CN113306938B

CN113306938B - Cargo transportation method and device, transfer device, warehousing system and storage medium

Info

Publication number: CN113306938B
Application number: CN202110672049.1A
Authority: CN
Inventors: 杨穗梅; 谢超
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2023-01-10
Anticipated expiration: 2041-06-17
Also published as: CN113306938A

Abstract

The utility model provides a freight method, device, transfer device, warehouse system and storage medium, this freight method is applied to the transfer device, the transfer device includes the lifting machine, keeps in goods shelves and transfer line subassembly, the goods shelves of keeping in include the support frame and set up the transport mechanism on the support frame, the butt joint of the goods access & exit of transport mechanism's one end and lifting machine, the butt joint of the goods access & exit of the other end of transport mechanism and transfer line subassembly, the method includes: determining goods to be transported; based on the transport mechanism of the goods shelves of keeping in, will wait to transport freight to transmission line subassembly or lifting machine, the transmission mechanism through the goods shelves of keeping in that provides carries out the transportation of goods, the transfer or the buffer memory of goods on lifting machine and the transmission line subassembly have been realized, when the goods of warehouse system transportation is more, through deposit the goods temporarily on the goods shelves of keeping in, the latency of lifting machine has been reduced, and avoided the transmission line subassembly to be suspended or reduced transfer rate, the efficiency of freight has been improved.

Description

Cargo transportation method and device, transfer device, storage system and storage medium

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a cargo transportation method, a cargo transportation device, a transfer device, a warehousing system and a storage medium.

Background

The intelligent warehousing system based on the warehousing robot adopts an intelligent operating system, realizes automatic extraction, storage and transportation of goods through system instructions, can continuously operate for 24 hours, replaces manual management and operation, improves the warehousing efficiency, and is widely applied and favored.

When the intelligent warehousing system receives warehousing, sorting or ex-warehouse orders, the goods need to be transported through one or more transport lines, so that warehousing, sorting or ex-warehouse of the goods is completed. When warehouse system's order volume is great, the transportation of a plurality of goods is carried out simultaneously on a transportation line, in order to ensure freight's security, need keep certain interval between the goods to when the goods quantity of transportation is more, often need stop the transportation line temporarily, lead to goods transportation efficiency lower.

Disclosure of Invention

The utility model provides a freight transportation method, device, transfer device, warehouse system and storage medium has realized that the buffer memory of goods has been realized to the goods shelves of keeping in the transfer device, has alleviateed the pressure of former transfer chain freight, has improved freight's efficiency.

In a first aspect, an embodiment of the present disclosure provides a cargo transportation method, where the method is applied to a transfer device, the transfer device includes a hoist, a temporary storage rack, and a transfer line assembly, the temporary storage rack includes a support frame and a transfer mechanism disposed on the support frame, one end of the transfer mechanism is in butt joint with a cargo entrance and exit of the hoist, and the other end of the transfer mechanism is in butt joint with a cargo entrance and exit of the transfer line assembly, and the method includes:

determining goods to be transported; and based on the conveying mechanism of the temporary storage shelf, the goods to be transported are conveyed to the conveying line assembly or the lifting machine.

Optionally, based on the transport mechanism of the temporary storage rack, the goods to be transported is transported to the transfer line assembly or the elevator, and the transport line assembly or the elevator includes:

and based on the conveying direction of the goods to be conveyed, conveying the goods to be conveyed to the conveying line assembly or the elevator through the conveying mechanism.

Optionally, based on the conveying direction of the goods to be transported, the goods to be transported is transported to the conveying line assembly or the elevator through the conveying mechanism, including:

when the conveying direction of the goods to be conveyed is a first direction, conveying the goods to be conveyed to the conveying line assembly based on the conveying mechanism of the temporary storage shelf; and/or when the conveying direction of the goods to be conveyed is a second direction, conveying the goods to be conveyed to the elevator based on the conveying mechanism of the temporary storage rack; wherein the first direction and the second direction are two opposite transport directions.

Optionally, after determining the cargo to be transported, the method further includes:

determining the conveying direction of the goods to be conveyed according to the conveying task of the goods to be conveyed and/or the position of the goods to be conveyed; and determining the conveying direction of a preset layer of the conveying mechanism based on the conveying direction of the goods to be conveyed so as to convey the goods to be conveyed to the conveying line assembly or the lifting machine based on the preset layer of the conveying mechanism.

Optionally, the method further includes:

and determining a preset layer of the conveying mechanism corresponding to the goods to be conveyed, so that the goods to be conveyed are conveyed to the conveying line assembly or the lifting machine based on the preset layer along the conveying direction of the goods to be conveyed.

Optionally, determining the preset layer of the conveying mechanism corresponding to the goods to be transported includes:

and when the conveying direction of the goods to be conveyed is a first direction, determining the preset layer of the conveying mechanism corresponding to the goods to be conveyed according to the goods conveyed by the conveying line assembly.

and determining the conveying speed of the conveying mechanism according to the goods corresponding to the hoister or the goods conveyed by the conveying line assembly.

Correspondingly, based on the transport mechanism of the goods shelves of keeping in, with the goods of waiting to transport to transfer line subassembly or lifting machine includes:

and controlling the conveying mechanism to convey the goods to be conveyed to the conveying line assembly or the lifting machine based on the conveying speed.

Optionally, determining the conveying speed of the conveying mechanism according to the goods corresponding to the elevator or the goods transported by the conveying line assembly, includes:

when the conveying direction of the goods to be conveyed is a first direction, determining the conveying speed of the conveying mechanism according to the position of the goods conveyed by the conveying line assembly and the conveying speed of the conveying line assembly, so as to control the conveying mechanism to convey the goods to be conveyed to the conveying line assembly based on the conveying speed; and/or when the conveying direction of the goods to be conveyed is a second direction, determining the conveying speed of the conveying mechanism according to the number of layers of the lifting machine and the position of each goods corresponding to the lifting machine, so as to control the conveying mechanism to convey the goods to be conveyed to the lifting machine based on the conveying speed.

Optionally, the method further includes:

when the goods to be transported are placed on a preset layer of the conveying mechanism, collecting detection information of the goods to be transported based on the conveying mechanism; judging whether the goods to be transported meet the transportation condition or not based on the detection information; and if so, transporting the goods to be transported to the conveying line assembly or the elevator based on the conveying mechanism.

Optionally, the detection information is one or more of a cargo identifier, a cargo size, and a cargo weight of the cargo to be transported, and based on the detection information, it is determined whether the cargo to be transported meets a transportation condition, where the determination includes at least one of:

judging whether the goods identification of the goods to be transported is a preset identification; judging whether the size of the goods is within a preset size range or not; judging whether the weight of the goods is within a preset weight range; if at least one item is not, determining that the goods to be transported do not meet the transportation condition.

Optionally, when the cargo to be transported does not satisfy the transportation condition, the method further includes:

and determining that the direction of the preset layer of the conveying mechanism is the opposite direction of the conveying direction of the goods to be conveyed so as to convey the goods to be conveyed back along the original path.

Optionally, when the conveying direction of the goods to be transported is a first direction and the goods to be transported does not satisfy the transportation condition, the method further includes:

and controlling the robot to carry the goods to be transported to an operation platform or a storage position corresponding to the goods to be transported.

Optionally, when the conveying direction of the goods to be transported is a second direction and the goods to be transported does not satisfy the transportation condition, the method further includes:

transporting the goods to be transported to a second preset layer of the conveying mechanism through a lifting machine, wherein the conveying direction of the second preset layer is opposite to that of the preset layer; and transporting the goods to be transported to the conveying line assembly based on the second preset layer.

Optionally, the transfer device further includes a fluent shelf, a goods entrance and exit of the fluent shelf is in butt joint with a goods entrance and exit of one end of the lifting machine, which is far away from the temporary storage shelf, so as to transfer the goods on the lifting machine to a transfer robot through the fluent shelf, or transfer the goods on the transfer robot to the lifting machine through the fluent shelf, and when the transfer direction of the goods to be transported is the second direction, the method further includes:

determining a target layer of the fluent goods shelf corresponding to the goods to be transported; and generating a lifting control signal of the lifter based on the target layer, so that the lifter is controlled to lift the goods to be transported to the target layer of the fluent goods shelf based on the lifting control signal.

Optionally, determining a target layer of the fluent goods shelf corresponding to the goods to be transported includes:

and determining a target layer of the fluent goods shelf corresponding to the goods to be transported according to the goods size of the goods to be transported.

In a second aspect, the embodiment of the present disclosure further provides a cargo transportation device, the cargo transportation device is applied to the transfer device, the transfer device includes the lifting machine, keeps in goods shelves and transfer line subassembly, the goods shelves of keeping in include the support frame and set up transport mechanism on the support frame, transport mechanism's one end with the butt joint of goods access & exit of lifting machine, transport mechanism's the other end with the butt joint of goods access & exit of transfer line subassembly, the cargo transportation device includes:

the goods determining module is used for determining goods to be transported; and the goods transportation module is used for transporting the goods to be transported to the transmission line assembly or the lifting machine based on the transmission mechanism of the temporary storage shelf.

