CN112265773A

CN112265773A - Goods shelving method and device and carrying robot

Info

Publication number: CN112265773A
Application number: CN202011376455.5A
Authority: CN
Inventors: 艾鑫; 喻润方
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2019-12-16
Filing date: 2020-11-30
Publication date: 2021-01-26
Anticipated expiration: 2040-11-30
Also published as: CN115610892A; CN113942771A; CN112265773B; CN113942771B

Abstract

The embodiment of the invention relates to the technical field of computers, and discloses a goods racking method applied to a carrying robot.

Description

Goods shelving method and device and carrying robot

Technical Field

The embodiment of the invention relates to the technical field of computers, in particular to a method and a device for loading cargos onto a rack and a transfer robot.

Background

With the development of artificial intelligence technology, the robot is more and more intelligent, and the application of the robot in each industry is more and more extensive, and with the arrival of the intelligent era, a transfer robot appears at present, and the robot can transport a container with goods to the assigned position, and place the container in the position of a goods shelf, and realize the mechanization of getting in stock.

However, in the process of implementing the embodiment of the present invention, the inventors of the present invention found that: when the carrying robot is used for loading goods, manual operation of an operator is needed, a storage position is allocated for a container for loading the goods in advance, the corresponding relation between the container and the storage position is recorded in a database, then the container is carried to an operation table by the operator, after the carrying robot reaches the operation table, the operator places the container on the designated layer number of the robot according to system prompt and scans the two-dimensional code of the container, the corresponding container is identified, and then the container is carried to the corresponding storage position by the carrying robot, so that goods loading is realized, in the whole goods loading process, a large amount of manual operation is needed by the operator, and the labor cost is high.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the embodiments of the present invention is to provide a method and an apparatus for loading goods onto a rack, and a transfer robot, which can save labor cost.

In order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides a method for racking goods, which is applied to a transfer robot, where the transfer robot is provided with at least one storage rack for loading goods, and the method includes: when the idle storage shelves on the transfer robot are loaded with a specified number of containers, acquiring container information of the containers and/or cargo information of the cargos in the containers; sending the container information and/or the cargo information; receiving a first target location assigned to the container based on the container information and/or the cargo information; the container is transported to the first target location.

Optionally, successful shelving information is sent to bind the first target position, the container information and/or the cargo information of the container moved into the first target position, and record the binding information to a database.

Optionally, the method further includes: receiving a loading task, wherein the loading task carries a second target position; and moving to the second target position.

Optionally, during the process that the transfer robot moves to the second target position, the method further includes: acquiring the level of an idle storage shelf of the transfer robot; judging whether the level of the idle storage shelf of the transfer robot is within a preset level range or not; and if not, moving other containers loaded on the transfer robot until the idle storage shelves are positioned at a preset level.

Optionally, the transfer robot is provided with a transfer device and a lifting device, the lifting device is used for lifting or lowering the transfer device, the transfer device is provided with a first detection device, and the step of acquiring the container information of the container further includes: scanning a container on the carrying device through the first detection device to obtain the container information; or scanning the container on the storage shelf through the first detection device to acquire the container information.

Optionally, the transfer robot is provided with a second detection device, and the second detection device is arranged on the lifting device or the storage rack, and the method further includes: scanning the container through the second detection device to obtain the cargo information in the container.

Optionally, before sending the container information and/or the cargo information, the method further includes: judging whether the container information and/or the cargo information are abnormal or not, wherein the abnormality at least comprises that the container codes cannot be identified and/or the inventory quantity is insufficient; if so, an exception alert is issued to instruct an operator to handle the exception.

Optionally, when there is no abnormality in the container information and/or the cargo information, or after the operator has handled the abnormality, the method further includes: judging whether the number of containers on a storage shelf of the transfer robot is zero or not; and if so, acquiring the interactive information with the operator to determine whether the carrying robot continues to load the container.

Optionally, when there is no abnormality in the container information and/or the cargo information, or after the operator has handled the abnormality, the step of sending the container information and/or the cargo information further includes:

and sending the container information and/or the goods information on the whole storage shelves, or sending the container information and/or the goods information which is changed on the storage shelves.

In order to solve the above technical problem, in a second aspect, an embodiment of the present invention provides a method for putting goods onto a shelf, where the method is applied to a management platform, and the method includes: receiving container information and/or goods information sent by a transfer robot, wherein the container information and/or the goods information are obtained by scanning the container and/or goods in the container when a storage shelf of the transfer robot is loaded into the container; assigning a first target location for the container; the first target position is transmitted to the transfer robot to cause the transfer robot to transfer the container to the first target position.

Optionally, the method further includes: receiving successful racking information sent by the transfer robot when the transfer robot successfully transfers the container to the first target position; and binding the first target position, the container information and/or the cargo information of the container moved into the first target position according to the successful shelving information, and recording the binding information to a database.

Optionally, before the step of assigning the first target position to the container, the method further comprises: judging whether the first target position is matched with the container; if not, sending a unloading instruction to the carrying robot; and receiving a successful unloading instruction sent by the transfer robot after successful unloading, wherein the successful unloading instruction carries information of the container unloaded by the transfer robot and/or information of the goods in the container.

Optionally, the method further includes: receiving a loading demand, wherein the loading demand carries a second target position; generating a loading task according to the loading requirement, and matching a carrying robot for the loading task; and sending the pick up task to the transfer robot.

