on the target storage space layer, and a conveyor belt connecting the first temporary storage platform for goods and the second temporary storage platform for goods, wherein the first temporary storage platform for goods and the second temporary storage platform for goods may be higher than the ground by a certain height, and the maximum height that the first robot can reach is an upper limit of the height.

In specific implementation, the first robot is further configured to respond to the received first goods cross-layer transmission control instruction, move to a source shelf position according to the goods cross-layer transmission control instruction, and carry goods to be transmitted to the power relay cache platform;

the power relay cache platform is configured to respond to the received second goods cross-layer transmission control instruction and transmit goods to be transmitted by the first robot to the target storage space layer according to the second goods cross-layer transmission control instruction.

In specific implementation, after the first robot transfers the goods to be transferred to the power relay cache platform, for example, after the first robot places the goods to be transferred on the power relay cache platform, the control server sends confirmation information, and after receiving the confirmation information, the control server sends a goods cross-layer transfer control instruction to the power relay cache platform, and controls the power relay cache platform to start transferring the goods to be transferred to the target storage space layer, or after the power relay cache platform identifies the goods to be transferred placed by the first robot, the power relay cache platform automatically starts transferring the goods to be transferred to the target storage space layer.

In the embodiment, the power relay cache platforms are deployed at the edges of each layer of the storage space, the power relay cache platforms deployed at different layers are connected through the conveyor belt, and goods to be transferred in the low-layer storage space can be transferred to the high-layer storage space or the goods to be transferred in the high-layer storage space can be transferred to the low-layer storage space through the conveyor belt. In this embodiment, the implementation process is the same whether the cargo is transferred from top to bottom or from bottom to top, as shown in fig. 2d, which is a schematic diagram of the implementation process of transferring the cargo across layers when the second robot is a power relay caching platform, and includes the following steps:

s501, the control server receives the cargo cross-layer transmission demand information.

The method comprises the steps that the goods cross-layer transmission demand information comprises source position information and target position information of goods to be transmitted, wherein the source position information can comprise a source storage space layer and a source shelf position, the target position information can comprise a target storage space layer, a target shelf position and the like, and a control server determines a first robot for carrying the goods to be transmitted and a power relay cache platform for transmitting the goods to be transmitted in a cross-layer mode according to the source shelf position.

S502, the control server sends a first cargo cross-layer transmission control instruction to the first robot.

The first goods cross-layer transmission control instruction is generated according to the position of a source shelf of goods to be transmitted and the position of the power relay cache platform, and carries path planning information for controlling the first robot to move.

S503, the first robot moves to the source shelf position to carry goods to the power relay buffer platform.

In the step, the first robot moves to the source goods shelf position according to the path planning information carried in the received first goods cross-layer transmission control instruction, and carries the goods to the power relay cache platform.

And S504, the power relay cache platform transmits the goods to be transmitted to the target storage space layer through the conveyor belt.

In a specific implementation, step S504 may be implemented in any of the following manners:

the first embodiment,

After the first robot carries the goods to be transferred to the power relay cache platform, a confirmation message is sent to the control server, the control server sends a second goods cross-layer transfer control instruction to the power relay cache platform after receiving the confirmation message sent by the first robot, and the power relay cache platform responds to the received second goods cross-layer transfer control instruction to transfer the goods to be transferred to the target storage space layer to complete the cross-layer transfer of the goods and sends the confirmation message of transferring the goods to the target storage space layer to the control server.

The second embodiment,

After the first robot carries the goods to be transferred to the power relay cache platform, the power relay cache platform starts the conveyor belt to transfer the goods to be transferred to the target storage space layer under the condition that the power relay cache platform identifies that the goods to be transferred exist, and after the transfer is completed, a confirmation message of transferring the goods to the target storage space layer is sent to the control server.

And S505, the power relay cache platform sends a confirmation message that the goods are transferred to the target storage space layer to the control server.

And S506, the control server sends a third cargo cross-layer transfer control instruction to the third robot.

During specific implementation, the control server plans a path for the third robot according to the power relay cache belt of the target storage space layer and the current position of the third robot, and sends a third goods cross-layer transmission control instruction to the third robot.

