CN110949923B

CN110949923B - Inventory support group, inventory system, robot control method and robot

Info

Publication number: CN110949923B
Application number: CN201911229065.2A
Authority: CN
Inventors: 刘凯; 王梦迪
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2019-12-04
Filing date: 2019-12-04
Publication date: 2022-08-12
Anticipated expiration: 2039-12-04
Also published as: CN110949923A

Abstract

The application provides an inventory support group, an inventory system, a robot control method and a robot, wherein the inventory system comprises an inventory area, a control server, a first robot, a second robot and a workstation, and the first robot and the second robot are in wireless communication with the control server respectively; the inventory area comprises a plurality of inventory supports, wherein other layers of the inventory supports except the bottom layer are used for placing a first transportable storage container, a first storage container is used for placing disassembled goods, a second transportable storage container is placed at the bottom layer of the inventory supports, the whole box of goods is placed on the second storage container, and the target storage container is transported in a mixed running mode through two types of robots so as to be sorted in the whole box and disassembled for picking, so that the number of times of transporting the robots is obviously reduced, the number of the robots is reduced, and the picking efficiency is improved.

Description

Inventory support group, inventory system, robot control method and robot

Technical Field

The present disclosure relates to warehousing technologies, and in particular, to a warehousing support set, a warehousing system, a robot control method, a robot, a computing device, and a computer-readable storage medium.

Background

With the rapid development of electronic commerce, electronic commerce has played an increasingly important role in consumer life, and the number of user orders increases in geometric multiples every year. And the user has higher requirements on the quality of e-commerce services, so how to complete order fulfillment flexibly and accurately with high efficiency and low cost is a great challenge facing each e-commerce service company.

With the increase of the transaction amount of online shopping, in order to distribute commodities more quickly, the electronic commerce companies establish storage centers in various places, and one warehouse needs to store a large amount of article types and article stock. Therefore, the warehouse is required to be capable of quickly finishing order picking, and picking is an operation process of picking goods from the goods shelf according to the delivery order requirement, sorting and packaging to meet the delivery requirement.

During the picking process, there are some shipment orders to unpack the entire box and take out a part of the box to meet the demand of the shipment order, which is called picking with zero. Some delivery orders do not need unpacking, a certain number of whole boxes are sorted in batch bins, the sorting mode is called whole boxes, in the current whole box sorting and zero-unpacking sorting of the bins, a scheme from box to person is adopted, namely a common loft type shelf is adopted, and a robot runs on a layer plate of the loft without arranging a special shelf track. The box taking mechanism of the robot can be lifted and lowered and is used for taking the workbins on the shelf layers with different heights on the same attic. A single type of robot can take a single bin at a time and send the bin to an operating station, and the robot returns the bin to a shelf after the station finishes picking. The loft is provided with a lifting machine for lifting a robot or a material box, so that the material box can reach operation stations of different loft floors, and the material box can be returned to the goods shelves of different loft floors when being returned.

The existing case-to-person scheme is limited to the modes of carrying according to cases and selecting according to cases in the modes of selecting, storing and carrying, and the sorting efficiency is lower in the face of the batch of the whole case sorting scene of adding and removing zero sorting, so that the demand of rapid shipment cannot be met.

Disclosure of Invention

In view of the above, embodiments of the present disclosure provide an inventory rack set, an inventory system, a robot control method, a robot, a computing device, and a computer-readable storage medium, so as to solve technical defects in the prior art.

According to a first aspect of embodiments herein, there is provided an inventory holder set comprising a plurality of inventory holders, wherein at least one inventory holder of the plurality of inventory holders comprises at least one tier of laminae dividing the inventory holder into at least two tiers;

the other layers of the inventory support except the bottom layer are used for placing a first transportable storage container, the first storage container is used for placing disassembled goods, a second transportable storage container is placed at the bottom layer of the inventory support, and the second storage container is used for placing whole boxes of goods.

Optionally, the second transportable storage container is at least one of a pallet rack, and a shelf rack.

Optionally, the stock support is provided with storage positions for storing at least two first storage containers along the depth direction of the layer plate.

Optionally, the inventory holder is a double-sided shelf.

Optionally, the first storage containers are placed next to each other on both sides of the stock support in the depth direction of the layer sheet.

According to a second aspect of embodiments herein, there is provided a storage system comprising a storage area, a control server, a first robot, a second robot and a workstation, the first robot and the second robot being in wireless communication with the control server, respectively;

the inventory area includes a plurality of inventory holders, wherein at least one inventory holder of the plurality of inventory holders includes at least one tier of plies dividing the inventory holder into at least two tiers; the other layers of the inventory support except the bottom layer are used for placing a first transportable storage container, the first storage container is internally provided with disassembled goods, a second transportable storage container is placed at the bottom layer of the inventory support, and the second storage container is provided with a whole box of goods;

the control server is configured to determine a target workstation, a target storage container and a target robot for executing an order task in response to the order task, plan a walking path for the target robot, and send a control instruction to the target robot, wherein the target storage container is at least one of the first storage container and the second storage container, and the target robot is at least one of the first robot and the second robot;

the first robot is configured to, in a case that the target storage container is a first storage container, in response to the control instruction, walk to an inventory support position where the target storage container is located according to a planned walking path, take out the target storage container from other layers of the inventory support except for a bottom layer, and carry the target storage container to the target workstation; and the second robot is configured to respond to the control instruction and walk to the position of the inventory support where the target storage container is located according to the planned walking path when the target storage container is the second storage container, and take out the target storage container from the bottom layer of the inventory support and convey the target storage container to the target workstation.

Optionally, the width direction of the first storage containers that can be handled on the other layers of the stock support except the bottom layer coincides with the depth direction of the layer board, and two first storage containers are placed next to each other on the other layers of the stock support except the bottom layer in the depth direction of the layer board.

Optionally, the control server is further configured to, in response to at least two order tasks, where a target storage container corresponding to a first order task of the at least two order tasks and a target storage container corresponding to a second order task of the at least two order tasks are at least one of two first storage containers of the inventory holder that are adjacent to each other in a depth direction, determine a target workstation, a target storage container, and a first robot that execute the at least two order tasks, plan a walking path for the first robot, and send a control instruction corresponding to execution of the first order task and the second order task to the first target robot;

the first robot is further configured to, in response to the control instruction, walk to the position of the inventory support where the target storage container is located according to the planned walking path, take out two first storage containers which contain the target storage container and are adjacent to each other in the layer depth direction from the inventory support, and transport the taken out target storage containers to target workstations corresponding to the first order task and the second order task respectively.

