CN113978988A

CN113978988A - Cargo conveying system and cargo conveying method

Info

Publication number: CN113978988A
Application number: CN202111333120.XA
Authority: CN
Inventors: 陈叶广; 汪奎
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-11-11
Filing date: 2021-11-11
Publication date: 2022-01-28
Also published as: WO2023082977A1; TW202319318A

Abstract

The invention provides a cargo conveying system and a cargo conveying method, and relates to the technical field of intelligent storage, wherein the cargo conveying system comprises closed-loop conveying lines, each closed-loop conveying line comprises a first conveying section and a second conveying section which are sequentially connected end to end, at least two groups of cargo inlets and outlets are arranged on one side of the first conveying section at intervals, and at least two sorting conveying lines are arranged on one side of the second conveying section; at least three first transfer devices are arranged on the closed-loop conveying line, wherein two first transfer devices are respectively positioned at two ends of the first conveying section; the other first transfer devices are positioned between any two picking conveying lines, the other first transfer devices are positioned between any two groups of goods inlets and outlets, and the first transfer devices transfer the goods on the second conveying section to the first conveying section or transfer the goods on the first conveying section to the second conveying section. The cargo conveying system and the cargo conveying method are beneficial to improving the efficiency of cargo conveying.

Description

Cargo conveying system and cargo conveying method

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a cargo conveying system and a cargo conveying method.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of end logistics is also continuously improved, and intelligent warehousing is an important link in the logistics process.

In the intelligent storage, the goods conveying system is the main equipment capable of realizing automatic conveying operation and automatic sorting operation, heavy manual labor of human can be reduced through the goods conveying system, and the efficiency of conveying operation and sorting operation is improved. In the related art, the cargo conveying system includes a plurality of U-shaped picking stations, each having a cargo inlet and a cargo outlet. During operation, goods which need to enter a plurality of U-shaped picking workstations firstly enter a first U-shaped picking workstation through a goods inlet of the first U-shaped picking workstation to be picked, the goods which are picked leave the first U-shaped picking workstation from a goods outlet of the first U-shaped picking workstation and enter a carrying device, and the carrying device carries the goods to a goods inlet of the next U-shaped picking workstation so that the goods enter the next U-shaped picking workstation to be continuously picked.

However, the cargo conveying system has a low cargo conveying efficiency.

Disclosure of Invention

The embodiment of the disclosure provides a cargo conveying system and a cargo conveying method, which are used for solving the problem that the cargo conveying efficiency of the cargo conveying system is low.

In order to achieve the above purpose, the embodiments of the present disclosure provide the following technical solutions:

in a first aspect, an embodiment of the present disclosure provides a cargo conveying system, which includes a closed-loop conveying line, where the closed-loop conveying line includes a first conveying section and a second conveying section that are sequentially connected end to end, and conveying directions of the first conveying section and the second conveying section are opposite; at least two groups of goods inlets and outlets are arranged on one side of the first conveying section at intervals, and each goods inlet and outlet comprises a goods inlet and a goods outlet; at least two picking conveying lines are arranged on one side of the second conveying section, and two ends of each picking conveying line are connected to the second conveying section at intervals, so that goods on the second conveying section enter the picking conveying lines from the first ends of the picking conveying lines, or goods on the picking conveying lines enter the second conveying section from the second ends of the picking conveying lines; at least three first transfer devices are arranged on the closed-loop conveying line, wherein two first transfer devices are respectively positioned at two ends of the first conveying section; and the rest of the first transfer devices are positioned between any two picking conveying lines, the rest of the first transfer devices are positioned between any two groups of the goods inlets and outlets, and the first transfer devices transfer the goods on the second conveying section to the first conveying section or transfer the goods on the first conveying section to the second conveying section.

The cargo conveying system as described above, optionally, the cargo conveying system further comprises an unloader and a loader; the unloading machine is arranged at the goods inlet and is used for transferring goods on the unloading machine to the goods inlet; the feeding machine is arranged at the goods outlet and used for transferring goods at the goods outlet to the feeding machine.

The cargo conveying system as described above, optionally, further comprising a transfer robot, wherein when the transfer robot is docked with the unloader, the unloader is used to transfer the cargo on the transfer robot to the unloader; when the transfer robot is in butt joint with the feeding machine, the feeding machine is used for transferring the goods on the feeding machine to the transfer robot.