And S507, moving the third robot to a power relay buffer zone to obtain goods to be transferred.

In this step, the third robot responds to the received third cargo cross-layer transfer control instruction, and moves to the corresponding power relay cache belt according to the path planned by the control server to obtain the cargo to be transferred.

After the third robot obtains the goods to be transferred, further, the goods to be transferred can be carried to a target goods position of a target shelf or a workstation according to a third goods cross-layer transfer control instruction issued by the control server and the goods cross-layer transfer direction.

Based on the application scenario described above, an execution subject of the cargo cross-layer delivery method provided by the embodiment of the present disclosure is generally an electronic device with certain computing capability, where the electronic device includes: a terminal device, which may be the first robot, the second robot, and the third robot, or a server, which may be the control server, or other processing devices. In some possible implementations, the method of cross-layer delivery of goods may be implemented by a processor invoking computer readable instructions stored in a memory.

Referring to fig. 3, a flowchart of a cargo cross-layer transfer method provided by the embodiment of the present disclosure includes the following steps:

s601: the control server responds to the goods cross-layer transfer request, and determines a first robot for carrying goods to be transferred and a second robot for transferring the goods to be transferred in a cross-layer manner according to the source shelf position of the source storage space layer where the goods to be transferred are located and the target storage space layer where the goods are transferred in a cross-layer manner;

s602: the control server sends a first goods cross-layer transmission control instruction to the first robot and sends a second goods cross-layer transmission control instruction to the second robot;

s603: the first robot responds to the received first goods cross-layer transfer control command and moves to the source shelf position to carry goods to be transferred to the designated position;

s604: and the second robot responds to the received second goods cross-layer transmission control instruction, obtains goods to be transmitted by the first robot from the designated position, and transmits the goods to be transmitted to the target storage space layer.

In one possible implementation mode, a goods cross-layer transfer space is arranged in each layer of storage space, and the goods cross-layer transfer space is used for transferring and transferring goods in a cross-layer manner; the heights of the first robot and the second robot are different, the first robot is deployed on the source storage space layer, and the second robot is deployed on the goods cross-layer transfer space of the source storage space layer or the target storage space layer.

the first robot responds to the received first goods and crosses layer transmission control command, moves to source goods shelf position and handles the goods of awaiting transfer to the assigned position, specifically includes:

the first robot responds to the received first goods cross-layer transmission control command, moves to the source goods shelf position and carries goods to be transmitted to the goods temporary storage platform;

the second robot responds to the received second goods cross-layer transmission control instruction, obtains the goods to be transmitted that the first robot transmitted from the assigned position after, transmits the goods to be transmitted to the target storage space layer, specifically includes:

In one possible implementation, the first robot is deployed in the source storage space layer, the second robot includes a power relay cache platform deployed in the source storage space layer, and the power relay cache platform connects the source storage space layer and the target storage space layer;

the first robot responds to the received first goods cross-layer transmission control command and moves to the source goods shelf position to carry goods to be transmitted to the power relay cache platform according to the goods cross-layer transmission control command;

In one possible implementation manner, the control server responds to the goods cross-layer transfer request, determines a third robot relaying and transferring goods to be transferred according to target position information of a target storage space layer of the goods cross-layer transfer included in the goods cross-layer transfer request, and sends a third goods cross-layer transfer control instruction to the third robot;

In one possible embodiment, the goods cross-floor transfer space comprises goods transfer platforms disposed around the goods shelves of each warehouse floor or goods cross-floor transfer holes arranged in each warehouse floor.

According to the goods cross-layer transfer method provided by the embodiment of the disclosure, the goods can be transferred across layers through the power relay cache platform and the robots with the common height or the two robots with different heights, compared with a mode of deploying the lifting machine and the conveying belt in each layer of the storage space, the cost of the goods cross-layer transfer is reduced, and in addition, the deployment mode of the goods cross-layer transfer realized by the two robots is more flexible.