Optionally, the control server is further configured to, in response to a first order task, determine a first target workstation, a first target storage container and a first robot for executing the first order task, where the first target storage container is a first storage container, plan a first walking path for the first robot, and send a first control instruction corresponding to executing the first order task to the first robot;

the first robot is further configured to, in response to the first control instruction, walk to an inventory support position where the first target storage container is located according to a planned first walking path, take out the first target storage container and a first storage container adjacent to the first target storage container in a depth direction of a tier of the inventory support from other tiers of the inventory support except for a bottom tier, and carry the taken out first target storage container and the adjacent first storage container to the first target workstation.

Optionally, the control server is further configured to, in response to a second order task, determine a second target storage container for executing a second order task, plan a second walking path for the first robot, and send a second control instruction corresponding to executing the second order task to the first robot in response to a second control instruction, wherein the second target storage container is taken out of the first target robot and/or is immediately adjacent to the first target storage container, during the process of the first robot responding to the first control instruction and transporting the first target storage container to the first target workstation;

the first robot is further configured to, in response to the second control instruction, transport the second target storage container to the second target workstation according to a planned second travel path.

Optionally, the width dimension of the moving chassis of the first robot and the width dimension of the moving chassis of the second robot in the direction perpendicular to the walking direction are the same.

According to a third aspect of embodiments of the present application, there is provided a robot control method including:

in response to the order task, determining a target workstation, a target storage container and a target robot for executing the order task, planning a walking path for the target robot, and sending a control instruction to the target robot, wherein the target storage container is at least one of a first storage container and a second storage container, and the target robot is at least one of a first robot and a second robot;

under the condition that the target storage container is a first storage container, the control instruction is used for instructing the first robot to walk to the position of the inventory support where the target storage container is located according to the planned walking path, and taking out the target storage container from other layers of the inventory support except the bottom layer and carrying the target storage container to the target workstation; and under the condition that the target storage container is a second storage container, the control instruction is used for instructing the second robot to walk to the position of the inventory support where the target storage container is located according to the planned walking path, and taking out the target storage container from the bottom layer of the inventory support and carrying the target storage container to the target workstation.

Optionally, in response to the order task, determining a target workstation, a target storage container and a target robot for performing the order task, planning a walking path for the target robot, and sending a control instruction to the target robot, including:

responding to at least two order tasks, wherein a target storage container corresponding to a first order task in the at least two order tasks and a target storage container corresponding to a second order task in the at least two order tasks are at least one of two first storage containers which are adjacent to other layers of the inventory support except for the bottom layer along the depth direction, determining a target workstation, a target storage container and a first robot which execute the at least two order tasks, planning a walking path for the first robot, and sending a control instruction corresponding to the execution of the first order task and the second order task to the first robot;

the control instruction is used for instructing the first robot to walk to the position of the inventory support where the target storage container is located according to the planned walking path, taking out the target storage container from other layers of the inventory support except the bottom layer and carrying the target storage container to the target workstation, and the control instruction comprises the following steps:

the control instruction is used for instructing the first robot to walk to the position of the inventory support where the target storage container is located according to a planned walking path, taking out two first storage containers which contain the target storage container and are adjacent to each other in the depth direction of the layer plate from other layers of the inventory support except the bottom layer, and carrying the taken out target storage containers to target workstations corresponding to the first order task and the second order task respectively.

Optionally, in response to the order task, determining a target workstation, a target storage container and a target robot for performing the order task, planning a walking path for the target robot, and sending a control instruction to the target robot, comprising:

responding to a first order task, determining a first target workstation, a first target storage container and a first robot for executing the first order task, wherein the first target storage container is a first storage container, planning a first walking path for the first robot, and sending a first control instruction corresponding to the execution of the first order task to the first robot;

the first control instruction is used for instructing the first robot to walk to the position of the inventory support where the first target storage container is located according to the planned first walking path, taking out the first target storage container and the first storage container which is adjacent to the first target storage container in the depth direction of the layer plate of the inventory support from other layers of the inventory support except for the bottom layer, and carrying the taken out first target storage container and the adjacent first storage container to the first target workstation.

Optionally, the robot control method further includes:

the first robot responds to a second order task in the process of responding to a first control instruction and transporting the first target storage container to a first target workstation, wherein a second target storage container corresponding to the second order task is a first target storage container taken out by the first robot and/or a first storage container adjacent to the first target storage container, a second target workstation executing the second order task is determined, a second walking path is planned for the first robot, and a second control instruction corresponding to the second order task is sent to the first robot;

and the second control instruction is used for instructing the first robot to carry the second target storage container to the second target workstation according to a planned second walking path.

Optionally, the width dimension of the moving chassis of the first robot and the second robot in the direction perpendicular to the walking direction is the same.

According to a fourth aspect of embodiments of the present application, there is provided a robot control method including:

in response to the control instruction, when the target storage container is a first transportable storage container, walking to the position of an inventory support where the target storage container is located according to a planned walking path, taking out the target storage container from other layers of the inventory support except a bottom layer, and transporting the target storage container to the target workstation; and when the target storage container is a second storage container, the target storage container is moved to the position of the inventory support where the target storage container is located according to the planned walking path, and the target storage container is taken out from the bottom layer of the inventory support and is conveyed to the target workstation.

Optionally, in response to the control instruction, in a case that the target storage container is a first transportable storage container, walking to the position of the inventory holder where the target storage container is located according to the planned walking path, and taking out the target storage container from the other floors except the bottom floor of the inventory holder and transporting the target storage container to the target workstation, including:

and responding to a control instruction, walking to the position of an inventory support where a target storage container is located according to a planned walking path, taking out two first storage containers which contain the target storage container and are adjacent to each other in the longitudinal direction of a layer plate of the inventory support from other layers of the inventory support except a bottom layer, and carrying the taken out target storage containers to target workstations corresponding to a first order task and a second order task respectively.

and responding to a first control instruction, walking to the position of an inventory support where a first target storage container is located according to a planned first walking path, taking the first target storage container and the first storage container which is adjacent to the first target storage container in the depth direction of the layer plate of the other layer except the bottom layer of the inventory support from the inventory support, and carrying the taken first target storage container and the adjacent first storage container to the first target workstation.

Optionally, the robot control method further includes:

in the process of responding to a first control instruction to convey the first target storage container to a first target workstation, responding to a second control instruction, conveying the taken first target storage container to the first target workstation, and then conveying the second target storage container to the second target workstation according to a planned second walking path, wherein the second target storage container is the taken first target storage container and/or a first storage container which is adjacent to the first target storage container.