In order to solve the above technical problem, in a third aspect, an embodiment of the present invention provides an apparatus for racking goods, which is applied to a transfer robot, where the transfer robot is provided with at least one storage rack for loading goods, and the apparatus includes: the first acquisition module is used for acquiring the container information of the containers and/or the cargo information of the cargos in the containers when the idle storage shelves on the transfer robot are loaded with a specified number of containers; the first sending module is used for sending the container information and/or the cargo information; a first receiving module, configured to receive a first target location allocated to the container according to the container information and/or the cargo information; and the carrying module is used for carrying the container to the first target position.

In order to solve the above technical problem, in a fourth aspect, an embodiment of the present invention provides a device for putting goods on shelf, which is applied to a management platform, and the device includes: the third receiving module is used for receiving container information and/or goods information sent by a transfer robot, wherein the container information and/or the goods information are obtained by scanning goods in a container and/or the container when a storage shelf of the transfer robot is loaded into the container; a distribution module for distributing a first target position for the container; a third sending module, configured to send the first target position to the transfer robot, so that the transfer robot transfers the container to the first target position; a fourth receiving module, configured to receive successful racking information sent by the transfer robot when the transfer robot successfully transfers the container to the first target location; and the recording module is used for binding the first target position, the container information and/or the cargo information of the container moved into the first target position according to the successful shelving information and recording the binding information to a database.

In order to solve the above technical problem, according to a fifth aspect, an embodiment of the present invention provides a transfer robot, including: at least one storage shelf, the at least one storage shelf being arranged in a stack; the lifting device is used for lifting or lowering the carrying device so that the carrying device reaches the height position of any storage shelf; the first detection device is arranged on the carrying device and used for scanning a container on the carrying device or scanning the container on the storage shelf; the second detection device is arranged on the carrying device and used for scanning the containers on the storage shelf; at least one processor connected with the first detection device and the second detection device; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect as described above.

In order to solve the above technical problem, according to a sixth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method according to the first aspect.

To solve the above technical problem, in a seventh aspect, the present invention further provides a computer program product, which includes a computer program stored on a computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the method according to the first aspect.

In order to solve the foregoing technical problem, an eighth aspect of the present invention provides a management platform, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the second aspect as described above.

In order to solve the above technical problem, according to a ninth aspect, the present invention further provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the method according to the second aspect.

In order to solve the above technical problem, according to a tenth aspect, an embodiment of the present invention further provides a computer program product, which includes a computer program stored on a computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the method according to the second aspect.

In the embodiment of the invention, when an operator places a container on the idle storage shelf of the carrying robot, the carrying robot acquires and sends the container information of the container and/or the cargo information of the cargo in the container, receives the first target position distributed to the container according to the container information and/or the cargo information, and finally carries the container to the first target position.

Drawings

One or more embodiments are illustrated by the accompanying figures in the drawings that correspond thereto and are not to be construed as limiting the embodiments, wherein elements/modules and steps having the same reference numerals are represented by like elements/modules and steps, unless otherwise specified, and the drawings are not to scale.

FIG. 1 is a schematic diagram of an environment in which an embodiment of the method of racking goods of the present invention may be used;

FIG. 2 is a flow chart of a first embodiment of the method of racking goods of the present invention;

FIG. 3 is a flow chart of a second embodiment of the method of racking goods of the present invention;

FIG. 4 is a flow chart of a third embodiment of the method of racking cargo of the present invention;

FIG. 5 is a flow chart of a fourth embodiment of the method of racking cargo of the present invention;

FIG. 6 is a flow chart of a fifth embodiment of the method of racking cargo of the present invention;

FIG. 7 is a flow chart of a sixth embodiment of the method of racking goods of the present invention;

FIG. 8 is a flow chart of a seventh embodiment of the method of racking goods of the present invention;

fig. 9 is a flowchart of an eighth embodiment of the method of racking goods of the present invention;

FIG. 10 is a flow chart of a ninth embodiment of the method of racking cargo of the present invention;

FIG. 11 is a schematic view of an embodiment of the device for racking goods according to the present invention;

FIG. 12 is a schematic view of another embodiment of the device for racking goods according to the present invention;

FIG. 13 is a schematic view of an embodiment of a transfer robot of the present invention;

FIG. 14 is a schematic diagram of an embodiment of a management platform of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the present application. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. Further, the terms "first," "second," and the like, as used herein, do not limit the data and the execution order, but merely distinguish the same items or similar items having substantially the same functions and actions.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Fig. 1 is a schematic diagram of one application scenario of the cargo shelving method provided in the embodiment of the present invention, where the application environment includes: a transfer robot 10, a management platform 20, and a rack 30. The racks 30 are used for storing goods, the transfer robot 10 is used for transferring containers to the racks 30 or taking off containers from the racks 30 and transferring the containers to a specified place, the management platform 20 is used for registering the containers on the racks 30 and controlling the transfer robot 10 in a coordinated manner, so that the transfer robot 10 can transfer the containers in order.

Specifically, in the case of the above transfer robot, the transfer robot 10 is an industrial robot capable of performing an automated transfer operation. In some embodiments, the transfer robot 10 includes a moving chassis 11, a storage rack 12, a transfer device 13, and a lifting device 14, wherein a radio frequency card reader (not shown), a camera (not shown), and an interaction device (not shown) are disposed on the lifting device 14; the carrying device 13 is provided with a camera (not shown). The mobile chassis 11 is used for realizing the moving function of the transfer robot 10, the number of the storage racks 12 is plural, the plurality of storage racks 12 are stacked on the mobile chassis 11, the lifting device 14 is also arranged on the mobile chassis 11, the height of the lifting device 14 is greater than or equal to the overall height of all the storage racks 20, and the lifting device 14 is used for lifting or lowering the transfer device 13 and pushing the container into the storage racks 12 or pushing the container out of the storage racks 12.