In a third aspect, an embodiment of the present disclosure further provides a transfer device, which is used for transferring and transporting goods during loading or unloading in a storage system, where the transfer device includes a lifting machine, a temporary storage rack, a transfer line assembly, and a main control unit; the temporary storage rack comprises a support frame and a conveying mechanism arranged on the support frame, one end of the conveying mechanism is in butt joint with a goods entrance and exit of the hoister, and the other end of the conveying mechanism is in butt joint with the goods entrance and exit of the conveying line assembly; the main control unit is used for executing the cargo transportation method provided by any embodiment corresponding to the first aspect of the present disclosure.

In a fourth aspect, an embodiment of the present disclosure further provides a warehousing system, where the warehousing system includes a warehousing shelf and a transfer device provided by an embodiment corresponding to the third aspect of the present disclosure.

In a fifth aspect, the disclosed embodiments further provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when a processor of a transit device executes the computer-executable instructions, a cargo transport device is enabled to implement a cargo transport method provided in any embodiment corresponding to the first aspect of the present disclosure.

In a sixth aspect, an embodiment of the present disclosure further provides a computer program product, including a computer program, where when the computer program is processed and executed by a transit device or a warehousing system, the cargo transportation device implements the cargo transportation method provided in any embodiment corresponding to the first aspect of the present disclosure.

The cargo transportation method, the cargo transportation device, the transfer device, the warehousing system and the storage medium provided by the embodiment of the disclosure are directed at the transfer device comprising the lifting machine, the temporary storage rack and the transmission line assembly, when the to-be-transported cargo needing to be transported through the transfer device exists, the to-be-transported cargo is transported to the transmission line assembly or the lifting machine through the transmission structure of the temporary storage rack, so that the to-be-transported cargo is delivered or warehoused. The temporary storage goods shelf realizes transfer or cache of goods transported on the hoister or the transport line assembly, when the transported goods are in large quantity, the hoister can transfer the goods to the temporary storage goods shelf to reduce waiting time of the hoister, so that the hoister does not need to wait for transporting the next batch of goods after all goods on the hoister are transported by the transport line assembly, and the working efficiency of the hoister and the efficiency of goods transportation are improved; simultaneously, when the quantity of the goods of transportation is more, through the goods buffer memory to the goods shelves of keeping in with transporting on the transfer line subassembly to need not to slow down the transmission speed of transfer line subassembly, with the interval between the goods of keeping transporting on the transfer line subassembly, improved the work efficiency of transfer line subassembly and freight's efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

Fig. 1 is a first schematic structural diagram of a transfer device according to a first embodiment of the present disclosure;

fig. 2 is a second schematic structural diagram of a transfer device according to an embodiment of the disclosure;

fig. 3 is a schematic structural diagram of a third relay device according to a first embodiment of the disclosure;

fig. 4 is a schematic diagram of a fourth structure of a transfer device according to a first embodiment of the disclosure;

fig. 5 is a schematic structural diagram of a warehousing system provided by a second embodiment of the disclosure;

fig. 6 is a flowchart of a cargo transportation method provided in the third embodiment of the present disclosure;

fig. 7 is a flowchart of a cargo transportation method according to a fourth embodiment of the disclosure;

fig. 8 is a flowchart of a cargo transportation method according to a fifth embodiment of the present disclosure;

fig. 9 is a flowchart of a cargo transportation method according to a sixth embodiment of the present disclosure;

fig. 10 is a schematic structural view of a cargo transporter according to a seventh embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of a transfer device according to an eighth embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of a warehousing system provided by a ninth embodiment of the disclosure.

Reference numerals:

100-a transfer device;

10-a hoist;

101-a column;

102-a lifting mechanism;

11-temporary storage racks;

111-a support frame;

112-a transport mechanism;

1121-rolling conveyor;

12-conveyor line assembly

121-a substrate;

122-a transmission line;

13-fluent shelves;

200-cargo;

300-a warehousing system;

301-transfer robot.

Detailed Description

In order to make the aforementioned objects, features and advantages of the embodiments of the present disclosure more comprehensible, embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The present disclosure is described in detail below with reference to the drawings and specific embodiments.

The inventor of the present disclosure found in the actual working process that the main reason for the low working efficiency of the relay device in the related art is: the prior transfer device comprises a fluent goods shelf, a lifting machine and a transmission line, wherein a goods access of the fluent goods shelf is in butt joint with one end of the lifting machine, the other end of the lifting machine is in butt joint with the transmission line, however, when the transmission line conveys goods to one end close to the lifting machine, if a lifting mechanism used for bearing the goods on the lifting machine is not lifted to a position in butt joint with the goods access of the transmission line, the transmission line needs to stop conveying and wait, after the lifting mechanism is in butt joint with the goods access of the transmission line, the transmission line conveys the goods to the lifting mechanism, and therefore the technical problem that the operation efficiency of the transfer device is low is caused.

In order to solve the above problem, the embodiment of the present disclosure provides a transfer device and a warehousing system, in the transfer device, a temporary storage rack is arranged between a lifting machine and a transfer line assembly, the temporary storage rack includes a support frame and a transfer mechanism arranged on the support frame, wherein one end of the transfer mechanism is butted with a goods entrance and exit of the lifting machine, and the other end of the transfer mechanism is butted with the goods entrance and exit of the transfer line assembly.

In order to make the above objects, features and advantages of the embodiments of the present disclosure more comprehensible, embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without inventive step, are intended to be within the scope of the present disclosure.

Example one

Fig. 1 is a first schematic structural diagram of a transfer device according to a first embodiment of the disclosure; fig. 2 is a schematic structural diagram of a second transfer device according to a first embodiment of the disclosure; fig. 3 is a schematic structural diagram of a third relay device according to a first embodiment of the disclosure.

Referring to fig. 1 to 3, an embodiment of the present disclosure provides a transfer device for transferring transportation when a transfer robot is loaded or unloaded, wherein the transfer device 100 includes a lift 10, a temporary storage rack 11, and a conveyor line assembly 12.

The temporary storage rack 11 includes a support frame 111 and a transfer mechanism 112 disposed on the support frame 111, one end of the transfer mechanism 112 is butted against a goods 200 entrance/exit of the hoist 10, the other end of the transfer mechanism 112 is butted against a goods 200 entrance/exit of the transfer line assembly 12, and the goods 200 transferred to the hoist 10 by the transfer line assembly 12 or the goods 200 transferred to the transfer line assembly 12 by the hoist 10 can be temporarily stored on the transfer mechanism 112.

Specifically, by providing the temporary storage rack 11 between the elevator 10 and the transmission line assembly 12, in the temporary storage rack 11, one end of the transmission mechanism 112 is butted with the goods 200 entrance of the elevator 10, and the other end of the transmission mechanism 112 is butted with the goods 200 entrance of the transmission line assembly 12, so that when the transmission line assembly 12 transmits the goods 200 to the elevator 10, the goods 200 can be transmitted to the temporary storage rack 11, and when the goods 200 entrance of the elevator 10 is butted with the transmission mechanism 112, the goods 200 are transmitted to the elevator 10, so that the transmission line assembly 12 does not need to wait, and when the elevator 10 transmits the goods 200 to the transmission line assembly 12, the goods 200 transmitted by the elevator 10 are temporarily stored on the temporary storage rack 11, and when the transmission line assembly 12 transmits the goods 200, the goods 200 are transmitted to the transmission line assembly 12, so that the elevator 10 does not need to wait, and thus the operation efficiency of the transfer device 100 can be improved.

In some embodiments, the transfer mechanism 112 includes a rolling transfer member 1121, and the rolling transfer member 1121 can rotate about its own rotation axis in the transfer direction of the cargo 200 to transfer the cargo 200 on the transfer mechanism 112 to the hoist 10 or to transfer the cargo 200 on the transfer mechanism 112 to the transfer line assembly 12.

Illustratively, the rolling transfer member 1121 may be a plurality of rotating rollers, and when the rolling transfer member 1121 is a rotating roller, the plurality of rotating rollers are arranged in parallel along the transfer direction of the cargo 200, and each rotating roller rotates around its own axis, so as to achieve the purpose that the transfer mechanism 112 moves along the transfer direction of the cargo 200.

Alternatively, the rolling transmission member 1121 may also be a conveyor belt, such as a belt, etc., for which the embodiment is not limited.

In some embodiments, the temporary storage rack 11 further includes a driving mechanism connected to the conveying mechanism 112, and when the temporary storage rack 11 needs to convey the goods 200 to the elevator 10 or the conveyor line assembly 12, the driving mechanism drives the conveying mechanism 112 to move along the conveying direction of the goods 200 so as to convey the goods 200 to the elevator 10 or the conveyor line assembly 12.

In order to improve the automation degree of the transfer device 100, in this embodiment, the transfer device 100 further includes a controller, the controller is electrically connected to the driving mechanism, and the controller controls the driving mechanism to start and stop, when the controller controls the driving mechanism to start, the driving mechanism drives the conveying mechanism 112 to move along the conveying direction of the goods 200, and when the controller controls the driving mechanism to stop, the conveying mechanism 112 stops moving, and at this time, the goods 200 are temporarily stored on the driving mechanism.