According to a fifth aspect of embodiments of the present application, there is provided a robot comprising:

the mobile chassis is provided with a driving wheel mechanism for driving the mobile chassis to move and is used for realizing the translation and turning motion of the robot on the ground;

the temporary storage rack is arranged on the movable chassis and used for storing the target storage container;

the box taking assembly is arranged on the movable chassis and comprises at least two pairs of shifting fingers, and the at least two pairs of shifting fingers horizontally stretch and retract relative to the movable chassis so as to take out at least two adjacent target storage containers on the stock support along the depth direction of the layer plate.

Optionally, the picking assembly includes three pairs of fingers that telescope horizontally relative to the mobile chassis to pick two target storage containers immediately adjacent along a depth of a tier on the inventory holder.

Optionally, the robot further comprises:

the lifting adjusting assembly is arranged on the movable chassis to realize the picking and placing of the target storage containers at different height positions on the inventory support;

the telescopic assembly is arranged on the lifting adjusting assembly and can drive vertical lifting through the lifting adjusting assembly, the telescopic assembly is connected with the box taking assembly, and the box taking assembly is driven to horizontally stretch so as to take and place a target storage container on the goods shelf.

According to a sixth aspect of embodiments of the present application, there is provided a computing device comprising a memory, a processor and computer instructions stored on the memory and executable on the processor, the processor implementing the steps of the robot control method described above when executing the instructions.

According to a seventh aspect of embodiments of the present application, there is provided a computer-readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the robot control method described above.

According to the inventory support group, the inventory system, the robot control method and the robot, under the condition that the target storage container is placed on the other layers of the inventory support except the bottom layer, the first robot for taking out the target storage container is determined; determining a second robot to handle a second storage container in a case where it is determined that the target storage container is placed in the second storage container. Under the condition of meeting the demands of different order tasks, the first robot and the second robot corresponding to the dispatching respectively carry the first storage container and the second storage container on the inventory support, the target storage container carrying is realized in a mixed running mode of the two types of robots to carry out whole box picking and zero picking, the situation that the first robot is only dispatched to carry the material box for multiple times to complete whole box picking is avoided, the times of carrying by the robots are obviously reduced, the number of the robots is reduced, and therefore the picking efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of a picking system provided in an embodiment of the present application;

FIG. 2 is a side view of an inventory holder provided by an embodiment of the present application;

fig. 3a is a schematic structural diagram of a second robot according to an embodiment of the present disclosure;

fig. 3b is a schematic structural diagram of another second robot provided in the embodiment of the present application;

FIG. 4a is a single-bit storage mode of a storage container provided in an embodiment of the present application;

FIG. 4b illustrates a dual-deep bit storage mode of a storage container according to an embodiment of the present disclosure;

FIG. 5a is a schematic diagram of a first robot for handling storage containers according to an embodiment of the present disclosure;

FIG. 5b is a schematic view of a prior art robot handling storage containers;

6a, 6b, 6c and 6d are schematic diagrams of the working process of the first robot and the second robot provided by the embodiment of the application;

fig. 7 is a schematic perspective view of a first robot provided in an embodiment of the present application;

fig. 8 is a schematic flow chart of a robot control method according to the present embodiment;

fig. 9 is a schematic structural diagram of a shelf with partitions provided in an embodiment of the present application.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

In the present application, there are provided an inventory rack set, an inventory system, a robot control method, a robot, a computing device, and a storage medium, which are described in detail one by one in the following embodiments.

Example one

Referring to fig. 1, a schematic diagram of a warehousing system is shown, the system comprising: an inventory area 110, a control server 120, a first robot 130, a second robot 140, and a workstation 151.

The control server 120 is in wireless communication with the first robot 130 and the second robot 140, and the control server 120 can be operated by an operator through the console 160, and the first robot 130 and the second robot 140 perform their respective tasks under the control of the control server 120. The control server 120 is a software system with data storage and information processing capabilities running on a server, and can be connected with an access device, a 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 work station 151 in the picking zone 150 may also be referred to as a picking station in a picking scenario, and the first and/or second storage containers on the inventory holder 111 are transported to the work station 151 for picking operations by picking personnel or picking devices of the work station 151.

Referring to FIG. 2, the inventory area 110 includes a plurality of inventory holders 111, wherein at least one of the plurality of inventory holders includes at least one tier of plies dividing the inventory holder into at least two tiers; the other layers of the inventory support except the bottom layer are used for placing a transportable first storage container 112, a piece of disassembled goods is placed in the first storage container 112, a transportable second storage container 113 is placed at the bottom layer of the inventory support, and a whole box of goods is placed on the second storage container 113. Since the inventory area 110 stores different types of items, the first storage container 112 or the second storage container 113 in which the items are located have different specifications.

The first storage container is used for storing the goods with the parts removed, for example, the first storage container can be used for storing bins on laminates of other layers of the stock support except the bottom layer, the goods with the parts removed are stored in the bins, namely, the goods selected in the way of the parts removed are the goods with the parts removed, the parts removed are selected, namely, the whole bins are removed, and a part of articles are taken out from the bins to meet the requirements of order tasks.

The second storage container is provided with whole boxes of goods, the transportable second storage container can be at least one of a tray shelf, a tray support and a partition shelf, for example, the whole boxes of goods placed on the tray support are trays storing four bins, the goods sorted in the whole box sorting mode are the whole boxes of goods, the whole box sorting is an order task, and the whole boxes are sorted in batches by sorting a certain number of the whole boxes without unpacking, so that the whole box sorting and the zero-dismantling sorting are realized.

The second robot 140 may be a conventional unmanned forklift as shown in fig. 3a, which may include forks with a fork-out direction parallel to the direction of travel of the unmanned forklift to avoid the unmanned forklift from steering and causing the travel path 114 to be too wide when retrieving and storing the storage containers. In addition, the unmanned forklift may further include a controller for controlling the up-and-down parallel movement of the forks, an object recognition assembly (not shown in fig. 3 a), and the like. Specifically, the unmanned forklift may travel to the inventory area 110, determine the target transportable racking 111 based on the target identification component; and then the controller in the unmanned forklift controls the pallet fork to go out of the fork and go deep into the second storage container, and then the second storage container is taken out to be conveyed to a workstation corresponding to the second storage container for picking. The second robot 140 may also be a transfer robot as shown in fig. 3b, and the second robot 140 includes at least two upward and downward cameras, and can drive forward according to the two-dimensional code (or other ground marks) captured by the downward camera, and can drive to the lower side of the second storage container prompted by the control server 120 according to the route determined by the control server 120. And recognizes the second storage container according to the upward camera so that the docking head connected to the lifting mechanism on the second robot 140 docks with the second storage container when the lifting mechanism is lifted, and lifts up the second storage container to lift the second storage container from the ground, and carries the second storage container to a corresponding workstation.