The number of the radio frequency card readers is one or more, and the identification range of the one or more radio frequency card readers is the accommodating space of the carrying device 13, which is used for reading the container information and/or the cargo information of the container in the carrying device 13, specifically, the container information of the container and/or the cargo information of the cargo in the container can be obtained by reading the electronic tag on the container and/or the cargo in the container. In some embodiments, the radio frequency card reader may be disposed on each layer of storage shelves 12 to read container information and/or cargo information on each layer of storage shelves 12, and in order to ensure that each radio frequency card reader can only read container information and/or cargo information in the corresponding storage shelf 12, a signal isolation board may be disposed at the bottom of each layer of storage shelves 12 to implement a signal isolation board.

The number of the cameras is one or more, the one or more cameras are used for scanning bar codes or two-dimensional codes arranged on the containers so as to read container information of the containers, the cameras can be any image acquisition device capable of clearly shooting, acquiring or identifying the bar codes or the two-dimensional codes on the containers, preferably, the direction of the cameras is towards the storage shelf 12, the container information is obtained by scanning the bar codes or the two-dimensional codes on the containers placed on the storage shelf 12, and in addition, the cameras can also be replaced by bar code scanners.

The interaction device is used for realizing interaction operation with an operator, and comprises control keys, a sound output device, an image output device and the like, wherein the control keys are used for providing the operator with the function of controlling the transfer robot, such as: when an operator carries the container to the storage shelf, a container loading completion instruction is triggered to the carrying robot by pressing a control key, the sound output device is used for outputting voice, and the image output device is used for outputting images, such as: when the empty storage space does not exist in the goods shelf, and the operator is required to unload the part of the goods container on the transfer robot, the transfer robot can output an unloading prompt through the sound output device or the image output device.

For the above shelf 30, the shelf 30 is a shelf for storing containers in a warehouse, and has a plurality of storage positions, each storage position is provided with a fixed code for binding with a container code, and a storage position can be used for placing a container.

The management platform 20 is communicatively connected to the transfer robot 10, and is capable of performing data interaction with the transfer robot 10 to control the transfer robot. In addition, the management platform 20 also monitors the containers of the shelves 20 to realize the information management of the shelves. In some embodiments, the management platform 20 may be a physical terminal server having a computing function, and is connected to the transfer robot 10 through a network by using a certain communication protocol. Alternatively, the robot may be a cloud server, a cloud host, a cloud service platform, a cloud computing platform, or the like, and may be similarly connected to the transfer robot 10 through a network by communication using a predetermined communication protocol. The network can be Ethernet or local area network, the communication protocol can be TCP/IP, NETBEUI and IPX/SPX, and the communication connection can be wireless connection or wired connection.

Specifically, the embodiments of the present invention will be further explained below with reference to the drawings.

Example one

An embodiment of the present invention provides a method for putting goods onto shelves in the application environment, which can be performed by the transfer robot 10, as shown in fig. 2, and the method includes:

step 201: when the free storage racks on the transfer robot are loaded with a specified number of containers, the container information of the containers and/or the goods information of the goods in the containers are acquired.

The empty storage racks are storage racks that are not currently loaded with containers, and when the empty storage racks exist in the transfer robot, an operator can load containers to the transfer robot. And the container loaded by the transfer robot can be automatically detected by the transfer robot, such as: the method comprises the steps that the transfer robot collects images of storage shelves through a camera and analyzes whether a new container is loaded or not through the images, or a gravity sensor is arranged on each storage shelf of the transfer robot and detects whether the new container is loaded or not through the gravity sensor, or after an operator loads the container into an idle storage shelf of the transfer robot, the operator triggers and detects a command for loading the container through pressing a control key of the transfer robot, and of course, the mode that the operator presses the control key to trigger and detect the command for loading the container needs the operator to input the storage shelf where the loaded container is located, so that the transfer robot knows the position where the currently loaded container is located.

The container information is used to mark the container, including the model of the container, the size of the container, the type of goods the container is used to load, and so on. The container information is usually set on the outer surface of the container in the form of a barcode, so that the handling robot can read the container information of the container by scanning the form of the barcode, of course, in other embodiments, the container information can also be written on the container by setting a container electronic tag on the container, and the container electronic tag is read by a radio frequency card reader of the handling robot to obtain the container information.

The goods information is information for marking goods, including a kind of goods, a name of goods, a number of goods, and the like. The goods are loaded in the container and are isolated by the container, so that the goods are provided with the goods electronic tags, the goods information is written into the goods electronic tags, and the contents of the goods electronic tags are read wirelessly through the radio frequency card reader, so that the goods information of the goods in the container is obtained.

Step 202: and sending the container information and/or the cargo information.

Generally, the warehouse stores goods in a classified manner, so that after receiving the container information and the goods information, the management platform can match an appropriate area based on the goods information, and match a warehouse location with an appropriate size based on the container information, so as to achieve accurate storage of the containers, for example: the warehouse comprises a food area, a clothing area and an alcohol area, shelves of the food area, the clothing area and the alcohol area all contain 100cm x 100cm positions, 200cm x 200cm positions and 300cm x 300cm positions, the sizes of the positions of all the categories are different, when goods loaded into a container of the transfer robot are fish cans, and the size of the container is 120cm x 180cm, the management platform allocates 200cm x 200cm vacant positions for the container in the food area. Of course, if the warehouse is an unordered storage warehouse, the vacant warehouse positions matched with the containers can be directly found in the warehouse.