Optionally, a detection component is disposed at one end of the transmission mechanism close to the elevator 10, for example, an infrared sensor, a pressure sensitive switch, a travel switch, etc., and it is detected through the detection component whether the entrance and exit of the goods 200 of the elevator 10 are in butt joint with the transmission mechanism 112, and the detection component can also detect whether the goods 200 are on the elevator 10, and in addition, a gravity sensing component is disposed on the transmission mechanism 112, specifically, when the detection component detects that the entrance and exit of the goods 200 of the elevator 10 are in butt joint with the transmission mechanism 112, and the elevator 10 has the goods 200, and when the gravity sensing component on the transmission mechanism 112 detects that no goods 200 are on the transmission mechanism 112, the detection component or the gravity sensing component feeds back the signal to the controller, and the controller controls the transmission mechanism 112 to drive the transmission mechanism 112 to rotate toward one side of the transmission line assembly 12, so as to transmit the goods 200 on the elevator 10 to the transmission line assembly 12, or when the goods 200 on the elevator 10 are transmitted to the transmission mechanism, the transmission mechanism 112 stops rotating, and the goods 200 are temporarily stored on the transmission mechanism 112 as needed; when the detecting element detects that the elevator 10 is in butt joint with the inlet and outlet of the goods 200, the gravity sensing element detects gravity, and the detecting element detects that no goods 200 are on the elevator 10, the controller controls the driving mechanism to drive the conveying mechanism 112 to move towards one side of the elevator 10 according to a signal fed back by the detecting element or the gravity sensing element, so as to convey the goods 200 on the conveying mechanism 112 to the elevator 10.

In one embodiment, the driving mechanism may be a driving motor, and the controller changes the conveying direction of the conveying mechanism 112 by controlling the driving motor to rotate forward or backward.

In addition, as shown in fig. 1 to fig. 3, the conveying mechanism 112 may have at least two layers, and the conveying directions of the at least two layers of conveying mechanism 112 may be the same or different, for example, the conveying direction of the at least one layer of conveying mechanism 112 is opposite to that of the other conveying mechanisms 112.

By providing the transfer mechanism 112 in multiple stages, the buffer capacity of the buffer stocker 11 can be increased, and the work efficiency between the hoist 10 and the transfer line unit 12 can be improved.

On this basis, the conveying line assembly 12 includes a base 121 and at least two layers of conveying lines 122 disposed on the base 121, the conveying direction of at least one layer of conveying line 122 in the at least two layers of conveying lines 122 is opposite to the conveying direction of the other conveying lines 122, and the at least two layers of conveying lines 122 are respectively butted with the at least two layers of conveying mechanisms 112, and one layer of conveying line 122 is butted with one layer of conveying mechanism 112, so that the goods 200 on the conveying line 122 can be simultaneously conveyed to the hoisting machine 10 through the conveying mechanism 112, and the goods 200 on the hoisting machine 10 can also be simultaneously conveyed to the conveying line 122, of course, when the hoisting machine 10 is not butted with the goods 200 entrance/exit of the conveying mechanism 112, the goods 200 on the conveying line 122 can be temporarily stored on the conveying mechanism 112 to wait, and the operation efficiency of the transfer device 100 can be improved.

In some embodiments, the elevator 10 includes two opposite columns 101 and an elevator mechanism 102 horizontally installed between the two columns 101, the elevator mechanism 102 is used for carrying the cargo 200 and can move up and down relative to the columns 101, in this disclosure, as shown in fig. 1, the up refers to moving up along the vertical direction of the columns 101, and the down refers to moving down along the vertical direction of the columns 101.

In this way, the goods 200 are placed on the lifting mechanism 102 and move up and down with the lifting mechanism 102, so that the goods 200 can be placed on the conveying mechanisms 112 at different levels, or the goods 200 can be conveyed to the fluent goods shelf 13 and other devices at different heights through the lifting mechanism 102.

In some embodiments, the lifting mechanisms 102 have at least two layers, and when the lifting mechanisms 102 are connected to the conveying mechanisms 112, the lifting mechanisms 102 of at least two layers can be simultaneously connected to the conveying mechanisms 112 of each layer, and the lifting mechanisms 102 of one layer are connected to the conveying mechanisms 112 of one layer, so that the operation efficiency of the transfer device 100 can be improved.

Among other things, the lifting mechanism 102 may include a conveying member, such as a roller or a conveyor belt, which may rotate in a conveying direction of the cargo 200 to convey the cargo 200 from one end of the lifting mechanism 102 to the other end.

In addition, at least one of the at least two stages of the lifting mechanisms 102 may have a different transfer direction from the lifting mechanisms 102 of the other stages, so that the transfer of the cargos 200 in two different directions can be simultaneously performed, thereby improving the work efficiency of the loading device.

Fig. 4 is a schematic diagram of a fourth structure of the transfer device according to the first embodiment of the disclosure.

On the basis of the above-described embodiment, referring to fig. 4, the transfer device 100 further includes a fluent goods shelf 13, and the goods 200 gate of the fluent goods shelf 13 is butted against the goods 200 gate at the end of the elevator 10 far from the temporary storage shelf 11 to transfer the goods 200 on the elevator 10 to the transfer robot 301 through the fluent goods shelf 13, or transfer the goods 200 on the transfer robot 301 to the elevator 10 through the fluent goods shelf 13.

The fluent goods shelf 13 comprises a support and a conveying mechanism arranged on the support, one end of the conveying mechanism is in butt joint with a goods 200 inlet and outlet of the transfer robot 301, the other end of the conveying mechanism is in butt joint with a goods 200 inlet and outlet of the elevator 10, the goods 200 on the goods 200 lifting assembly are conveyed to the transfer robot 301 through the traction force of the conveying mechanism, and the transfer robot 301 is loaded with the goods 200; or the goods 200 on the transfer robot 301 are transferred to the elevator 10 to finish the unloading of the transfer robot 301, so that manual loading or unloading is not needed, the automation degree is high, and the operation efficiency is high.

In specific implementation, after the fork on the transfer robot 301 transfers the goods 200 to the fluent goods shelf 13, the fluent goods shelf 13 transfers the goods 200 to the lifting machine 10 from one end close to the transfer robot 301, the lifting machine 10 transfers the goods 200 to the temporary storage goods shelf 11, and after the temporary storage goods shelf 11 is butted with the goods 200 inlet and outlet of the conveying line 122, the goods 200 on the temporary storage goods shelf 11 are conveyed to the conveying line 122, so that the unloading of the transfer robot 301 is completed; or, the goods 200 on the conveying line 122 are transferred to the temporary storage rack 11 and temporarily stored on the temporary storage rack 11, after the entrance and exit of the goods 200 of the hoist 10 are butted with the temporary storage rack 11, the temporary storage rack 11 transfers the goods 200 to the hoist 10, after the entrance and exit of the goods 200 at the other end of the hoist 10 are butted with the fluent rack 13, the goods 200 are transferred to the fluent rack 13, the fluent rack 13 transfers the goods 200 from one end close to the hoist 10 to one end close to the transfer robot, the transfer robot 301 takes out the goods from the fluent rack 13 through forks and places the goods in a basket on the transfer robot, and the loading of the transfer robot 301 is completed.

The fork on the transfer robot 301 may be an insertion-lifting type fork, a suction cup type fork, or a push-pull type fork, and this embodiment is not limited to this.

In addition, the pack basket on the transfer robot 301 may be a carrying board installed on the transfer robot, the goods are placed on the carrying board, and the carrying board may be set to be multi-layered along the lifting direction of the transfer robot, so that the transfer robot can carry a plurality of goods at a time, thereby improving the transfer efficiency of the transfer robot 301.

In some embodiments, the goods are transferred and transported by the transfer device, the goods are transferred from the workbench/sorting station to the transfer robot, and the goods transferred by the transfer robot are transferred to the workbench/sorting station, so that the goods warehouse-out/warehouse-in operation between the transfer robot and the workbench/sorting station is completed.

The transfer device that the embodiment of the disclosure provides, through set up the goods shelves of keeping in between lifting machine and transfer line subassembly, the goods shelves of keeping in include the support frame and set up the transport mechanism on the support frame, wherein, transport mechanism's one end and the goods access & exit butt joint of lifting machine, transport mechanism's the other end and the goods access & exit butt joint of transfer line subassembly, thus, when the transfer line subassembly conveys the goods to the lifting machine, can convey the goods to the goods shelves of keeping in, when the goods access & exit of treating the lifting machine docks with transport mechanism, again convey the goods to the lifting machine, thus, the transfer line subassembly need not wait, when the lifting machine conveys the goods to the transfer line subassembly, through keeping in the goods that the lifting machine conveyed to the goods shelves of keeping in, when the transfer line subassembly conveys the goods, again convey the goods to the transfer line subassembly, thus, the lifting machine need not wait yet, thereby can improve the operating efficiency of transfer device.

Example two

Fig. 5 is a schematic structural diagram of a warehousing system provided by a second embodiment of the disclosure.

Referring to fig. 5, in the warehousing system provided by the embodiment of the present disclosure, the warehousing system 300 includes the transfer robot 301 and the transfer device 100 provided by the above embodiment, and the transfer device 100 is used for transferring transportation when the transfer robot 301 is loaded or unloaded.

The structure and the working principle of the transfer device are the same as those of the transfer device 100 provided in the above embodiment, and are not described in detail herein.

The transfer robot 301 is a conventional transfer robot, and the present embodiment is not particularly limited thereto.