The client has the goods taking requirement and determines an order, and the upstream system sends an order task to the control server after receiving the order placed by the client. Optionally, the order task may include information of an order to be processed, and the information of the order to be processed may include items to be taken, a quantity, and the like.

The following is a specific description of how to carry the target storage container to achieve picking after the control server responds to the order task and determines the position where the target storage container where the article to be taken is placed.

The control server 120 in the warehousing system is configured to determine, in response to an order task, a target workstation, a target storage container and a target robot for performing the order task, plan a walking path for the target robot, and transmit a control instruction to the target robot, the target storage container being at least one of the first storage container 112 and the second storage container 113, the target robot being at least one of the first robot 130 and the second robot 140;

the first robot 130 is configured to, in the case that the target storage container is the first storage container 112, in response to the control instruction, walk to the position of the inventory holder where the target storage container is located according to the planned walking path, take out the target storage container from the other layer of the inventory holder except the bottom layer, and carry the target storage container to the target workstation; the second robot 140 is configured to, in response to the control instruction, walk to the position of the inventory holder where the target storage container is located according to the planned walking path in the case that the target storage container is the second storage container, and take out the target storage container from the bottom floor of the inventory holder and transport the target storage container to the target workstation.

In fig. 4a, the first storage container is stored on the other floors except the bottom floor of the storage rack in a single-deep-position storage mode, and in fig. 4b, the first storage container 112 is stored on the other floors except the bottom floor of the storage rack in a multi-deep-position storage mode, and regardless of the storage mode shown in fig. 4a or the storage mode shown in fig. 4b, the first robot 130 can carry out the transportation of the first storage container for sorting, so as to realize the sorting of whole boxes and the sorting of zero parts.

In the embodiment, the first transportable storage container is placed on the other layer of the inventory support except the bottom layer in the inventory area 110, the first storage container is placed with the disassembled goods therein, the bottom layer of the inventory support is placed with the second transportable storage container, the second storage container is placed with the whole box of goods thereon,

through the arrangement of the inventory area 110, in the case that the target storage container is determined to be placed on the other layer of the inventory holder 111 except the bottom layer, the first robot 130 for taking out the target storage container is determined; in the case where it is determined that the target storage container is placed in a second storage container, a second robot 140 that carries the second storage container is determined. In the case of meeting the requirements of different order tasks, the corresponding first robot 130 and the corresponding second robot 140 are scheduled to respectively transport the first storage container and the second storage container on the inventory support 111, the target storage container is transported in a mixed running mode of the two types of robots to carry out whole-box sorting and zero-splitting sorting, the situation that the first robot is only scheduled to carry the whole box for multiple times to complete whole-box sorting is avoided, the times of robot transportation are obviously reduced, the number of robots is reduced, and therefore the sorting efficiency is improved.

The following exemplifies practical application scenarios to further explain the present embodiment.

For example, the first application scenario is that in the case that an order task needs to transport a single storage container on the inventory support 111 where an item to be taken, which may be several items in one bin, is taken, the control server 120 determines a single bin on the inventory support 111 needing to be transported except for the bottom layer in response to the order task, and the first robot 130 transports the single bin on the inventory support to the workstation, so as to implement zero-stripping and sorting of the single bin; under the condition that the received order task needs to convey three boxes of bins on the second storage container 113 where the articles to be taken are located, the second storage container where the three boxes of bins are placed is determined according to the order task, the second robot 140 for conveying the second storage container 113 is determined, therefore, the second robot 140 directly conveys the second storage container 113 to a workstation to complete the whole box sorting of the three boxes of bins, multiple times of conveying of the three boxes of bins are not needed to be dispatched by multiple first robots 130, the second robot 140 can sort the multiple storage containers through single conveying, zero-removing sorting of the single bin can be achieved through cooperation with conveying of the first robots 130, conveying times of the robots are remarkably reduced, the number of the robots is reduced, and the sorting efficiency is improved.

Based on the placement of the first storage container and the second storage container in the inventory area 110, the first robot 130 takes the first storage container out of the other layer of the inventory holder 111 and carries the first storage container to the target workstation 151, and the second robot 140 takes the second storage container out of the bottom layer of the inventory holder 111 and carries the second storage container to the workstation 151, namely, the first robot 130 and the second robot 140 run together, so that the picking efficiency of the articles is ensured when various order task demands are met.

Example two

In this embodiment, on the basis of the first embodiment, how to carry the storage container is described in detail in a specific scenario where the warehousing system operates.

Referring to fig. 5a, a top view of an inventory holder 111 is shown, wherein the width direction of the first storage containers 112 on the other layers of the inventory holder 111 except the bottom layer in the inventory area 110 coincides with the depth direction of the layer of the inventory holder 111, and two first storage containers are placed next to each other on the layer in the depth direction of the layer.

The control server 120 is further configured to, in response to at least two order tasks, wherein a target storage container corresponding to a first order task of the at least two order tasks and a target storage container corresponding to a second order task of the at least two order tasks are at least one of two first storage containers of the inventory holder which are adjacent to each other in a depth direction, determine a target workstation, a target storage container and a first robot for executing the at least two order tasks, plan a walking path for the first robot, and send a control instruction corresponding to execution of the first order task and the second order task to the first target robot;

the first robot 130 is further configured to, in response to the control instruction, walk to an inventory support position where the target storage container is located according to the planned walking path, take out two first storage containers which include the target storage container and are adjacent to each other in the layer depth direction from the inventory support, and transport the taken out target storage containers to target workstations corresponding to the first order task and the second order task respectively.

The control server 120 responds to at least two order tasks at one time, wherein the at least two order tasks include a first order task and a second order task, and a target storage container corresponding to the first order task and the second order task is at least one of two adjacent first storage containers in the same layer depth direction.

For convenience of explanation, of the two first storage containers adjacent to each other in the depth direction of the same deck, the storage container located outside the stock shelf 111 is referred to as an outer container, and the storage container located inside the stock shelf 111 is referred to as an inner container. The target storage containers corresponding to the first order task and the second order task can be an inner container and an outer container respectively; or the target storage containers corresponding to the first order task and the second order task may be an outer container and an inner container, respectively.