Optionally, before sending the container information and/or the cargo information, the method further includes: judging whether the container information and/or the cargo information are abnormal or not, wherein the abnormality at least comprises that the container codes cannot be identified and/or the inventory quantity is insufficient; if so, an exception alert is issued to instruct an operator to handle the exception. Specifically, when the system judges that the received container information and/or the goods information are abnormal, an abnormal warning is sent out to indicate an operator to handle. Still further, the system may provide handling recommendations instructing the operator to handle the abnormal situation. When the exception handling is completed, the container information and/or the cargo information is read in step 201 again.

Optionally, when there is no abnormality in the container information and/or the cargo information, or after the operator has handled the abnormality, the method further includes: judging whether the number of containers on a storage shelf of the transfer robot is zero or not; and if so, acquiring the interactive information with the operator to determine whether the carrying robot continues to load the container. Specifically, when there is no difference, the system determines that the number of the moved containers is 0, and determines whether to finish the container loading or further determines whether to release the task of the transfer robot according to the preset execution logic or manual interaction with an operator through information and an operation interface. When it is determined not to finish the loading of the container, the step 201 is performed again after the loading of the container.

Optionally, when there is no abnormality in the container information and/or the cargo information, or after the operator has handled the abnormality, the step of sending the container information and/or the cargo information further includes: and sending the container information and/or the goods information on the whole storage shelves, or sending the container information and/or the goods information which is changed on the storage shelves. Specifically, the transfer robot records the loaded container data of the storage shelf, and when there is no abnormality, the robot reads the information again in step 201, and selectively sends the field information on all the storage shelves, or only sends the container information and/or the cargo information of which the storage shelves are changed.

Step 203: receiving a first target location assigned to the container based on the container information and/or the cargo information.

The first target position is a storage position on the goods shelf where no container is placed. After obtaining the first target position, the transfer robot may plan a walking path from the transfer robot to the first target position by combining the current position of the transfer robot and the position of the first target position. Of course, in some embodiments, the walking path between the transfer robot and the first target position may also be planned by the management platform.

It is worth mentioning that: when the walking path from the current position to the first target position is planned for the transfer robot, the walking paths of other transfer robots are combined, and a preset anti-collision algorithm is used for planning so as to avoid collision between the transfer robot and other transfer robots when the transfer robot walks.

Step 204: the container is transported to the first target location.

When the carrying robot carries the container to the corresponding first target position, the container is successfully put on the shelf. Of course, in some embodiments, after placing the container onto the corresponding first target position, it may also be detected whether the attitude of the container is correct, for example: and if the container is completely placed in the storage position, the front surface of the container faces outwards, and the like, when the posture of the container is incorrect, the container is moved again, and the posture of the container is adjusted.

Referring to fig. 3, fig. 3 is a flowchart of a second embodiment of the method for loading goods onto shelves according to the present invention, which is different from the other embodiments in that: the method further comprises the following steps:

step 205: and sending successful racking information to bind the first target position, the container information and/or the cargo information of the container moved into the first target position, and recording the information to a database.

When the management platform receives the successful goods loading information, the management platform confirms that the goods box is successfully loaded, then correspondingly binds and records the first target position, the goods box information and the goods information, so that the information loading is realized, the recorded information is ensured to be consistent with the real object of the warehouse, and the warehouse position on the goods shelf where the goods or the goods box is located can be obtained according to the goods information or the goods box information when the goods are required to be taken subsequently.

Referring to fig. 4, fig. 4 is a flowchart illustrating a third embodiment of a method for loading goods onto a rack according to the present invention, which is different from the other embodiments in that: the method further comprises the following steps:

step 206: receiving a loading task, wherein the loading task carries a second target position;

the loading task can be generated by the management platform according to a loading requirement input by an operator, wherein the loading requirement carries a second target position specified by the operator, and the second target position is also the position of a container needing to be loaded.

Step 207: moving to the second target position;

through appointing the second target location to control transfer robot and remove the second target location and carry out the loading, can realize the anywhere loading, for concentrating on the mode that the operation panel carries out the loading, it is more nimble, makes things convenient for the operator to carry out the loading operation more.

Further, when the management platform schedules the transfer robot, the management platform may schedule the transfer robot with complete idle, and may also schedule the transfer robot with the current transfer task (that is, other containers exist on the storage shelves) to execute the transfer task, and when the scheduled transfer robot has the transfer task, the management platform may schedule other containers to the storage shelves on the upper layer in order to conveniently load the containers on the shelves by an operator, and then the method further includes:

referring to fig. 5, fig. 5 is a flowchart illustrating a fourth embodiment of a method for loading goods onto a rack according to the present invention, which is different from the other embodiments in that: during the movement of the transfer robot to the second target position (step 207), the method further includes:

step 208: acquiring the level of an idle storage shelf of the transfer robot;

the number of free storage racks imposed by the loading task is the same as the number of containers to be loaded, for example: when there are 2 containers to be loaded, there are two free storage racks to be ordered, but the number of free storage racks to be ordered is not limited to only one transfer robot, and may be several different transfer robots.

Step 209: judging whether the level of the idle storage shelf is in a preset level range, if not, executing a step 210; if yes, no processing is performed.