The warehousing system that the embodiment of the disclosure provides, including transfer robot and transfer device, in the transfer device, through set up the goods shelves of keeping in between lifting machine and transfer line subassembly, the goods shelves of keeping in include the support frame and set up the transport mechanism on the support frame, wherein, transport mechanism's one end and the goods access & exit butt joint of lifting machine, transport mechanism's the other end and the goods access & exit butt joint of transfer line subassembly, thus, when the transfer line subassembly conveys the goods to the lifting machine, can convey the goods to the goods shelves of keeping in, when the goods access & exit of treating the lifting machine and the butt joint of transport mechanism, convey the goods to the lifting machine again, thus, the transfer line subassembly need not wait, when the lifting machine conveys the goods to the transfer line subassembly, through keeping in the goods that the lifting machine conveyed to the goods shelves of keeping in, when the transfer line subassembly conveys the goods, again convey the goods to the transfer line subassembly, thus, the lifting machine need not wait yet, thereby can improve the operating efficiency of transfer device.

EXAMPLE III

Fig. 6 is a flowchart of a cargo transportation method provided in the third embodiment of the present disclosure, where the cargo transportation method is applied to a transfer device, the transfer device is used for transferring and transporting cargos during loading or unloading of a transfer robot, and includes a hoist, a temporary storage rack and a transfer line assembly, the temporary storage rack includes a support frame and a transfer mechanism disposed on the support frame, one end of the transfer mechanism is butted with a cargo entrance and exit of the hoist, and the other end of the transfer mechanism is butted with the cargo entrance and exit of the transfer line assembly, as shown in fig. 6, the cargo transportation method includes the following steps:

step S601, determining a cargo to be transported.

The goods to be transported refers to goods to be transported through the transfer device, and the form of the goods to be transported may be a bin provided by a warehousing system or a container provided by a user, and the number of the goods to be transported may be one or more.

Specifically, each cargo to be transported may be determined according to a task order received by the warehousing system.

Specifically, when the goods to be transported are the goods to be put in storage, the goods to be transported need to be sequentially conveyed through the conveying line assembly of the transfer device, the temporary storage shelf and the elevator, and the goods to be transported on the conveying line assembly can be determined to be the goods to be transported.

Specifically, when the goods that await transportation goods are the goods that need to leave warehouse, need loop through lifting machine, the goods of keeping in goods shelves and transport transmission line subassembly transport of transfer device promptly, can be according to determining the goods that await transportation for one or more goods on the lifting machine.

Further, whether goods exist on the conveying line assembly or the hoisting machine or not can be judged based on goods sensors arranged on the conveying line assembly and/or the hoisting machine, such as a weight sensor, a visual sensor, a pressure sensor, an infrared sensor and the like, and if the goods exist, the goods are determined to be goods to be transported.

Specifically, the determining of the goods to be transported may be determining a goods identifier of the goods to be transported. The goods identification can be in the form of a code, a bar code, a two-dimensional code, and the like.

And step S602, transporting the goods to be transported to the conveying line assembly or the elevator based on the conveying mechanism of the temporary storage shelf.

The temporary storage rack is used to temporarily store each to-be-transported cargo from the conveying line assembly or the lifting machine, and may be the temporary storage rack 11 in the transfer device 100 provided in the embodiments shown in fig. 1 to 4 of the present disclosure.

Specifically, when waiting to transport the goods when the goods on the lifting machine, can be after the lifting machine aligns with the goods shelves of keeping in, will wait to transport the goods by this lifting machine and transport to the goods shelves of keeping in, perhaps transport the goods on the lifting machine to the goods shelves of keeping in through the goods shelves of keeping in, and then transport the goods transportation to this waiting to transport to the transfer line subassembly through the transport mechanism of the goods shelves of keeping in, thereby will wait to transport the goods transportation to the operation panel through the transfer line subassembly, in order to wait to transport the operation such as the letter sorting of goods, the packing, the warehouse-out.

Specifically, when the goods to be transported are the goods on the transmission line assembly, the goods to be transported can be transported to the temporary storage rack through the transmission line assembly, and then after the elevator is aligned with the temporary storage rack, the goods to be transported is transported to the elevator through the temporary storage rack, or the goods to be transported on the temporary storage rack is transported through the elevator, the elevator is controlled to ascend, so that the goods to be transported are lifted to the height corresponding to the preset layer of the fluency rack, so that the goods to be transported are temporarily stored in the preset layer of the fluency rack, or the goods to be transported are lifted to the height corresponding to the preset layer of the back basket of the robot, so that the goods to be transported are temporarily stored in the preset layer of the back basket of the robot, and then the robot finishes warehousing of the goods to be transported.

and transporting the goods to be transported to the transfer line assembly or the hoister through the transfer mechanism based on the transfer direction of the goods to be transported.

Wherein the direction of transfer of the goods to be transported may comprise two opposite directions.

Specifically, the conveying direction of the goods to be transported can be determined according to the type of the order task corresponding to the goods to be transported.

The types of the order tasks can comprise an entering type and an exiting type, goods to be transported under the entering type need to be transported to the operation platform from the corresponding storage position, and the goods to be transported under the exiting type need to be transported to the corresponding storage position from the operation platform.

Specifically, the direction of the goods to be transported can be determined according to the current position of the goods to be transported, so that the goods to be transported are transported to a conveying line assembly or a lifting machine through a conveying mechanism of the temporary storage rack based on the determined conveying direction.

Specifically, the conveying direction of the goods to be transported can be determined according to the position of the goods to be transported when the goods to be transported are transported to the transfer device. When the position of the goods to be transported is the position corresponding to the transfer line assembly when the goods to be transported are transported to the transfer device, determining the transfer direction as the warehousing direction; and when the position of the goods to be transported is the position corresponding to the hoisting machine when the goods to be transported are transported to the transfer device, determining that the conveying direction is the warehouse-out direction.

Specifically, when the conveying direction is the warehousing direction, the goods to be transported on the conveying line assembly can be conveyed to the elevator based on the conveying mechanism of the temporary storage shelf; when the direction of transfer is the direction of delivering from godown, can be based on the transport mechanism of the goods shelves of keeping in with the transfer conveyor assembly of waiting to transport on the lifting machine.

when the conveying direction of the goods to be conveyed is a first direction, conveying the goods to be conveyed to the conveying line assembly based on the conveying mechanism of the temporary storage shelf; and/or when the conveying direction of the goods to be conveyed is the second direction, conveying the goods to be conveyed to the elevator based on the conveying mechanism of the temporary storage rack.

The first direction and the second direction are two opposite transportation directions, the first direction can correspond to the warehouse-out direction, and the second direction can correspond to the warehouse-in direction. When the conveying direction of the goods to be transported is a first direction, the goods to be transported are conveyed to a shelf of a storage system through a transfer device; and when the conveying direction of the goods to be transported is the second direction, the goods to be transported is indicated to be transported to the operation table through the transfer device so as to be packaged, sorted and the like.

The goods transportation method that this embodiment provided, to the transfer device including lifting machine, the goods shelves of keeping in and transmission line subassembly, when there is the goods that wait to transport that need transport through this transfer device, through the transport structure of the goods shelves of keeping in, with this goods that wait to transport to transmission line subassembly or lifting machine to the delivery warehouse or the warehouse entry of goods that the realization is waited to transport. The temporary storage goods shelf realizes transfer or cache of goods transported on the hoister or the transport line assembly, when the transported goods are in large quantity, the hoister can transfer the goods to the temporary storage goods shelf to reduce waiting time of the hoister, so that the hoister does not need to wait for transporting the next batch of goods after all goods on the hoister are transported by the transport line assembly, and the working efficiency of the hoister and the efficiency of goods transportation are improved; simultaneously, when the quantity of the goods of transportation is more, through the goods buffer memory to the goods shelves of keeping in with transporting on the transfer line subassembly to need not to slow down the transmission speed of transfer line subassembly, with the interval between the goods of keeping transporting on the transfer line subassembly, improved the work efficiency of transfer line subassembly and freight's efficiency.

Example four

Fig. 7 is a flowchart of a cargo transportation method according to a fourth embodiment of the present disclosure, where in the present embodiment, for a case where a conveying mechanism of a temporary storage rack is multi-tiered, the cargo transportation method according to the present embodiment is that, on the basis of the embodiment shown in fig. 6, steps of determining a conveying direction, determining a preset tier, and determining a conveying speed of the conveying mechanism are added after step S601, as shown in fig. 7, the cargo transportation method according to the present embodiment may include the following steps:

step S701, determining goods to be transported.

Step S702, determining a preset layer of the conveying mechanism corresponding to the goods to be transported.

The preset layer is a layer of a conveying mechanism used for conveying, temporarily storing or placing goods to be conveyed.

In some embodiments, each floor of the elevator corresponds to one floor of the temporary storage rack, and each floor of the temporary storage rack corresponds to one floor of the conveyor assembly, so step S702 may be omitted.

Specifically, the preset layer of the transport mechanism corresponding to the goods to be transported can be determined according to the task order corresponding to the goods to be transported. That is, when a task order is initiated, the preset layer of the transport mechanism corresponding to each cargo to be transported may be configured in the task order.

Specifically, the preset layer of the conveying mechanism corresponding to the goods to be transported can be determined according to the size information of the goods to be transported.

The size information of the goods to be transported may include the width of the goods to be transported, and may also include the height of the goods to be transported.