After the first robot 130 transports the target storage container corresponding to the first order task to the workstation corresponding to the target storage container, the target storage container corresponding to the second order task is transported to the corresponding workstation 141, and other robots are not required to be scheduled to take out the storage container to be transported to the workstation according to the second order task, so that two order tasks can be completed only by a single first robot, the number of orders which can be completed by the first robot through single transport is increased, the picking efficiency of articles is greatly increased, and the working efficiency of the robots is increased.

The width direction of the first storage containers 112 on the other layers of the stock shelf 111 except the bottom layer coincides with the depth direction of the laminate of the stock shelf 111, and two first storage containers are placed next to each other on the laminate in the depth direction of the laminate. Compared with the conventional storage method shown in fig. 5b, in the storage method shown in fig. 5a of this embodiment, when the single-layer areas of the inventory holders 111 are the same and the shelf heights are the same, the storage space can be increased by 4% by intersecting the conventional storage method.

In addition, in this embodiment, the two telescopic assemblies 5 of the first robot 130 extend to two sides of the first storage container 112 respectively, and the extension length of the telescopic assemblies 5 only needs to be slightly greater than the width of the first storage container, so that the speed of taking out the target storage container on the high-level shelf 111 is increased, the time for carrying the target storage container to a workstation is reduced, and the picking efficiency is further improved.

The present embodiment will be further described below by taking the specific size of the first storage container 112 as an example.

Such as 600mm and 400mm in length and width, respectively, of the first storage container 112 on the inventory holder.

Fig. 5a shows an arrangement of the first storage containers 112, one first storage container 112 is taken out from the first robot 130, the extension length of the telescopic assembly 5 of the first robot 130 only needs to be slightly greater than the width 400mm of the first storage container 112, and the extension length L of the telescopic assembly 5 of the first robot 130 is 450mm, so that the first storage container can be taken out; the extension length 2L of the telescopic assembly 5 of the first robot taking out the two first storage containers is 900 mm.

Referring to the prior arrangement of the first storage container 112 shown in fig. 5b, the extension length of the telescopic assembly 5 of the first robot 130 only needs to be slightly greater than the length 600mm of the first storage container 112, and the first robot 130 takes out one first storage container 112, and the extension length H of the telescopic assembly 5 of the first robot 130 is 650 mm.

Compared with the method of removing the first storage container shown in fig. 5b, in this embodiment, when one first storage container is removed, the extension distance of the telescopic assembly 5 of the first robot 130 can be reduced by 30.7%, so that the speed of removing the target storage container on the high-level shelf is increased, the time for transporting the target storage container to the workstation is reduced, and the picking efficiency is improved.

EXAMPLE III

The present embodiment provides a storage system based on the first embodiment.

The control server 120 is configured to, in response to a first order task, determine a first target workstation, a first target storage container and a first robot 130a for executing the first order task, where the first target storage container is a first storage container, plan a first walking path for the first robot, and send a first control instruction corresponding to executing the first order task to the first robot;

the first robot 130a is configured to, in response to the first control instruction, walk to an inventory holder position where the first target storage container is located according to a planned first walking path, take out the first target storage container and a first storage container adjacent to the first target storage container in a depth direction of a tier of the inventory holder from a tier other than a bottom tier of the inventory holder, and carry the taken out first target storage container and the adjacent first storage container to the first target workstation 151 a.

The control server 120 is further configured to, in response to a second order task, in the process of responding to a first control instruction to transport the first target storage container to a first target workstation, determine a second target workstation 151b for executing a second order task for the first target storage container taken out by the first robot and/or a first storage container immediately adjacent to the first target storage container, plan a second walking path for the first robot, and send a second control instruction corresponding to executing the second order task to the first robot;

the first robot 130a is further configured to, in response to the second control instruction, transport the second target storage container to the second target workstation 151b according to the planned second walking path.

In a specific scenario of the warehousing system, the working process of the target robot 130a in this embodiment is schematically illustrated below with reference to fig. 6a to 6d, wherein the dotted lines in fig. 6b and 6c represent the walking path of the first robot 130 a.

The control server 120, in response to the first order task, determines a first target workstation 151a, a first target storage container 112a and a first robot 130a for executing the first order task, plans a first walking path for the first robot 130a, and sends a first control instruction corresponding to executing the first order task to the target robot 130 a;

referring to fig. 6a, the first robot 130a walks to the position of the inventory holder 111 where the target storage container 112a is located according to the first walking path in response to the first control command.

Referring to fig. 6b, the first robot 130a removes a first target storage container 112a from the inventory holder 111 and a first storage container 112b adjacent to the first target storage container 112a in the depth direction of the inventory holder.

Referring to fig. 6c, the first robot 130a transports the first target storage container 112a taken out to the work station 151a corresponding to the target storage container, and a worker or a picking device located at the work station 151a performs a picking operation on the target storage container 112 a. In the process of responding to the first control command by the first robot 130a to transport the first target storage container 112a to the first target workstation 151a, if the second target storage container corresponding to the second order task is the immediately adjacent first storage container 112b taken out by the target robot 130a, the first robot 130a responds to the second order task to determine the second target workstation 151b corresponding to the second target storage container corresponding to the second order task.

Referring to fig. 6d, according to the planned second walking path, the first robot 130a transports the second target storage container corresponding to the second order task to the second target workstation 151 b.

In the present embodiment, the first robot 130a takes out a first target storage container 112a and a first storage container 112b adjacent to the first target storage container in the depth direction of the tier of the inventory holder from the inventory holder in response to the first order task, the first target storage container 112a is first transported to the first target workstation by the first robot 130a, while the first storage container 112b adjacent to the first target storage container in the depth direction of the tier of the inventory holder is not determined as a target storage container, the first robot 130a can also respond to the second control instruction during the process of responding to the first control instruction to transport the first target storage container 112a to the first target workstation 151a, so that the first robot 130a transports the first target storage container 112a corresponding to the first order task to the first target workstation 151a, then, the second target workstation 151b corresponding to the second target storage container corresponding to the second order task does not need to schedule other first robots to take out the second target storage container to transport to the workstation according to the second order task, so that the number of the order tasks which can be completed by the first robot 130a in a single transport is increased, the picking efficiency is greatly increased, and the utilization rate of the first robot 130a is increased.