The preset level range refers to a storage shelf located at the lower layer of the transfer robot, for example: when the transfer robot has 6 storage shelves, and the storage shelves are numbered 1, 2, 3, 4, 5, and 6 from bottom to top, respectively, the preset level range may be 1 to 3. The preset level range may be a storage rack located at any other level of the transfer robot, for example, an upper storage rack, an odd/even storage rack, or the like, and specifically, the preset level range may be selected according to actual needs, and is not limited to the present embodiment.

Step 210: and moving other containers loaded on the transfer robot until the free storage shelves are positioned at the preset level.

It is worth mentioning that: selecting the idle storage shelves in the preset level range in the called idle storage shelves, calling the idle storage shelves outside the preset level range when the idle storage shelves in the preset level range do not meet the required quantity, and moving the container to enable the idle storage shelves to return to the preset level range for the called idle storage shelves outside the preset level range, for example: the storage shelves of the transfer robot which are currently idle are 1 layer and 4 layers, and when 2 idle storage shelves need to be regulated, the containers of 2 layers or 3 layers can be moved to 4 layers, so that the storage shelves of 2 layers or 3 layers are idle.

In the embodiment of the invention, in the process of moving the transfer robot to the second target position, the stored containers are moved to other levels outside the preset level range, so that the free storage shelves are located within the preset level range, and the preset level range is usually lower, thus being convenient for an operator to load the containers onto the free storage shelves.

Referring to fig. 6, fig. 6 is a flowchart illustrating a fifth embodiment of a method for loading goods onto a rack according to the present invention, which is different from the other embodiments in that: the transfer robot is provided with a transfer device and a lifting device, the lifting device is used for lifting or descending the transfer device, the transfer device is provided with a first detection device, the transfer robot is provided with a second detection device, the second detection device is arranged on the lifting device or a storage shelf, and the step of obtaining the container information of the container and/or the cargo information of the cargo in the container further comprises:

step 211: scanning a container on the carrying device through the first detection device to obtain the container information.

The first detection device may be a camera or a barcode scanner as described above, and in the embodiment of the present invention, a barcode or a two-dimensional code may be attached to the cargo box, information of the cargo box is written into the barcode or the two-dimensional code, and the barcode or the two-dimensional code is scanned by the camera or the barcode scanner to obtain information of the cargo box. The first detection device can scan the containers to obtain the container information when the containers are put in and out of the warehouse.

Step 212: scanning the container through the second detection device to obtain the cargo information of the container.

In the embodiment of the present invention, an electronic tag may be disposed on the cargo, cargo information is written into the electronic tag, and the content of the electronic tag is wirelessly read by the radio frequency card reader, so as to obtain cargo information of the cargo in the cargo box.

In addition, the carrying robot is provided with a carrying device and a lifting device, the lifting device is used for lifting or descending the carrying device, and the carrying device is provided with a first detection device;

the step of obtaining container information of the container and/or cargo information of the cargo in the container may further include:

the carrying device can be driven by the lifting device to scan the containers on the storage shelf through the first detection device so as to acquire the information of the containers.

EXAMPLE six

An embodiment of the present invention provides a method for putting goods on shelf, which can be executed by the management platform 20, please refer to fig. 7, where the method includes:

step 301: receiving container information and/or goods information sent by a transfer robot, wherein the container information and/or the goods information are obtained by scanning the container and/or goods in the container when a storage rack of the transfer robot is loaded into the container.

The container information is used to mark the container, including the model of the container, the size of the container, the type of goods the container is used to load, and so on. The goods information is information for marking goods, including a kind of goods, a name of goods, a number of goods, and the like.

Step 302: a first target location is assigned to the container.

The first target position is a storage position where the object is not stored.

Step 303: the first target position is transmitted to the transfer robot to cause the transfer robot to transfer the container to the first target position.

After receiving the first target position, the transfer robot may plan a traveling path according to the position of the first target position, travel the traveling path to the vicinity of the first target position, push the loaded container into the first target position, and send successful loading information to the management platform.

Referring to fig. 8, fig. 8 is a flowchart of a seventh embodiment of a method for loading cargos, which is different from other embodiments in that the method further includes:

step 304: receiving successful shelving information sent by the transfer robot when the transfer robot successfully transfers the container to the first target position.

Step 305: and binding the first target position, the container information and/or the cargo information of the container moved into the first target position according to the successful shelving information, and recording the binding information to a database.

After the goods are successfully put on the shelf, the management platform binds the container information, the goods information and the first target position and records the container information, the goods information and the first target position to the database, information is stored in the database, the information recorded in the data is matched with objects in a warehouse, when an operator needs to take the goods subsequently, the management platform can inquire the goods or the positions of the goods shelves where the goods are located, and then the transfer robot is controlled to take the goods.

In the embodiment of the invention, after receiving container information and cargo information sent by a transfer robot, a management platform allocates a first target position for a container, sends the first target position to the transfer robot, so that the transfer robot transfers the container to the first target position, binds the container information of the container moved into the storage position and the cargo information according to successful cargo loading information when receiving the successful cargo loading information sent by the transfer robot when successfully transferring the container to the first target position, and records the container information and the cargo information into a database, so that automatic information warehousing is realized, an operator registers the information of the container, the storage position and the cargo in data in advance, and the labor cost is saved.

Referring to fig. 9, fig. 9 is a flowchart of an eighth embodiment of the method for loading cargos according to the present invention, which is different from the other embodiments in that before step 302, the method further includes:

step 306: judging whether the first target position is matched with the container, if so, executing a step 302; if not, go to step 307.