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

An embodiment of the present disclosure further provides an electronic device, as shown in fig. 4, which is a schematic structural diagram of the electronic device provided in the embodiment of the present disclosure, and the electronic device includes:

a processor 401 and a memory 402; the memory 402 stores machine-readable instructions executable by the processor 401, the processor 401 is configured to execute the machine-readable instructions stored in the memory 402, when the machine-readable instructions are executed by the processor 401, the processor 401 performs the following steps: step S601: the control server responds to the goods cross-layer transfer request, and determines a first robot for carrying goods to be transferred and a second robot for transferring the goods to be transferred in a cross-layer manner according to the source shelf position of the source storage space layer where the goods to be transferred are located and the target storage space layer where the goods are transferred in a cross-layer manner; step S602: the control server sends a first goods cross-layer transmission control instruction to the first robot and sends a second goods cross-layer transmission control instruction to the second robot; step S603: the first robot responds to the received first goods cross-layer transfer control command, moves to the source shelf position to transfer the goods to be transferred to the designated position, and step S604: and the second robot responds to the received second goods cross-layer transmission control instruction, obtains goods to be transmitted by the first robot from the designated position, and transmits the goods to be transmitted to the target storage space layer.

The storage 402 includes a memory 4021 and an external storage 4022; the memory 4021 is also referred to as an internal memory, and temporarily stores arithmetic data in the processor 401 and data exchanged with the external memory 4022 such as a hard disk, and the processor 401 exchanges data with the external memory 4022 through the memory 4021.

For the specific execution process of the above instruction, reference may be made to the steps of the cargo cross-layer delivery method in the embodiment of the present disclosure, and details are not described here again.

The embodiments of the present disclosure also provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the cargo cross-layer delivery method in the above-mentioned method embodiments are executed. The storage medium may be a volatile or non-volatile computer-readable storage medium.

The computer program product of the cargo cross-layer delivery method provided in the embodiments of the present disclosure includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute steps of the cargo cross-layer delivery method described in the above method embodiments, which may be referred to in detail in the above method embodiments, and are not described herein again.

The embodiments of the present disclosure also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing an electronic device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. The goods cross-layer transfer system is characterized by comprising a control server, at least one first robot, at least one second robot and a multi-layer warehousing space; wherein:

2. The system according to claim 1, wherein, in each layer of the storage space, a goods cross-layer transfer space is arranged, and the goods cross-layer transfer space is used for transferring and transferring goods cross-layer; the first robot and the second robot are different in height, the first robot is deployed in a source warehousing space layer, and the second robot is deployed in a goods cross-layer transfer space of the source warehousing space layer or a target warehousing space layer.

3. The system of claim 2, wherein the designated location comprises a staging platform disposed in the cross-floor cargo transfer space;

4. The system according to claim 1, wherein the first robot is deployed on a source storage space layer, the second robot comprises a power relay cache platform deployed on the source storage space layer, the power relay cache platform connects the source storage space layer and the target storage space layer;

5. The system according to any one of claims 1 to 4,

the control server is further configured to respond to a goods cross-layer transfer request, determine a third robot for relaying and transferring the goods to be transferred according to target position information of a target warehousing space layer of the goods cross-layer transfer included in the goods cross-layer transfer request, and send a third goods cross-layer transfer control instruction to the third robot;

6. The system of claim 1, wherein the cross-floor cargo transfer space comprises a cargo transfer platform disposed around each warehouse floor shelf or a cross-floor cargo transfer hole disposed within each warehouse floor.

7. A method of transferring cargo across a layer, comprising:

8. The method according to claim 7, wherein a goods cross-layer transfer space is arranged in each layer of storage space, and the goods cross-layer transfer space is used for transferring and transferring goods cross-layer; the first robot and the second robot are different in height, the first robot is deployed in a source warehousing space layer, and the second robot is deployed in a goods cross-layer transfer space of the source warehousing space layer or a target warehousing space layer.

9. An electronic device, comprising: a processor, a memory storing machine readable instructions executable by the processor, the processor to execute the machine readable instructions stored in the memory, the processor to perform the steps of the cargo cross-layer transfer method of claim 7 or 8 when the machine readable instructions are executed by the processor.

10. A computer-readable storage medium, having stored thereon a computer program for execution by an electronic device, the electronic device performing the steps of the method of cross-layer delivery of goods according to claim 7 or 8.