Example four

Referring to fig. 7, the present embodiment provides a robot including:

the robot comprises a mobile chassis 1, wherein a driving wheel mechanism for driving the mobile chassis 1 to move is arranged on the mobile chassis 1 and is used for realizing the translation and turning motion of the robot on the ground;

the temporary storage rack 2 is arranged on the movable chassis 1 and used for storing storage containers;

the box taking assembly is arranged on the movable chassis 1 and comprises at least two pairs of shifting fingers 3, and the at least two pairs of shifting fingers 3 horizontally extend and retract relative to the movable chassis 1 so as to take out at least two adjacent storage containers on the stock support along the depth direction of the layer plate.

The embodiment provides that the robot can be as the first robot 130 that can take out first storage container 112, it includes two pairs of at least to dial 3 to get the case subassembly, through two pairs of at least dial 3 for remove chassis 1 level flexible, in order to realize the robot on the stock support takes out two at least first storage containers of next-door neighbour along the depth direction of plywood, under the condition that has two first storage containers that the target storage container that more than two order tasks correspond takes out for the robot, can accomplish a plurality of order tasks after the robot once only takes out two more than two first storage containers like this, only need single robot just can accomplish more than two order tasks, improve the quantity that the robot single transport can accomplish the order, not only improved the picking efficiency of article by a wide margin, and improved the work efficiency of robot moreover.

Specifically, the box taking assembly comprises three pairs of fingers 3, and the three pairs of fingers 3 horizontally stretch and retract relative to the mobile chassis 1 so as to take out two adjacent storage containers on the inventory support along the depth direction of the layer plate.

Through setting up three pairs of thumb fingers 3, at the in-process of taking out two storage container of next-door neighbour like this, storage container is located between two adjacent pairs of thumb fingers 3, avoids the in-process that storage container took out to appear the condition that storage container rocked, ensures that storage container can be taken out steadily.

And the lifting adjusting component 4 is arranged on the movable chassis 1, so that storage containers at different height positions on the inventory support can be taken and placed.

The telescopic assembly 5 is arranged on the lifting adjusting assembly 4 and can drive vertical lifting through the lifting adjusting assembly 4, the telescopic assembly 5 is connected with the box taking assembly, and the box taking assembly is driven to horizontally stretch so as to take and place the storage container on the storage support.

EXAMPLE five

Fig. 8 is a schematic flowchart of a robot control method provided in this embodiment, which may be executed by the warehousing system of the above embodiment, where the robot control method provided in this embodiment includes:

802: in response to the order task, determining a target workstation, a target storage container and a target robot for executing the order task, planning a walking path for the target robot, and sending a control instruction to the target robot, wherein the target storage container is at least one of a first storage container and a second storage container, and the target robot is at least one of a first robot and a second robot.

804: and under the condition that the target storage container is the first storage container, the control instruction is used for instructing the first robot to walk to the position of the inventory support where the target storage container is located according to the planned walking path, taking out the target storage container from the other layers of the inventory support except the bottom layer, carrying the target storage container to the target workstation, and executing 808.

806: when the target storage container is a second storage container, the control instruction is used for instructing a second robot to walk to the position of the inventory support where the target storage container is located according to a planned walking path, taking out the target storage container from the bottom layer of the inventory support and carrying the target storage container to the target workstation, and executing 808;

808: and the replenishment equipment or replenishment personnel in the target workstation corresponding to the target storage container acquires the articles to be picked in the target storage container or acquires the target storage container according to the replenishment requirement to finish picking.

In an optional implementation manner of the embodiment of the present application, in response to the order task, determining a target workstation, a target storage container and a target robot for executing the order task, planning a walking path for the target robot, and sending a control instruction to the target robot, the method includes:

The first robot 130 may take out two first storage containers including the target storage container and adjacent to each other in the depth direction of the layer plate on the other layers of the storage rack except the bottom layer, that is, the first robot 130 may take out two first storage containers.

the first control instruction is used for instructing the first robot to walk to the position of the inventory support where the first target storage container is located according to the planned first walking path, taking out the first target storage container and the first storage container which is adjacent to the first target storage container in the depth direction of the layer plate of the inventory support from other layers of the inventory support except for the bottom layer, and carrying the taken out first target storage container and the adjacent first storage container to the first target workstation;

In an alternative implementation of the embodiment of the present application, the second transportable storage container is at least one of a pallet rack, and a shelf rack.

In an optional implementation manner of the embodiment of the application, the width dimension of the moving chassis of the first robot and the width dimension of the moving chassis of the second robot in the direction perpendicular to the walking direction are the same.

The width of the moving chassis of the first robot 130 and the second robot 140 in the direction perpendicular to the walking direction is the same, so that in the inventory area, the width of the walking channel 114 between the two inventory supports is consistent with the width of the moving chassis of the first robot 130 and the second robot 140, the walking channel 114 is prevented from occupying extra space, and the space utilization rate of the inventory area is improved.

In the present embodiment, by the arrangement of the inventory area 110, in the case where it is determined that the target storage container is placed on the other layer of the inventory holder 111 except the bottom layer, the first robot 130 that takes out the target storage container is determined; in a case where it is determined that the target storage container is placed in a second storage container, a second robot 140 that carries the second storage container is determined. In the case of meeting the requirements of different order tasks, the corresponding first robot 130 and the corresponding second robot 140 are scheduled to respectively transport the first storage container and the second storage container on the inventory support 111, the target storage container is transported in a mixed running mode of the two types of robots to carry out whole-box sorting and zero-splitting sorting, the situation that the first robot is only scheduled to carry the whole box for multiple times to complete whole-box sorting is avoided, the times of robot transportation are obviously reduced, the number of robots is reduced, and therefore the sorting efficiency is improved.

EXAMPLE six

The present embodiment provides a robot control method, which may be executed by the warehousing system of the above embodiment, the robot control method including:

in response to the control instruction, when the target storage container is a first transportable storage container, walking to the position of an inventory support where the target storage container is located according to a planned walking path, taking out the target storage container from other layers of the inventory support except a bottom layer, and transporting the target storage container to the target workstation; and under the condition that the target storage container is a second storage container, the target storage container is moved to the position of the inventory support where the target storage container is located according to the planned walking path, and the target storage container is taken out from the bottom layer of the inventory support and is conveyed to the target workstation.