The first target locations not matching the containers means that the number of first target locations is less than the number of containers.

Step 307: and sending a discharge instruction to the transfer robot.

Step 308: and receiving a successful unloading instruction sent by the transfer robot after successful unloading, wherein the successful unloading instruction carries information of the container unloaded by the transfer robot and/or information of the goods in the container.

It is worth mentioning that: when the management platform receives the successful unloading instruction, the container information of the unloaded container and the cargo information in the container are deleted, and then the remaining container information and the remaining cargo information on the management platform are matched with the remaining containers on the transfer robot.

In an embodiment of the invention, the management platform first checks a first target position in the rack, and when the first target position is insufficient and there is no way to store all containers to be loaded by the transfer machine, a container position insufficiency instruction is issued to the transfer robot to enable an operator to unload part of the containers. Of course, after the operator unloads the container from the transfer robot, the management platform still needs to verify whether the remaining containers can be stored in the first target position, and if the remaining containers cannot be stored in the first target position, the management platform continues to issue the container position shortage command and continues to unload the containers until the remaining containers can be stored in the first target position.

Referring to fig. 10, fig. 10 is a flowchart of a ninth embodiment of the method for loading cargos, which is different from other embodiments in that the method further includes:

step 309: receiving a loading demand, wherein the loading demand carries a second target position and the number of containers to be loaded.

The loading task is generated according to loading requirements input by an operator, such as: when the operator needs to load goods, the operator logs in the management platform through the terminal device, then inputs a goods loading requirement to the management platform, wherein the goods loading requirement carries the second target position, the operator can automatically specify the second target position, and the operator does not need to concentrate on the operation table to load the goods.

Step 310: generating a loading task according to the loading requirement, and matching a carrying robot for the loading task;

the management platform may select the transfer robot closest to the second target position and having the empty storage rack in combination with the proximity rule so as to move the transfer robot along the route when the management platform schedules the transfer robot.

Of course, the number of the transfer robots scheduled by the management platform is not limited, and one or more transfer robots may be flexibly scheduled to perform the loading task according to the loading task.

Step 311: and sending the pick up task to the transfer robot.

In the embodiment of the present invention, when a loading demand is received, a loading task is generated, and then the loading task is issued to the transfer robot according to the state of the transfer robot, for example, whether other tasks are normally executed, whether a storage rack is empty, or the distance between the transfer robot and a second target position, so that one or more transfer robots can execute the loading task.

Referring to fig. 11, fig. 11 is a schematic view of an embodiment of the apparatus for putting goods on shelf according to the present invention, the apparatus 40 for putting goods on shelf is applied to a transfer robot, the transfer robot is provided with at least one layer of storage racks for goods, and specifically, the apparatus 40 for putting goods on shelf includes: a first obtaining module 401, a first sending module 402, a first receiving module 403 and a carrying module 404.

The first obtaining module 401 is configured to scan container information of a loaded container and cargo information of cargo in the container when it is detected that a free storage rack on the transfer robot is loaded in the container.

The first sending module 402 is configured to send the container information and the cargo information to a management platform.

The first receiving module 403 is configured to receive a first target position allocated to the container by the management platform according to container information and the cargo information.

The carrying module 404 is configured to control the carrying robot to carry the container to the first target position.

In some embodiments, the means for racking 40 also includes a second sending module 405.

The second sending module 405 is configured to send successful shelving information to a management platform, so that the management platform binds the first target position, the container information of the container moved into the first target position, and/or the cargo information, and records the container information and/or the cargo information to a database.

In some embodiments, the device 40 for racking goods further comprises a second receiving module 406 and a first moving module 407.

The second receiving module 406 is configured to receive a loading task, where the loading task carries a second target location.

The first moving module 407 is configured to move to the second target location.

In some embodiments, the device 40 for racking goods further comprises a second obtaining module 408, a first determining module 409, and a second moving module 410.

The second obtaining module 408 is configured to obtain a level of an idle storage rack of the transfer robot.

The first judging module 409 is configured to judge whether the level where the idle storage shelf is located is within a preset level range.

The second moving module 410 is configured to move other containers loaded on the transfer robot until the free storage racks are located at a preset level.

In some embodiments, the transfer robot is provided with a transfer device and a lifting device, the lifting device is used for lifting or lowering the transfer device, the transfer device is provided with a first detection device, and the first obtaining module 401 is further used for scanning a container on the transfer device or scanning a container on the storage rack through the first detection device to obtain the information of the container and/or the information of the goods in the container.

In some embodiments, the transfer robot is provided with a second detection device, the second detection device is arranged on the lifting device, and the first obtaining module 401 is further configured to scan the containers on the storage rack through the second detection device to obtain the container information of the containers on the storage rack.

In some embodiments, the first sending module 402 is further configured to determine whether the container information and/or the cargo information has an abnormality, where the abnormality at least includes that the container code is unidentifiable and/or the inventory quantity is insufficient; if so, an exception alert is issued to instruct an operator to handle the exception.

In some embodiments, the first sending module 402 is further configured to determine whether the number of containers on the storage rack of the transfer robot is zero; and if so, acquiring the interactive information with the operator to determine whether the carrying robot continues to load the container.

In some embodiments, the first sending module 402 is further configured to send the container information and/or the cargo information on all of the storage shelves, or send the container information and/or the cargo information on the storage shelves that are modified.