In some embodiments, the size information of each layer of the conveying structure of the buffer storage rack may be different, such as different heights or different widths, and therefore, different preset layers need to be determined for the goods with different size information, so as to facilitate the transportation of the goods with various sizes.

and when the conveying direction of the goods to be conveyed is a first direction, determining a preset layer of a conveying mechanism corresponding to the goods to be conveyed according to the goods conveyed by the conveying line assembly.

Specifically, each layer of the conveying mechanism of the temporary storage rack can correspond to each layer of the conveying line assembly one by one. When the direction of transfer of goods that await transportation is first direction, the goods that await transportation promptly need loop through lifting machine 10, the goods shelves and the transfer line subassembly of keeping in transit and transport to the operation panel, accomplish the warehouse-out of the goods that await transportation through processing such as the letter sorting of operation panel, packing. After determining the goods to be transported, such as after determining the goods identifier of the goods to be transported, the preset layer of the transport mechanism corresponding to the goods to be transported may be determined based on the number and/or location of the goods being transported on each layer of the transport line assembly before the goods to be transported are transported to the temporary storage shelf.

Further, the layer with the least quantity of the goods being transported by the conveyor line assembly can be determined as the preset layer of the conveying mechanism corresponding to the goods to be transported; or, the layer of the goods transported by the transporting line assembly, which is farthest from the transporting mechanism or the temporary storage rack, may be determined as the preset layer of the transporting mechanism corresponding to the goods to be transported; or for each layer of the conveying line assembly, the first number of the goods being transported on the layer at the current moment and the first distance between the goods closest to the conveying mechanism or the temporary storage rack and the conveying mechanism or the temporary storage rack in the layer of the goods being transported can be determined, and the layer with the smallest first number of the goods being transported in each layer with the first distance larger than the preset distance is determined to be the preset layer of the conveying mechanism corresponding to the goods to be transported.

Specifically, when the conveying direction of the goods to be transported is the second direction, the goods to be transported need to be conveyed sequentially through the conveying line assembly, the temporary storage shelf and the hoister, so that the goods to be transported are conveyed to the fluent storage shelf, and then the robot carries the goods to be transported to the corresponding storage position of the warehouse, so that the goods to be transported are put in storage. After determining the goods to be transported, before the goods to be transported are transported to the temporary storage rack, the preset layer of the transport mechanism corresponding to the goods to be transported may be determined based on the second preset layer of the transport mechanism corresponding to each goods located before the goods to be transported that is being transported on the transport line assembly.

Further, for each layer of the conveying mechanism, the second quantity of each cargo before the cargo to be conveyed, which is being conveyed on the conveying line assembly corresponding to the layer, may be counted, and it is determined that one layer of the corresponding conveying mechanism with the smallest second quantity is the preset layer of the conveying mechanism corresponding to the cargo to be conveyed.

In some embodiments, the transfer speed may be different for different levels of the transfer mechanism, and the maximum number of products that can be transported may also be different for different levels. The difference between the maximum number and the second number corresponding to each layer of the conveyor line mechanism may be calculated, and the layer of the conveyor line mechanism having the maximum difference between the maximum number and the second number is determined as the preset layer of the conveyor line mechanism corresponding to the cargo to be transported.

Step S703, determining a conveying direction of the goods to be transported according to the transportation task of the goods to be transported and/or the position of the goods to be transported.

Wherein the transportation task may be part of an order task of the warehousing system.

Specifically, if the transportation task is a warehouse-out task, determining that the conveying direction of the goods to be transported is a first direction; and if the transportation task is a warehousing task, determining that the conveying direction of the goods to be transported is a second direction. The type of the transportation task can be determined according to the type of the order task, when the type of the order task is an ex-warehouse type, each transportation task divided by the order task is an ex-warehouse task, and when the type of the order task is a in-warehouse type, each transportation task divided by the order task is an in-warehouse task.

Specifically, the conveying direction of the goods to be transported can be determined according to the current position of the goods to be transported.

Further, if the goods to be transported are determined to be positioned on a lifting machine, a fluent goods shelf, a robot or a goods shelf and the like according to the current position of the goods to be transported, determining that the conveying direction of the goods to be transported is a first direction; and if the goods to be transported are determined to be positioned on the conveying line assembly or the operation table and the like according to the current position of the goods to be transported, determining that the conveying direction of the goods to be transported is the second direction.

Further, if the transportation task corresponding to the goods to be transported is an ex-warehouse task and the goods to be transported is located on a lifting machine, a fluent goods shelf, a robot or a goods shelf and the like according to the position of the goods to be transported, determining that the conveying direction of the goods to be transported is a first direction; and if the transportation task corresponding to the goods to be transported is a warehousing task and the goods to be transported is positioned on the conveying line assembly or the operation platform according to the position of the goods to be transported, determining that the conveying direction of the goods to be transported is the second direction.

Step S704, determining a conveying direction of a preset layer of the conveying mechanism based on the conveying direction of the cargo to be transported.

Specifically, when the conveying direction of the goods to be transported is a first direction, the conveying direction of a preset layer of the conveying mechanism is determined to be a third direction; and when the conveying direction of the goods to be conveyed is the first direction, determining the conveying direction of the preset layer of the conveying mechanism to be the fourth direction. The goods to be transported are transported to the transport line assembly from the elevator by the preset layer of the transport mechanism in the third direction; and in the fourth direction, the goods to be transported are transported to the elevator from the transporting line assembly by the preset layer of the transporting mechanism.

Illustratively, the third direction is a direction corresponding to point B pointed by point a of the preset layer of the transport mechanism, and the fourth direction is a direction corresponding to point a pointed by point B of the preset layer of the transport mechanism, where point a and point B are points on two opposite edges of the transport mechanism.

Step S705, determining a transfer speed of the transfer mechanism according to the goods corresponding to the hoist or the goods transported by the transfer line assembly.

The goods corresponding to the hoister can be the goods which need to be hoisted to operate, can comprise the goods which need to be delivered from the warehouse on the fluent goods shelf, and can also comprise the goods which need to be delivered into the warehouse and are temporarily stored on the goods shelf and positioned in front of the goods to be transported.

In some embodiments, the number of tiers of the transfer mechanism and elevator may not match.

Specifically, when the conveying direction of the goods to be conveyed is the first direction, before the goods to be conveyed are conveyed to the conveying mechanism, the conveying speed of the conveying mechanism is determined according to each goods being conveyed on the conveying line assembly.

Further, the conveying speed of the conveying mechanism can be determined according to the position of each cargo being conveyed on the preset layer of the conveying line assembly, so that when the cargo to be conveyed is conveyed onto the conveying line assembly, the safe distance is kept between the cargo to be conveyed and the cargo closest to the cargo to be conveyed on the conveying line assembly.

Specifically, when the conveying direction of the goods to be conveyed is the second direction, before the goods to be conveyed are conveyed to the conveying mechanism, the conveying speed of the conveying mechanism is determined according to the goods which need to be operated by the elevator at present.

Furthermore, the operation time of the hoister can be determined according to the target layer of the fluent goods shelf corresponding to each goods corresponding to the hoister and the preset layer of the temporary storage goods shelf, and the transmission speed of the transmission mechanism is determined according to the operation time, so that after the hoister completes each operation before the goods to be transported, the transmission mechanism is controlled to transport the goods to be transported to one end, close to the hoister, of the transmission mechanism, and then the goods to be transported are transported to the target layer corresponding to the fluent goods shelf through the hoister.

Further, if the operation time is longer than the preset time, the preset layer of the conveying mechanism is controlled to stop running for a second time, and then the conveying mechanism runs based on the minimum conveying speed. The second time is determined by the difference between the operation time and the preset time.

when the conveying direction of the goods to be conveyed is a first direction, determining the conveying speed of the conveying mechanism according to the position of the goods conveyed by the conveying line assembly and the conveying speed of the conveying line assembly so as to control the conveying mechanism to convey the goods to be conveyed to the conveying line assembly based on the conveying speed; and/or when the conveying direction of the goods to be conveyed is a second direction, determining the conveying speed of the conveying mechanism according to the number of layers of the lifting machine and the position of each goods corresponding to the lifting machine, so as to control the conveying mechanism to convey the goods to be conveyed to the lifting machine based on the conveying speed.

Specifically, when the conveying direction of the goods to be conveyed is the first direction, the target time required for conveying the last goods to the target position is determined according to the position of the last goods currently conveyed on the preset layer of the conveying line assembly and the conveying speed of the conveying line assembly, and the conveying speed of the conveying mechanism is determined according to the target time, so that the goods to be conveyed are conveyed to the conveying line assembly after the target time. The target position is a position which is far away from the goods entrance and exit of the temporary storage shelf close to the conveying line assembly and is far away from the goods entrance and exit of the temporary storage shelf.

Specifically, when the transportation direction of the goods to be transported is the second direction, the operation time required for the elevator to transport each corresponding goods to the corresponding target position can be determined according to the number of layers of the elevator and the position of each corresponding goods of the elevator, wherein the target position can be a target layer of the fluent goods shelf or a preset layer of the conveying mechanism of the temporary storage goods shelf, and then the conveying speed of the conveying mechanism is determined based on the operation time.