In an optional implementation manner of the embodiment of the present application, in response to the control instruction, when the target storage container is a first transportable storage container, the method, according to the planned travel path, of walking to the position of the inventory holder where the target storage container is located, and taking out the target storage container from the other layer of the inventory holder except the bottom layer and transporting the target storage container to the target workstation includes:

In an optional implementation manner of the embodiment of the present application, in response to the control instruction, in a case that the target storage container is a first transportable storage container, walking to the position of the inventory holder where the target storage container is located according to the planned walking path, taking out the target storage container from the other layer except the bottom layer of the inventory holder, and transporting the target storage container to the target workstation, includes:

In an optional implementation manner of the embodiment of the present application, the robot control method further includes:

The robot control method provided in this embodiment implements control of the robot by responding to the control instruction sent by the control server 120, and in cooperation with the warehousing system provided in the above embodiment, when facing different order tasks, the scheduling robot implements transportation of the first storage container and the second storage container placed on the inventory holder 111, thereby reducing the number of times of robot transportation, reducing the number of robots, improving the number of orders that can be completed by robot transportation at a time, not only improving the picking efficiency of articles, but also improving the working efficiency of the robot.

EXAMPLE seven

The embodiment provides an inventory holder set, which comprises a plurality of inventory holders, wherein at least one inventory holder in the inventory holders comprises at least one layer of laminates, and the at least one layer of laminates divides the inventory holder into at least two layers;

The tray shelf comprises one or more layers of partition boards, a tray is placed on each layer of partition board, and the second transfer robot shown in fig. 3a can transfer the tray placed on the partition boards; the tray support is directly placed on the ground at the bottom layer of the inventory support, a tray can be placed on the tray support, and the second transfer robot shown in fig. 3b can transfer the tray support.

The second robot 140 is a transfer robot shown in fig. 3b, and the transfer robot travels below the tray support and lifts the tray support to transfer the tray on the tray support, so that the transfer robot can smoothly transfer the tray on the tray support, and the type, size, and dimension of the tray can be determined according to the storage specification, weight, and the like of the article in actual circumstances.

The second transfer robot shown in fig. 3b can transfer a shelf with a partition as shown in fig. 9, the partition on the shelf is generally used for placing a bin, goods are loaded in the bin or one or more goods 7 are directly placed on the partition, the shelf with the partition is formed by stacking a plurality of fixed partitions in the vertical direction, and due to the limitation of the partition in the shelf with the partition, the goods cannot be put on the shelf according to the original package. The clapboard shelf comprises a plurality of interlayers which are stacked along the vertical direction, each interlayer can contain a plurality of articles, and the articles can also be stored in the storage container. Additionally, in certain embodiments, items may also be suspended from hooks or rods within or on the shelves. The items can be placed on the shelves in a suitable manner on the interior or exterior surfaces of the shelves.

At least one of a tray shelf, a tray support and a shelf is placed on the bottom of the inventory holder 111. The type and number of the second storage containers placed under the single stock shelf 111 are determined according to the specifications of the second storage containers or the space of the bottom layer of the stock shelf 111.

In an optional implementation manner of the embodiment of the application, storage positions for storing at least two first storage containers are arranged on the inventory support along the depth direction of the layer plate.

In an alternative implementation of the embodiments of the present application, the inventory holder is a double-sided shelf.

In an alternative embodiment of the exemplary embodiment of the present application, two first storage containers are placed next to each other on both sides of the stock support in the depth direction of the layer sheet.

In the embodiment, the first transportable storage container is placed on the other layers of the inventory holder except the bottom layer, the first storage container is provided with disassembled goods, the bottom layer of the stock support is provided with a second storage container which can be carried, the second storage container is provided with a whole box of goods, therefore, the first storage container and the second storage container can be conveyed by matching with the first robot 130 and the second robot 140 respectively, and under the condition of facing order tasks with different requirements, the corresponding first robot 130 and second robot 140 are scheduled to handle the first storage container and second storage container respectively, therefore, the two types of robots can realize the transportation of the target storage container in a mixed running mode so as to realize the picking, the times of the transportation of the robots are reduced, the number of the robots is reduced, the whole box picking and the zero-removing picking are realized, and the picking efficiency is improved.

An embodiment of the present application also provides a computing device, which includes a memory, a processor, and computer instructions stored on the memory and executable on the processor, wherein the processor executes the instructions to perform the steps of the robot control method as described above.

An embodiment of the present application also provides a computer readable storage medium storing computer instructions, which when executed by a processor, implement the steps of the robot control method as described above.

The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the storage medium belongs to the same concept as the technical solution of the robot control method, and for details that are not described in detail in the technical solution of the storage medium, reference may be made to the description of the technical solution of the robot control method.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The computer instructions comprise computer program code which may be in source code form, object code form, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

It should be noted that for simplicity and convenience of description, the above-described method embodiments are described as a series of combinations of acts, but those skilled in the art will appreciate that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders and/or concurrently. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.

Claims

1. A warehousing system is characterized by comprising an inventory area, a control server, a first robot, a second robot and a workstation, wherein the first robot and the second robot are in wireless communication with the control server respectively;

the inventory area includes a plurality of inventory holders, wherein at least one inventory holder of the plurality of inventory holders includes at least one tier of plies dividing the inventory holder into at least two tiers; the other floors except the bottom floor of the stock support are used for placing a first transportable storage container, a disassembled goods is placed in the first storage container, a second transportable storage container is placed at the bottom floor of the stock support, and a whole box of goods is placed on the second storage container, wherein the disassembled goods is a goods sorted in a disassembled zero sorting mode, and the whole box of goods is a goods sorted in a whole box sorting mode;

the first robot is configured to, in a case that the target storage container is a first storage container, in response to the control instruction, walk to an inventory support position where the target storage container is located according to a planned walking path, take out the target storage container from other layers of the inventory support except for a bottom layer, and carry the target storage container to the target workstation;

and the second robot is configured to respond to the control instruction and walk to the position of the inventory support where the target storage container is located according to the planned walking path when the target storage container is the second storage container, and take out the target storage container from the bottom layer of the inventory support and carry the target storage container to the target workstation.

2. The warehousing system of claim 1, characterized in that the width direction of the transportable first storage containers on the other levels of said inventory racks than the bottom level coincides with the depth direction of said tier floor, two first storage containers being placed next to each other on the other levels of said inventory racks than the bottom level in the depth direction of said tier floor.