Referring to fig. 12, fig. 12 is a schematic view illustrating another embodiment of the device for loading cargoes onto a shelf according to the present invention, the device 50 for loading cargoes onto a shelf is applied to a management platform, and the device 50 for loading cargoes onto a shelf includes a third receiving module 501, a distributing module 502, and a third sending module 503.

The first receiving module 501 is configured to receive container information and/or cargo information sent by a transfer robot, where the container information and/or the cargo information are obtained by scanning a container and/or cargo in the container when a storage rack of the transfer robot is loaded into the container.

The assigning module 502 is configured to assign a first target location for the container.

The third sending module 503 is configured to send the first target position to the transfer robot, so that the transfer robot transfers the container to the first target position.

In some embodiments, the device for racking goods 50 further comprises: a fourth receiving module 504 and a recording module 505.

The fourth receiving module 504 is configured to receive successful racking information sent by the transfer robot when the transfer robot successfully transfers the container to the first target position.

The recording module 505 is configured to bind the first target position, the container information of the container moved into the first target position, and/or the cargo information according to the successful shelving information, and record the container information and/or the cargo information to a database.

In some embodiments, the device for racking goods 50 further comprises: a second judging module 506, a fourth sending module 507 and a fifth receiving module 508.

The second determining module 506 is configured to determine whether the first target position matches the container.

The fourth sending module 507 is configured to send a discharge instruction to the transfer robot when the transfer robot does not match the predetermined transfer robot.

The fifth receiving module 508 is configured to receive a successful unloading instruction sent by the transfer robot after successful unloading, where the successful unloading instruction carries information of a container unloaded from the transfer robot and/or information of goods in the container.

In some embodiments, the device for racking goods 50 further comprises: a sixth receiving module 509, a matching module 510 and a fifth transmitting module 511.

The sixth receiving module 509 is configured to receive a loading requirement, where the loading requirement carries a second target location.

The matching module 510 is configured to generate a loading task according to the loading requirement, and match a transfer robot for the loading task.

The fifth sending module 511 is configured to send the pick up task to the transfer robot.

Fig. 13 is a schematic view of a transfer robot according to an embodiment of the present invention.

The transfer robot 10 includes: at least one processor 601, a memory 602, at least one storage rack (not shown), a handling device and a lifting device (not shown), a first detection device 603 and a second detection device 604. The at least one storage rack is stacked, the lifting device is configured to lift or lower the carrying device to enable the carrying device to reach a height position of any one of the storage racks, the first detecting device 603 is disposed on the carrying device and configured to scan a container on the carrying device or scan a container on the storage rack, and the second detecting device is disposed on the carrying device and configured to scan a container on the storage rack. It should be noted that, as for other mechanical structures of the transfer robot, reference may be made to the transfer robot 10 in fig. 1, and details thereof are not repeated here.

The at least one processor 601 is communicatively coupled to the memory 602, which is illustrated in fig. 13 as one processor 601. The memory 602 stores instructions executable by the at least one processor 601, the instructions being executable by the at least one processor 601 to enable the at least one processor 601 to perform the method of racking cargo as described above with reference to fig. 2-6. The processor 601 and the memory 602 may be connected by a bus or other means, and fig. 13 illustrates an example of a connection by a bus.

The memory 602, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the goods shelving method in the embodiment of the present application, for example, the modules shown in fig. 11. The processor 601 executes various functional applications and data processing of the server by running nonvolatile software programs, instructions and modules stored in the memory 602, that is, the goods shelving method of the above method embodiment is realized.

The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device on which the goods are shelved, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 602 optionally includes memory located remotely from processor 601, which may be connected to a device on-shelf for goods via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 602 and when executed by the one or more processors 601, perform the goods shelving method in any of the above-described method embodiments, e.g., perform the method steps of fig. 2-6 described above, to implement the functions of the modules and units in fig. 11.

The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.

Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors, e.g., to perform the method steps of fig. 2-6 described above to implement the functions of the modules of fig. 11.

Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform a method for shelving goods in any of the above-described method embodiments, for example, perform the method steps of fig. 2 to 6 described above, and implement the functions of the modules in fig. 11.

Fig. 14 shows a management platform according to an embodiment of the present invention, and fig. 14 is a schematic diagram of the management platform according to the embodiment of the present invention. The management platform 20 includes: at least one processor 701; and a memory 702 communicatively coupled to the at least one processor 701, which is exemplified by the one processor 701 in fig. 14. The memory 702 stores instructions executable by the at least one processor 701 to enable the at least one processor 701 to perform the method of shelving cargo as described above with reference to fig. 7-10. The processor 701 and the memory 702 may be connected by a bus or other means, and fig. 14 illustrates an example of a connection by a bus.

The memory 702 is a non-volatile computer-readable storage medium and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the goods shelving method in the embodiment of the present application, for example, the modules shown in fig. 12. The processor 701 executes various functional applications of the server and data processing by running the nonvolatile software programs, instructions and modules stored in the memory 702, so as to implement the goods shelving method of the above method embodiment.

The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device on which the goods are shelved, and the like. Further, the memory 702 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 702 may optionally include memory located remotely from processor 701, which may be connected to a goods shelved device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 702 and when executed by the one or more processors 701, perform a method of shelving goods in any of the method embodiments described above, e.g., perform the method steps of fig. 7-10 described above, implementing the functions of the modules and units in fig. 12.

Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors, for example, to perform the method steps of fig. 7-10 described above to implement the functions of the modules in fig. 12.

Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform a method for shelving goods in any of the above-described method embodiments, for example, perform the method steps of fig. 7 to 10 described above, and implement the functions of the modules in fig. 12.