Further, if there are multiple goods to be transported and the corresponding preset layers of at least two goods to be transported are different, for example, the third preset layer and the fourth preset layer, the transmission directions and the transmission speeds of the third preset layer and the fourth preset layer may be determined by the above method, respectively, and the transmission directions and the transmission speeds of the third preset layer and the fourth preset layer may be different.

Step S706, controlling the preset layer of the conveying mechanism to run along the conveying direction and at the conveying speed.

Step S707, based on the preset layer of the conveying mechanism, the goods to be conveyed are conveyed to the conveying line assembly or the elevator.

Specifically, when the conveying direction of the goods to be conveyed is the first direction, the goods to be conveyed are conveyed to the conveying line assembly based on the preset layer of the conveying mechanism, so that the goods to be conveyed are conveyed to the operating table through the conveying line assembly. And when the conveying direction of the goods to be conveyed is the second direction, conveying the goods to be conveyed to the elevator based on the preset layer of the conveying mechanism so as to convey the goods to be conveyed to the target layer of the fluent goods shelf through the elevator.

In this embodiment, after determining the goods to be transported, a preset layer of a suitable conveying mechanism of the temporary storage rack is allocated to the goods to be transported, so that the goods to be transported are transported through the preset layer, and the efficiency of goods transportation is improved; meanwhile, the conveying direction of a preset layer of the conveying mechanism is determined based on the conveying direction of the goods to be conveyed, and the conveying speed of the preset layer of the conveying mechanism is determined based on the conveying condition of upstream or downstream equipment of the temporary storage rack, so that the goods to be conveyed are conveyed to the upstream or downstream equipment of the conveying mechanism as fast as possible on the premise of ensuring the safety of the conveying, the time for conveying the goods is shortened, and the efficiency of goods conveying is further improved; the transportation of goods to be transported is carried out based on the determined direction of conveyance and the determined speed of conveyance on the preset layer, so that the upstream equipment and the downstream equipment of the temporary storage shelf, namely the elevator and the conveying line assembly, can carry out the operation of subsequent tasks more quickly, the operating efficiency of the elevator and the conveying line assembly is improved, and the goods transportation efficiency of the warehousing system is improved.

EXAMPLE five

Fig. 8 is a flowchart of a cargo transportation method according to a fifth embodiment of the present disclosure, where in this embodiment, for a case that a conveying mechanism of a temporary storage rack is multi-layered, on the basis of the embodiment shown in fig. 6, a step related to determining whether a to-be-transported cargo satisfies a transportation condition is added after step S601, and as shown in fig. 8, the cargo transportation method according to this embodiment may include the following steps:

step S801, determining a cargo to be transported.

Step S802, determining a preset layer of the conveying mechanism corresponding to the goods to be transported.

Step S803, when the goods to be transported are placed on the preset layer of the conveying mechanism, based on the conveying mechanism, collecting the detection information of the goods to be transported.

The detection information may include a cargo identifier of the cargo to be transported, and is used to determine whether the cargo to be transported is accurate, damaged, or not.

For example, the detection information may be a detection image of the goods to be transported, such as a detection image of a preset area including a goods identification code attached thereto, where the goods identification code may be in the form of a two-dimensional code, a barcode, a code, or the like, and the detection image may also be an image including the whole goods to be transported excluding the bottom surface, so as to determine whether the surface of the goods to be transported is damaged.

Specifically, the detection information of the goods to be transported can be acquired based on the goods detection device arranged on the conveying mechanism. The cargo detection device may include one or more of a visual sensor, a weight sensor, a pressure sensor, an infrared sensor, and the like.

Step S804, based on the detection information, judging whether the goods to be transported meet the transportation condition.

Specifically, whether the cargo identification in the detection information is consistent with the preset identification or not can be judged, and if not, it is determined that the cargo to be transported does not meet the transportation condition.

Specifically, when the goods identification in the detection information is consistent with the preset identification, whether the goods to be transported are damaged or not can be judged based on the detection information, and if yes, the goods to be transported do not meet the transportation condition.

Specifically, whether the weight of the goods in the detection information is within a preset weight range or whether the weight of the goods is consistent with the preset weight or not can be judged, and if not, it is determined that the goods to be transported do not meet the transportation condition.

Wherein, predetermine the weight scope and can be the transport mechanism of the goods shelves of keeping in or the safe weight scope that the layer can be transported in predetermineeing of transport mechanism.

In some embodiments, the preset weight ranges for different layers of the transport mechanism may be different. For example, the first layer corresponds to the largest preset weight range, and the highest layer corresponds to the smallest preset weight range.

Specifically, whether the size of the goods in the detection information is within a preset size range or whether the size of the goods is consistent with a preset size or not can be judged, and if not, the goods to be transported are determined not to meet the transportation condition.

The preset size range can be a safe size range which can be transported by a conveying mechanism of the temporary storage rack or a preset layer of the conveying mechanism.

In some embodiments, the predetermined size ranges for different layers of the transport mechanism may be different.

judging whether the goods identification of the goods to be transported is a preset identification; judging whether the size of the goods is within a preset size range or not; and judging whether the weight of the goods is within a preset weight range.

If at least one item is not, determining that the goods to be transported do not meet the transportation condition.

Specifically, it may be determined whether the weight of the cargo is within a preset weight range; if yes, judging whether the goods identification is a preset identification or not; if so, judging whether the size of the goods is in a preset size range, and if so, determining that the goods to be transported meet the transportation condition.

Further, the detection information may include a detection image and a cargo weight, and the determination of the transportation condition may be performed based on both the cargo weight and the detection image, that is, whether the cargo weight is within a preset weight range is determined, and the cargo identification and the cargo size of the cargo to be transported are identified based on the detection image, and whether the cargo identification is the preset identification and whether the cargo size is within the preset size range is determined, and if yes, it is determined that the cargo to be transported satisfies the transportation condition.

And step S805, if yes, the goods to be transported are transported to the transport line assembly or the elevator based on the preset layer of the transport mechanism.

Specifically, when the goods to be transported satisfy the transportation condition, the transportation of the goods to be transported is carried out on the basis of the preset layer of the transport mechanism so as to transport the goods to be transported to the transport line assembly or the elevator.

and determining the direction of a preset layer of the conveying mechanism to be the opposite direction of the conveying direction of the goods to be conveyed so as to convey the goods to be conveyed back along the original path.

Specifically, when the goods to be transported do not satisfy the transportation condition, the goods to be transported need to be transported back along the transportation route thereof, that is, the transportation direction of the preset layer of the transportation mechanism is reversed, so that the goods to be transported is transported back along the original route.

Step S806, when the conveying direction of the goods to be transported is the first direction and the goods to be transported does not meet the transportation condition, controlling the robot to convey the goods to be transported to an operation table or a storage position corresponding to the goods to be transported.

Specifically, when the conveying direction of the goods to be transported is the first direction, and the goods to be transported does not meet the transportation condition, in order to transport the goods to be transported back to the original storage position, that is, the storage position corresponding to the goods to be transported, a control instruction of the robot can be generated, so that the robot is controlled to transport the goods to be transported from the preset layer of the conveying mechanism to the original storage position of the goods to be transported.

Specifically, when the conveying direction of the goods to be transported is the first direction, and the goods to be transported does not meet the transportation condition, a control instruction of the robot may be generated, so that the robot is controlled to transport the goods to be transported to the operation console from the preset layer of the conveying mechanism, and the related personnel at the operation console further detect the goods to be transported to determine the cause of the abnormality.

Step S807, when the conveying direction of the goods to be conveyed is a second direction and the goods to be conveyed does not meet the conveying condition, conveying the goods to be conveyed to a second preset layer of the conveying mechanism through a lifting machine.

Wherein the second predetermined layer is opposite to the predetermined layer in the transfer direction.

Specifically, when the transfer direction of the goods to be transported is the second direction and the goods to be transported does not satisfy the transport condition, a control instruction of the elevator can be generated, so that the elevator is controlled to transport the goods to be transported to the second preset layer from the preset layer of the transfer mechanism.

Step S808, transporting the cargo to be transported to the transmission line assembly based on the second preset layer.

Specifically, the goods to be transported can be transported to the transmission line assembly through the second preset layer of the transmission mechanism, then the goods to be transported can be transported to the operation table through the transmission line assembly, and therefore the goods to be transported can be detected or replaced by related personnel of the operation table, and the correct goods to be transported can be stored in a warehouse.

For example, the conveying mechanism may include two layers, the conveying direction of the first layer is a third direction, the conveying direction of the second layer is a fourth direction, the third direction is opposite to the fourth direction, the third direction is a direction corresponding to warehouse-out, and the fourth direction is a direction corresponding to warehouse-in. The direction of transfer of goods when waiting to transport is the second direction, then predetermines the layer and be the second floor, when the goods that should wait to transport does not satisfy the transportation condition, can generate the control command of lifting machine to the control lifting machine will be waited to transport the goods by the second floor to the first floor, thereby will wait to transport the goods and leave warehouse, transport to the operation panel through the transfer line subassembly promptly.