The cargo conveying system as described above, optionally, the cargo inlet and the cargo outlet are adjacently disposed.

In the cargo conveying system, optionally, the cargo inlet and/or the cargo outlet is provided with a second transfer device, and the second transfer device transfers the cargo at the cargo outlet to the cargo inlet.

According to the above cargo conveying system, optionally, the cargo inlet is provided with an upper discharging all-in-one machine, and the upper discharging all-in-one machine is used for transferring the cargo on the upper discharging all-in-one machine to the cargo inlet, or the upper discharging all-in-one machine is used for transferring the cargo transferred from the cargo outlet to the cargo inlet to the upper discharging all-in-one machine.

The cargo conveying system as described above, optionally, the first end of the picking conveying line and the second end of the picking conveying line are arranged in sequence along the conveying direction of the second conveying section; or the second end of the picking conveying line and the first end of the picking conveying line are sequentially arranged along the conveying direction of the second conveying section; the conveying direction of the picking conveying line is from the first end of the picking conveying line to the second end of the picking conveying line.

The cargo conveying system as described above, optionally, at least one bin space is provided between the first end of the picking conveying line and the second end of the picking conveying line.

In the cargo conveying system, each picking conveyor line may be provided with a pick-up device at an upstream position thereof for picking up a container near the picking conveyor line to determine whether the container needs to enter the picking conveyor line.

In the cargo conveying system, optionally, the picking conveying line includes two picking positions, and two adjacent third transfer devices are arranged between the two picking positions; the third transfer device close to the first end of the picking conveying line transfers the goods on the picking conveying line to the second conveying section, and the third transfer device close to the second end of the picking conveying line transfers the goods on the second conveying section to the picking conveying line.

In the cargo conveying system, optionally, the conveying surface of the picking conveying line is arranged obliquely, and a side of the conveying surface far away from the second conveying section is lower than a side of the conveying surface close to the second conveying section.

The cargo conveying system as described above, optionally, further comprising an auxiliary conveying line disposed above the picking conveying line; the projection of one side of the auxiliary conveying line far away from the second conveying section in the vertical direction falls between one side of the picking conveying line far away from the second conveying section and the second conveying section; the bottom surface of the container conveyed by the goods conveying system is rectangular, the width of the conveying surface of the auxiliary conveying line is consistent with that of the bottom surface of the container, and the width of the conveying surface of the picking conveying line is consistent with that of the bottom surface of the container.

In the cargo conveying system, at least one picking conveying line and/or at least one group of cargo entrances and exits are optionally arranged between two adjacent first transfer devices.

The cargo conveying system as described above, optionally, the unloader includes an unloading rack and a first lifting mechanism, and the first lifting mechanism is disposed between the unloading rack and the cargo inlet; the goods on the carrying robot are transferred to the unloading goods shelf through the unloading goods shelf, and the goods on the unloading goods shelf are transferred to the goods inlet through the first lifting mechanism.

In the cargo conveying system, optionally, the feeding machine includes a feeding rack and a second lifting mechanism, and the second lifting mechanism is disposed between the feeding rack and the cargo outlet; the second lifting mechanism transfers the goods at the goods outlet to the loading goods shelf, and the loading goods shelf transfers the goods on the loading goods shelf to the transfer robot.

According to the cargo conveying system, optionally, the loading and unloading all-in-one machine comprises an loading and unloading shelf and a third lifting mechanism, and the third lifting mechanism is arranged between the loading and unloading shelf and the cargo inlet; when the loading and unloading integrated machine is used for loading, the third lifting mechanism transfers the goods transferred from the goods outlet to the goods inlet to the loading and unloading goods shelf, and the loading and unloading goods shelf transfers the goods on the loading and unloading goods shelf to the transfer robot; when the upper discharging and discharging integrated machine discharges materials, the upper discharging and discharging goods shelf transfers goods on the transfer robot to the upper discharging and discharging goods shelf, and the third lifting mechanism transfers the goods on the upper discharging and discharging goods shelf to the goods inlet.

According to the cargo conveying system, optionally, the transfer robot includes a movable base and a robot shelf arranged on the movable base, and the robot shelf is used for being butted with a feeding machine, a discharging machine or an integrated feeding and discharging machine and transferring cargo.