It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for racking goods, for use with a transfer robot provided with at least one storage rack for the goods, comprising:

when the idle storage shelves on the transfer robot are loaded with a specified number of containers, acquiring container information of the containers and/or cargo information of the cargos in the containers;

sending the container information and/or the cargo information;

receiving a first target location assigned to the container based on the container information and/or the cargo information;

the container is transported to the first target location.

2. The method of claim 1, further comprising:

and sending successful racking information to bind the first target position, the container information and/or the cargo information of the container moved into the first target position, and recording the information to a database.

3. The method of claim 2, wherein prior to the step of loading the empty storage racks on the transfer robot with a specified number of containers, the method further comprises:

receiving a loading task, wherein the loading task carries a second target position;

and moving to the second target position.

4. The method according to claim 3, wherein during the movement of the transfer robot to the second target position, the method further comprises:

acquiring the level of an idle storage shelf of the transfer robot;

judging whether the level of the idle storage shelf is in a preset level range or not;

and if not, moving other containers loaded on the transfer robot until the idle storage shelves are positioned at a preset level.

5. The method according to any one of claims 1 to 4, wherein the transfer robot is provided with a transfer device and a lifting device, the lifting device is used for lifting or lowering the transfer device, the transfer device is provided with a first detection device, and the step of acquiring the container information of the container further comprises:

scanning a container on the carrying device through the first detection device to obtain the container information;

or the like, or, alternatively,

scanning, by the first detection device, a container on the storage rack to obtain the container information.

6. The method according to claim 5, wherein the transfer robot is provided with a second detection device provided on the lifting device or the storage rack, the method further comprising:

scanning the container through the second detection device to obtain the cargo information in the container.

7. The method according to any one of claims 1 to 4, wherein before transmitting the container information and/or the cargo information, the method further comprises:

judging whether the container information and/or the cargo information are abnormal or not, wherein the abnormality at least comprises that the container codes cannot be identified and/or the inventory quantity is insufficient;

if so, an exception alert is issued to instruct an operator to handle the exception.

8. The method of claim 7,

when there is no abnormality in the container information and/or the cargo information, or after the operator has handled the abnormality, the method further includes:

judging whether the number of containers on a storage shelf of the transfer robot is zero or not;

and if so, acquiring the interactive information with the operator to determine whether the carrying robot continues to load the container.

9. The method of claim 7,

when there is no abnormality in the container information and/or the cargo information, or after the operator has handled the abnormality, the step of sending the container information and/or the cargo information further includes:

10. A goods shelving method is characterized by being applied to a management platform and comprising the following steps:

receiving container information and/or goods information sent by a transfer robot, wherein the container information and/or the goods information are obtained by scanning the container and/or goods in the container when a storage shelf of the transfer robot is loaded into the container;

assigning a first target location for the container;

the first target position is transmitted to the transfer robot to cause the transfer robot to transfer the container to the first target position.

11. The method of claim 10, further comprising:

receiving successful racking information sent by the transfer robot when the transfer robot successfully transfers the container to the first target position;

and binding the first target position, the container information and/or the cargo information of the container moved into the first target position according to the successful shelving information, and recording the binding information to a database.

12. The method of claim 11, wherein prior to the step of assigning the first target location to the container, the method further comprises:

judging whether the first target position is matched with the container;

if not, sending a unloading instruction to the carrying robot;

and receiving a successful unloading instruction sent by the transfer robot after successful unloading, wherein the successful unloading instruction carries information of the container unloaded by the transfer robot and/or information of the goods in the container.

13. The method according to any one of claims 10 to 12, further comprising:

receiving a loading demand, wherein the loading demand carries a second target position;

generating a loading task according to the loading requirement, and matching a carrying robot for the loading task;

and sending the pick up task to the transfer robot.

14. A device for racking goods, for use in a transfer robot provided with at least one storage rack for the goods, the device comprising:

the first acquisition module is used for acquiring the container information of the containers and/or the cargo information of the cargos in the containers when the idle storage shelves on the transfer robot are loaded with a specified number of containers;

the first sending module is used for sending the container information and/or the cargo information;

a first receiving module, configured to receive a first target location allocated to the container according to the container information and/or the cargo information;

and the carrying module is used for carrying the container to the first target position.

15. A device for putting goods on shelf, which is applied to a management platform, and comprises:

the third receiving module is used for receiving container information and/or goods information sent by a transfer robot, wherein the container information and/or the goods information are obtained by scanning goods in a container and/or the container when a storage shelf of the transfer robot is loaded into the container;

a distribution module for distributing a first target position for the container;

a third sending module, configured to send the first target position to the transfer robot, so that the transfer robot transfers the container to the first target position;

a fourth receiving module, configured to receive successful racking information sent by the transfer robot when the transfer robot successfully transfers the container to the first target location;

and the recording module is used for binding the first target position, the container information and/or the cargo information of the container moved into the first target position according to the successful shelving information and recording the binding information to a database.

16. A transfer robot, characterized by comprising:

at least one storage shelf, the at least one storage shelf being arranged in a stack;

the lifting device is used for lifting or lowering the carrying device so that the carrying device reaches the height position of any storage shelf;

the first detection device is arranged on the carrying device and used for scanning a container on the carrying device or scanning the container on the storage shelf;

the second detection device is arranged on the carrying device and used for scanning the containers on the storage shelf;

at least one processor connected with the first detection device and the second detection device; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

17. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any one of claims 1-9.

18. A management platform, comprising:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 10-13.

19. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any one of claims 10-13.