In this embodiment, when goods are transported based on the temporary storage shelf, the goods to be transported need to be detected based on the conveying mechanism of the temporary storage shelf, so as to determine whether the goods to be transported meet transportation conditions, such as whether the goods to be transported are accurate goods or whether the goods to be transported are damaged, and only when the transportation conditions are met, the goods to be transported are put in or out of a warehouse, thereby ensuring the accuracy and safety of goods transportation; meanwhile, when the goods to be transported do not meet the transportation conditions, automatic handling of abnormal conditions can be achieved, for example, the goods to be transported are returned on the original way, or the robot is controlled to transport the goods to be transported to the operation table, so that further detection is carried out, the efficiency of abnormal handling is improved, smooth transportation of the goods is guaranteed, and the safety, accuracy and efficiency of goods transportation are improved.

Example six

Fig. 9 is a flowchart of a cargo transportation method provided in a sixth embodiment of the present disclosure, in this embodiment, for a case that a transfer direction of a cargo to be transported is a second direction, that is, the cargo to be transported is a cargo to be warehoused, in this embodiment, the transfer device further includes a fluent shelf, a cargo entrance and an exit of the fluent shelf are in butt joint with a cargo entrance and an exit of one end of the lifting machine, which is far away from the temporary storage shelf, so as to transfer the cargo on the lifting machine to the transfer robot through the fluent shelf, or transfer the cargo on the transfer robot to the lifting machine through the fluent shelf. In this embodiment, on the basis of the embodiment shown in fig. 6, a step of determining a target floor of a fluent shelf is added after step S601, and a step of generating a control signal of a hoist are performed, as shown in fig. 9, the cargo transportation method provided by this embodiment may include the following steps:

step S901, determining a cargo to be transported.

And S902, determining a preset layer of the conveying mechanism corresponding to the goods to be transported.

And step S903, determining the target layer of the fluent goods shelf corresponding to the goods to be transported.

Specifically, the target layer of the fluent goods shelf can be determined according to the order task corresponding to the goods to be transported. When the order task is initiated, the target layer of the fluent goods shelf can be configured for each goods to be transported in the order task.

Specifically, the transportation directions of different layers of the fluent shelf may be different, and the target layer of the fluent shelf corresponding to the goods to be transported may be determined according to the transportation direction of each layer of the fluent shelf and each goods being transported.

Further, from the layers of the fluent goods shelf whose transport direction matches the second direction, the layer that is the least in the number of the goods being transported may be determined as the target layer of the goods to be transported.

In particular, the maximum size of goods that can be transported on different levels of the fluent shelf may vary. Therefore, based on the goods size of the goods to be transported, the layer of the fluent goods shelf matched with the goods size is determined to be the target layer of the goods to be transported.

And step S904, generating a lifting control signal of the lifter based on the target floor.

Specifically, the lifting control signal of the lifting machine can be generated according to the height of the target layer, so that when the goods to be transported are transported to the lifting machine, the lifting machine is controlled to lift or lower the goods to be transported to the height corresponding to the target layer.

Step S905, after the goods to be transported on the transmission line assembly are transported to the preset layer of the conveying mechanism of the temporary storage rack, the detection information of the goods to be transported is collected based on the conveying mechanism.

Step S906, based on the detection information, judging whether the goods to be transported meet the transportation condition.

And step S907, if yes, transporting the goods to be transported to the elevator based on a preset layer of the transport mechanism.

Step S908, controlling the hoist based on the hoisting control signal to hoist the goods to be transported to the target layer of the fluent goods shelf.

In the embodiment, for goods to be transported which need to be warehoused, the goods to be transported can be safely and quickly warehoused by configuring a preset layer of a proper conveying mechanism and a target layer of a fluent goods shelf for the goods to be transported; meanwhile, when the goods to be transported are transported to the transport mechanism, the goods to be transported are detected based on the transport mechanism to judge whether the goods to be transported meet the transport conditions, if yes, warehousing of the goods to be transported is completed based on the preset layer of the transport mechanism, the elevator and the target layer of the fluent goods shelf, and the safety and the accuracy of goods transportation are improved.

EXAMPLE seven

Fig. 10 is the schematic structural diagram of the cargo transportation device that this disclosed embodiment seven provided, and the cargo transportation device is applied to the transfer device, and the transfer device includes lifting machine, the goods shelves of keeping in and transfer line subassembly, and the goods shelves of keeping in include the support frame and set up the transport mechanism on the support frame, and the one end of transport mechanism docks with the goods access & exit of lifting machine, and the other end of transport mechanism docks with the goods access & exit of transfer line subassembly, and as shown in fig. 10, this cargo transportation device includes: a cargo determination module 1010 and a cargo transport module 1020.

The goods determining module 1010 is configured to determine goods to be transported; and a cargo transportation module 1020, configured to transport the cargo to be transported to the transfer line assembly or the elevator based on the transfer mechanism of the temporary storage rack.

Optionally, the cargo transportation module 1020 is specifically configured to:

Optionally, the apparatus further comprises:

the transfer direction determining module is used for determining the transfer direction of the goods to be transported according to the transport tasks of the goods to be transported and/or the positions of the goods to be transported after the goods to be transported are determined; and determining the conveying direction of a preset layer of the conveying mechanism based on the conveying direction of the goods to be conveyed so as to convey the goods to be conveyed to the conveying line assembly or the lifting machine based on the preset layer of the conveying mechanism.

Optionally, the apparatus further comprises:

and the preset layer determining module is used for determining the preset layer of the conveying mechanism corresponding to the goods to be conveyed after determining the goods to be conveyed so as to convey the goods to be conveyed to the conveying line assembly or the lifting machine based on the preset layer along the conveying direction of the goods to be conveyed.

Optionally, the preset layer determining module is specifically configured to:

and when the conveying direction of the goods to be conveyed is the first direction, determining the preset layer of the conveying mechanism corresponding to the goods to be conveyed according to the goods conveyed by the conveying line assembly.

Optionally, the apparatus further comprises:

and the transmission speed determining module is used for determining the transmission speed of the transmission mechanism according to the goods corresponding to the hoister or the goods transmitted by the transmission line assembly after determining the goods to be transmitted.

Accordingly, the cargo transport module 1020 is specifically configured to:

Optionally, the transmission speed determining module is specifically configured to:

Optionally, the apparatus further comprises:

the detection information determining module is used for collecting the detection information of the goods to be transported based on the conveying mechanism when the goods to be transported are placed on a preset layer of the conveying mechanism; and the transportation condition judging module is used for judging whether the goods to be transported meet the transportation conditions or not based on the detection information.

Correspondingly, the cargo transportation module 1020 is specifically configured to, if the cargo to be transported meets the transportation condition, transport the cargo to be transported to the transfer line assembly or the elevator based on the transfer mechanism.

Optionally, the detection information is one or more of a cargo identifier, a cargo size, and a cargo weight of the cargo to be transported, and the transportation condition determining module is specifically configured to execute at least one of:

judging whether the goods identification of the goods to be transported is a preset identification or not; judging whether the size of the goods is within a preset size range or not; and judging whether the weight of the goods is within a preset weight range.

And if at least one item is not, determining that the goods to be transported do not meet the transportation condition.

Optionally, the apparatus further comprises:

and the goods returning module is used for determining that the direction of the preset layer of the conveying mechanism is the opposite direction of the conveying direction of the goods to be conveyed when the goods to be conveyed do not meet the conveying condition so as to return the goods to be conveyed along the original path.

Optionally, the apparatus further comprises:

and the first exception handling module is used for controlling the robot to carry the goods to be transported to an operation platform or a storage position corresponding to the goods to be transported when the conveying direction of the goods to be transported is a first direction and the goods to be transported does not meet the transportation condition.

Optionally, the apparatus further comprises:

the second exception handling module is used for transporting the goods to be transported to a second preset layer of the transport mechanism through a lifting machine when the transport direction of the goods to be transported is a second direction and the goods to be transported does not meet the transport condition, wherein the transport direction of the second preset layer is opposite to that of the preset layer; and transporting the goods to be transported to the conveying line assembly based on the second preset layer.

Optionally, the transfer device further includes a fluent shelf, a goods entrance and exit of the fluent shelf is in butt joint with a goods entrance and exit of one end of the lifting machine, which is far away from the temporary storage shelf, so as to transfer the goods on the lifting machine to a transfer robot through the fluent shelf, or transfer the goods on the transfer robot to the lifting machine through the fluent shelf, and the device further includes:

the target layer determining module is used for determining a target layer of the fluent goods shelf corresponding to the goods to be transported when the conveying direction of the goods to be transported is a second direction; and the hoisting machine control module is used for generating a hoisting control signal of the hoisting machine based on the target layer so as to control the hoisting machine to hoist the goods to be transported to the target layer of the fluent goods shelf based on the hoisting control signal.

Optionally, the target layer determining module is specifically configured to:

and when the conveying direction of the goods to be transported is a second direction, determining a target layer of the fluent goods shelf corresponding to the goods to be transported according to the size of the goods to be transported.

The cargo transportation device provided by the embodiment can execute the cargo transportation method provided by any embodiment corresponding to fig. 6 to 9 of the present disclosure, and has corresponding functional modules and beneficial effects of the execution method.

Example eight

Fig. 11 is a schematic structural diagram of a transfer device according to an eighth embodiment of the present disclosure, the transfer device being used for transferring and transporting goods during loading or unloading in a warehousing system, as shown in fig. 11, the transfer device 100 includes a lifting machine 10, a temporary storage rack 11, a conveying line assembly 12, and a main control unit 14.