According to the cargo conveying system, optionally, conveying rollers or conveying belts are arranged on the closed-loop conveying line, and the conveying rollers or the conveying belts on the closed-loop conveying line drive the cargo to move along the conveying direction of the closed-loop conveying line; the picking conveying line is provided with conveying rollers or conveying belts, and the conveying rollers or the conveying belts on the picking conveying line drive the goods to move along the conveying direction of the picking conveying line.

In the cargo conveying system, optionally, the first transfer device or the second transfer device is a push-pull rod, and the push-pull rod transfers the cargo along the transfer direction.

In the cargo conveying system, optionally, the first transfer device or the second transfer device is a lifting rolling member, when the lifting rolling member is lifted, the cargo is supported on the lifting rolling member, and the lifting rolling member drives the cargo to move along the transfer direction; when the lifting rolling piece descends, the goods are recovered to be conveyed.

In the cargo conveying system, optionally, the third transfer device is a push-pull rod, and the push-pull rod transfers the cargo along the transfer direction.

In the cargo conveying system, optionally, the third transfer device is a lifting rolling member, when the lifting rolling member is lifted, the cargo is supported on the lifting rolling member, and the lifting rolling member drives the cargo to move along the transfer direction; when the lifting rolling piece descends, the goods are recovered to be conveyed.

In a second aspect, an embodiment of the present disclosure provides a cargo conveying method applied to the cargo conveying system of any one of the foregoing methods, where the cargo conveying method includes:

determining a location of a target shipment at a second delivery leg when the target shipment completes picking on one or more target picking conveyors; and determining a first target first transfer device according to the position of the target goods, so that the target goods enter a first conveying section through the first target first transfer device and leave the closed-loop conveying line through any one target goods outlet.

The cargo conveying method as described above, optionally, further includes:

determining a second target first transfer device according to a target cargo inlet of the target cargo and the one or more target picking conveying lines corresponding to the target cargo, so that the target cargo enters the first conveying section through the target cargo inlet and enters the second conveying section through the second target first transfer device; the position of the target cargo entering the second conveying section through the second target first transfer device is located at the upstream of all the target picking conveying lines corresponding to the target cargo; and controlling the target goods to enter the target picking conveying line through the second conveying section so that the target picking conveying line completes the picking operation of the target goods.

The cargo conveying method as described above, optionally, after controlling the target cargo to enter the target picking conveyor line via the second conveying section so that the target picking conveyor line completes the picking operation on the target cargo, the method further includes:

judging whether the target goods need to enter other picking conveying lines: if so, controlling the target goods to enter the other picking conveying lines through the second conveying section so as to enable the other picking conveying lines to finish picking operation of the target goods; and if not, controlling the target goods to leave the closed-loop conveying line.

The cargo conveying method as described above, optionally, the controlling the target cargo to enter the other picking conveying line via the second conveying section includes:

judging whether the target cargo is positioned in the second conveying section: if the target goods are located on the upstream of the current position of the target goods, the target goods are controlled to surround the upstream of the second conveying section by a third target first transfer device and a fourth target first transfer device and enter the other picking conveying lines; if the target goods are located at the downstream position of the current position of the target goods, controlling the target goods to enter the other picking conveying lines through the second conveying section; and if not, controlling the target goods to enter the second conveying section from a fifth target first transfer device and enter other sorting conveying lines.

The cargo conveying method as described above, optionally, an identification device is provided at an upstream position of each picking conveyor line, and the method for controlling the target cargo to enter the target picking conveyor line via the second conveying section further includes:

identifying the target goods entering an identification area through an identification device corresponding to the target picking conveying line, and judging whether the target goods need to enter the target picking conveying line: and if so, controlling the target goods to enter the target picking conveying line.

The cargo conveying method as described above, optionally, a sensor is provided at an entrance cargo space of each picking conveyor line, and the method for controlling the target cargo to enter the target picking conveyor line via the second conveying section further includes:

detecting, via the sensor, whether an entry bin position of the target picking conveyor line is occupied: and if not, controlling the target goods to enter an inlet goods box position of the target picking conveying line through the second conveying section.

The cargo conveying method as described above, optionally, after detecting whether the entrance container position of the target picking conveyor line is occupied via the sensor, the method further includes:

if the sensor detects that the inlet container position of the target picking conveying line is occupied, judging whether the target cargo waits: if so, controlling the target goods to stop moving and wait, and repeatedly executing the step of detecting whether an entrance goods box position of the target picking conveying line is occupied through the sensor until the target goods enter the entrance goods box position of the target picking conveying line; and if not, controlling the target goods to surround to the inlet end of the target picking conveying line through the closed-loop conveying line.