3. Warehousing system according to claim 1 or 2,

the control server is further configured to respond to at least two order tasks, wherein a target storage container corresponding to a first order task of the at least two order tasks and a target storage container corresponding to a second order task of the at least two order tasks are at least one of two first storage containers, which are adjacent to a layer plate of an inventory support in a depth direction, determine a target workstation, a target storage container and a first robot for executing the at least two order tasks, plan a walking path for the first robot, and send a control instruction for executing the first order task and the second order task to the first robot;

4. The warehousing system of claim 1 or 2, wherein the control server is further configured to determine, in response to a first order task, a first target workstation, a first target storage container and a first robot for executing the first order task, the first target storage container being a first storage container, plan a first walking path for the first robot, and send a first control instruction corresponding to executing the first order task to the first robot;

5. The warehousing system of claim 4,

the control server is further configured to, in a process of responding to a first control instruction and transporting the first target storage container to a first target workstation, in response to a second order task, a second target storage container corresponding to the second order task is a first target storage container taken out by the first robot and/or a first storage container adjacent to the first target storage container, determine a second target workstation executing the second order task, plan a second walking path for the first robot, and send a second control instruction corresponding to executing the second order task to the first robot;

6. The warehousing system of claim 1, wherein the second transportable storage container is at least one of a tray rack, and a shelf rack.

7. The warehousing system of claim 1, wherein the width dimension of the mobile chassis of the first robot is the same as the width dimension of the mobile chassis of the second robot perpendicular to the walking direction.

8. A robot control method, characterized by using an inventory holder set, the inventory holder set comprising a plurality of inventory holders, at least one inventory holder of the plurality of inventory holders comprising at least one layer of laminae, the at least one layer of laminae dividing the inventory holder into at least two layers; the method comprises the following steps that other floors of the stock support except the bottom floor are used for placing a first transportable storage container, a piece of disassembled goods is placed in the first storage container, a second transportable storage container is placed at the bottom floor of the stock support, and a whole box of goods is placed on the second storage container, wherein the piece of disassembled goods is a goods sorted in a piece-disassembling and picking mode, and the whole box of goods is a goods sorted in a piece-box picking mode, and the method comprises the following steps:

9. The robot control method of claim 8, wherein determining a target workstation, a target storage container, and a target robot to perform the order task in response to the order task, planning a walking path for the target robot, and sending control instructions to the target robot comprises:

10. The robot control method of claim 8, wherein determining a target workstation, a target storage container, and a target robot to perform the order task in response to the order task, planning a walking path for the target robot, and sending control instructions to the target robot comprises:

11. The robot control method according to claim 10, further comprising:

12. The robot control method according to claim 8, wherein the second storage container that can be handled is at least one of a tray rack, a tray holder, and a partition rack.

13. The robot control method according to claim 8, wherein the moving chassis of the first robot and the second robot have the same width dimension perpendicular to the walking direction.

14. A robot control method, characterized by using an inventory holder set, the inventory holder set comprising a plurality of inventory holders, at least one inventory holder of the plurality of inventory holders comprising at least one layer of laminae, the at least one layer of laminae dividing the inventory holder into at least two layers; the method comprises the following steps that a first storage container which can be transported is placed on the other layers of the inventory support except the bottom layer, a piece of disassembled goods is placed in the first storage container, a second storage container which can be transported is placed on the bottom layer of the inventory support, and a whole box of goods is placed on the second storage container, wherein the piece of disassembled goods is picked in a piece-disassembling picking mode, and the whole box of goods is picked in a piece-picking mode, and the method comprises the following steps:

in response to the control instruction, when the target storage container is a first transportable storage container, walking to the position of an inventory support where the target storage container is located according to a planned walking path, taking out the target storage container from other layers of the inventory support except the bottom layer, and transporting the target storage container to a target workstation; and when the target storage container is a second storage container, the target storage container is moved to the position of the inventory support where the target storage container is located according to the planned walking path, and the target storage container is taken out from the bottom layer of the inventory support and is conveyed to the target workstation.

15. The robot control method according to claim 14, wherein, in response to the control instruction, in a case where the target storage container is a first transportable storage container, walking to the position of the inventory holder where the target storage container is located according to the planned walking path, taking out the target storage container from the other floor of the inventory holder except the bottom floor and transporting to the target workstation, comprises:

16. The robot control method according to claim 14, wherein, in response to the control instruction, in a case where the target storage container is a first transportable storage container, walking to the position of the inventory holder where the target storage container is located according to the planned walking path, taking out the target storage container from the other floor of the inventory holder except the bottom floor and transporting to the target workstation, comprises:

and responding to a first control instruction, walking to the position of an inventory support where a first target storage container is located according to a planned first walking path, taking the first target storage container and the first storage container which is adjacent to the first target storage container in the depth direction of the layer plate of the other layer of the inventory support except the bottom layer out of the inventory support, and carrying the taken first target storage container and the adjacent first storage container to a first target workstation.

17. The robot control method according to claim 16, further comprising:

in the process of responding to a first control command to convey the first target storage container to a first target workstation, responding to a second control command, conveying a taken first target storage container to the first target workstation, and then conveying a second target storage container to a second target workstation according to a planned second walking path, wherein the second target storage container is the taken first target storage container and/or a first storage container adjacent to the first target storage container.

18. The robot control method according to claim 14, wherein the second storage container that can be handled is at least one of a tray rack, a tray holder, and a partition rack.

19. A robot, wherein a set of inventory holders is used, the set of inventory holders comprising a plurality of inventory holders, at least one of the plurality of inventory holders comprising at least one layer of plies dividing the inventory holder into at least two layers; the other floors except the bottom floor of the stock support are used for placing a first transportable storage container, a piece of disassembled goods is placed in the first storage container, a second transportable storage container is placed at the bottom floor of the stock support, and a whole box of goods is placed on the second storage container, wherein the piece of disassembled goods is a goods sorted in a piece-disassembling and picking mode, and the whole box of goods is a goods sorted in a piece-box picking mode, and the method comprises the following steps:

the box taking assembly is arranged on the movable chassis and comprises at least two pairs of shifting fingers, and the at least two pairs of shifting fingers horizontally stretch relative to the movable chassis so as to take out at least two adjacent target storage containers on the storage support along the depth direction of the layer plate.

20. The robot of claim 19, wherein the pick-up assembly includes three pairs of fingers that telescope horizontally relative to the mobile chassis to pick up two target storage containers in close proximity along a depth of the tier floor on the inventory support.

21. A robot as claimed in claim 19 or 20, further comprising:

22. A computing device comprising a memory, a processor and computer instructions stored on the memory and executable on the processor, wherein the processor when executing the instructions implements the steps of the robot control method of any of claims 8 to 13 or 14 to 18.

23. A computer readable storage medium storing computer instructions, characterized in that the instructions, when executed by a processor, implement the steps of the robot control method of any of claims 8 to 13 or 14 to 18.