The temporary storage rack 11 includes a support frame 111 and a conveying mechanism 112 disposed on the support frame 111, one end of the conveying mechanism 112 is butted with a goods entrance of the elevator 10, the other end of the conveying mechanism 112 is butted with a goods entrance of the conveying line assembly 12, and the main control unit 14 is configured to execute the goods transportation method provided in the embodiment corresponding to fig. 6 to 9 of the present disclosure.

In some embodiments, the transfer device 100 further includes a fluent shelf 13.

Example nine

Fig. 12 is a schematic structural view of a warehousing system according to a ninth embodiment of the disclosure, and as shown in fig. 12, the warehousing system 300 includes a warehousing shelf 302 and a transfer device 100.

The relay device 100 may be a relay device provided in any embodiment of the disclosure, such as the relay device provided in the embodiment shown in fig. 11. The storage rack 302 may include a plurality of storage positions, each of which may be used to store one or more items.

In some embodiments, the warehousing system 300 further includes a transfer robot 301 for transferring goods, such as removing goods from their storage locations or placing goods on their corresponding storage locations.

In some embodiments, warehousing system 300 also includes an unloader, an operator station, a scheduling device, and the like. The unloader is used to unload the goods on the transfer robot 301 at a time or load the goods on the fluent goods shelf to the transfer robot 301.

One embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the cargo transportation method provided in any one of the embodiments corresponding to fig. 6 to 9 of the present disclosure.

The computer readable storage medium may be, among others, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

The present disclosure also provides a program product comprising executable instructions stored in a readable storage medium. The at least one processor of the warehousing system, the fluent shelf or the transfer device may read the executed instructions from the readable storage medium, and the at least one processor executes the executed instructions to cause the cargo transportation device to implement the cargo transportation method provided in any one of the embodiments corresponding to fig. 6 to 9 of the present disclosure.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, indirect coupling or communication connection between devices or modules, and may be in an electrical, mechanical or other form.

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

In addition, functional modules in the embodiments of the present disclosure may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (english: processor) to execute some steps of the methods according to the embodiments of the present disclosure.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one magnetic disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, or the like.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present disclosure are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

In the present specification, each embodiment or implementation mode is described in a progressive manner, and the emphasis of each embodiment is on the difference from other embodiments, and the same and similar parts between the embodiments may be referred to each other.

In the description of the present specification, reference to the description of the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A cargo transportation method is characterized in that the method is applied to a transfer device, the transfer device comprises a lifting machine, a temporary storage rack and a conveying line assembly, the temporary storage rack comprises a support frame and a conveying mechanism arranged on the support frame, one end of the conveying mechanism is in butt joint with a cargo inlet and outlet of the lifting machine, the other end of the conveying mechanism is in butt joint with a cargo inlet and outlet of the conveying line assembly, and the method comprises the following steps:

determining goods to be transported;

the goods to be transported are transported to the conveying line assembly or the elevator based on the conveying mechanism of the temporary storage shelf;

after determining the cargo to be transported, the method further comprises:

determining the conveying direction of the goods to be transported according to the transportation task of the goods to be transported and/or the position of the goods to be transported;

and determining the conveying direction of a preset layer of the conveying mechanism based on the conveying direction of the goods to be conveyed so as to convey the goods to be conveyed to the conveying line assembly or the lifting machine based on the preset layer of the conveying mechanism.

2. The method of claim 1, wherein transporting the goods to be transported to the conveyor line assembly or elevator based on the conveyor mechanism of the staging rack comprises:

3. The method of claim 2, wherein transporting the cargo to be transported to the conveyor line assembly or the lift by the transport mechanism based on a transport direction of the cargo to be transported comprises:

when the conveying direction of the goods to be conveyed is a first direction, conveying the goods to be conveyed to the conveying line assembly based on the conveying mechanism of the temporary storage shelf; and/or the presence of a gas in the gas,

when the conveying direction of the goods to be conveyed is a second direction, the goods to be conveyed are conveyed to the lifting machine based on the conveying mechanism of the temporary storage shelf;

wherein the first direction and the second direction are two opposite transport directions.

4. The method of claim 1, further comprising:

and determining a preset layer of the conveying mechanism corresponding to the goods to be conveyed, and conveying the goods to be conveyed to the conveying line assembly or the lifting machine based on the preset layer along the conveying direction of the goods to be conveyed.

5. The method of claim 1, wherein determining the preset level of the transport mechanism corresponding to the cargo to be transported comprises:

6. The method of claim 1, wherein after determining the cargo to be transported, the method further comprises:

determining the conveying speed of the conveying mechanism according to the goods corresponding to the hoister or the goods conveyed by the conveying line assembly;

7. The method of claim 6, wherein determining the transfer speed of the transfer mechanism based on the load associated with the elevator or the load transported by the transfer line assembly comprises:

when the conveying direction of the goods to be conveyed is a first direction, determining the conveying speed of the conveying mechanism according to the position of the goods conveyed by the conveying line assembly and the conveying speed of the conveying line assembly so as to control the conveying mechanism to convey the goods to be conveyed to the conveying line assembly based on the conveying speed; and/or the presence of a gas in the gas,

and when the conveying direction of the goods to be conveyed is a second direction, determining the conveying speed of the conveying mechanism according to the number of layers of the lifting machine and the position of each goods corresponding to the lifting machine, so as to control the conveying mechanism to convey the goods to be conveyed to the lifting machine based on the conveying speed.

8. The method of claim 1, further comprising:

when the goods to be transported are placed on a preset layer of the conveying mechanism, collecting detection information of the goods to be transported based on the conveying mechanism;

judging whether the goods to be transported meet the transportation condition or not based on the detection information;

and if so, transporting the goods to be transported to the transfer line assembly or the elevator based on the transfer mechanism.

9. The method according to claim 8, wherein the detection information is one or more of a cargo identifier, a cargo size and a cargo weight of the cargo to be transported, and the determining whether the cargo to be transported satisfies a transportation condition based on the detection information includes at least one of:

judging whether the goods identification of the goods to be transported is a preset identification;

judging whether the size of the goods is within a preset size range or not;

judging whether the weight of the goods is within a preset weight range or not;

10. The method according to claim 8, wherein when the transport condition is not satisfied by the cargo to be transported, the method further comprises:

11. The method according to claim 8, wherein when the transfer direction of the goods to be transported is a first direction and the goods to be transported does not satisfy the transport condition, the method further comprises:

12. The method according to claim 8, wherein when the transfer direction of the goods to be transported is a second direction and the goods to be transported does not satisfy the transport condition, the method further comprises:

transporting the goods to be transported to a second preset layer of the transport mechanism through a hoisting machine, wherein the transport direction of the second preset layer is opposite to that of the preset layer;

and transporting the goods to be transported to the conveying line assembly based on the second preset layer.

13. The method according to any one of claims 3 to 12, wherein the transfer device further comprises a fluent shelf, a goods entrance and exit of the fluent shelf is butted against a goods entrance and exit of an end of the lifting machine far from the temporary storage shelf to transfer the goods on the lifting machine to the transfer robot through the fluent shelf or transfer the goods on the transfer robot to the lifting machine through the fluent shelf, and when the transfer direction of the goods to be transported is the second direction, the method further comprises:

determining a target layer of the fluent goods shelf corresponding to the goods to be transported;

and generating a lifting control signal of the lifting machine based on the target layer so as to control the lifting machine to lift the goods to be transported to the target layer of the fluent goods shelf based on the lifting control signal.

14. The method of claim 13, wherein determining the target tier of the fluent shelf to which the good to be transported corresponds comprises:

15. The utility model provides a cargo transportation device, a serial communication port, cargo transportation device is applied to the transfer device, the transfer device includes the lifting machine, keeps in goods shelves and transfer line subassembly, the goods shelves of keeping in include the support frame and set up transport mechanism on the support frame, transport mechanism's one end with the goods access & exit butt joint of lifting machine, transport mechanism's the other end with the goods access & exit butt joint of transfer line subassembly, cargo transportation device includes:

the goods determining module is used for determining goods to be transported;

the goods transportation module is used for transporting the goods to be transported to the conveying line assembly or the elevator based on the conveying mechanism of the temporary storage shelf;

the delivery direction determining module is used for determining the delivery direction of the goods to be transported according to the transportation task of the goods to be transported and/or the position of the goods to be transported after the goods to be transported are determined; and determining the conveying direction of a preset layer of the conveying mechanism based on the conveying direction of the goods to be conveyed so as to convey the goods to be conveyed to the conveying line assembly or the lifting machine based on the preset layer of the conveying mechanism.

16. A transfer device is characterized by being used for transfer transportation of goods during loading or unloading in a warehousing system and comprising a lifting machine, a temporary storage rack, a transmission line assembly and a main control unit;

the temporary storage shelf comprises a support frame and a conveying mechanism arranged on the support frame, one end of the conveying mechanism is in butt joint with a goods entrance of the elevator, and the other end of the conveying mechanism is in butt joint with the goods entrance of the conveying line assembly; the master control unit is used for executing the cargo transportation method of any one of claims 1-14.

17. A warehousing system comprising a warehousing shelf and the transfer device of claim 16.

18. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement a method of transporting cargo as recited in any one of claims 1-14.

19. A computer program product, comprising a computer program which, when executed by a processor, carries out a method of transporting goods according to any one of claims 1-14.