The cargo conveying method as described above, wherein optionally, the controlling the target cargo to surround the inlet end of the target picking conveying line via the closed-loop conveying line includes:

acquiring a sixth target first transfer device through which the target goods are transferred from the second conveying section to the first conveying section, and a seventh target first transfer device through which the target goods are transferred from the first conveying section to the second conveying section; wherein, along the conveying direction of the second conveying section, the sixth target first transferring device is positioned at the downstream of the inlet end of the target picking conveying line, and the seventh target first transferring device is positioned at the upstream of the inlet end of the target picking conveying line; and the target goods sequentially pass through the sixth target first transferring device and the seventh target first transferring device to return to the inlet end of the target picking conveying line.

In the cargo conveying method, the target cargo may correspond to a plurality of target picking conveyance lines, and the plurality of target picking conveyance lines are located between the sixth target first transfer device and the seventh target first transfer device.

The cargo conveying system and the cargo conveying method provided by the embodiment of the disclosure have the following advantages:

the goods conveying system that this disclosed embodiment provided selects the transfer chain through setting up two at least on closed loop transfer chain to the goods that need get into a plurality of selection transfer chains can directly carry and get into a plurality of selection transfer chains one by one along closed loop transfer chain and select, thereby not only can save each and select the transfer device between the transfer chain, is favorable to improving the efficiency that the goods was carried moreover. The closed loop conveyor line can also enable goods to bypass to the inlet of the missed picking conveyor line when the goods are missed into the picking conveyor line.

Furthermore, at least three first transfer devices are arranged on the closed-loop conveying line, so that the first transfer devices transfer the goods on the second conveying section to the first conveying section, or transfer the goods on the first conveying section to the second conveying section. On the one hand, the goods entering the first conveying section through the goods inlet can enter the second conveying section through the first transfer device with a shorter conveying path and enter the picking conveying line, or the goods picked on the picking conveying line can enter the first conveying section through the first transfer device with a shorter conveying path and leave from the goods outlet, so that the goods do not need to go around a large circle along the closed-loop conveying line, and the efficiency of goods conveying is further improved. On the other hand, the goods missing the picking conveying line can be selected to bypass the missing picking conveying line through the first transfer device with the shorter conveying path, so that the efficiency of goods conveying is further improved.

The cargo conveying method provided by the embodiment of the disclosure is also beneficial to improving the cargo conveying efficiency by being applied to the cargo conveying system provided by the embodiment of the disclosure.

In addition to the technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions, described above, other technical problems solved by the cargo conveying system and the cargo conveying method provided by the embodiments of the present disclosure, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

Drawings

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

Fig. 1 is a schematic top view of a cargo conveying system according to an embodiment of the present disclosure;

fig. 2 is a schematic top view of a cargo conveying system according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram third of a top view of a cargo conveying system provided in an embodiment of the present disclosure;

fig. 4 is a first schematic top view of a partially closed loop conveying line and a sorting conveying line provided in the embodiment of the present disclosure;

fig. 5 is a schematic top view of a partially closed loop conveying line and a sorting conveying line provided in the embodiment of the present disclosure;

FIG. 6 is a schematic side view of the auxiliary conveyor lines positioned above the picking conveyor line of FIG. 4;

fig. 7 is a schematic structural view illustrating a docking of a transfer robot with a discharger according to an embodiment of the present disclosure;

fig. 8 is a first flowchart of a cargo conveying method according to an embodiment of the present disclosure;

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

fig. 10 is a flowchart of a cargo conveying method according to an embodiment of the present disclosure;

fig. 11 is a fourth flowchart of a cargo conveying method according to an embodiment of the present disclosure.

Description of reference numerals:

100-closed loop conveying line; 110-a first conveying section; 111-cargo import; 112-cargo outlet; 120-a second conveying section; 121-picking and conveying line; 122-identification means; 130-a first transfer device; 140-a second transfer device; 150-a third transfer device;

200-a discharger; 210-discharge racks; 220-a first lifting mechanism;

300-a feeding machine;

400-loading and unloading integrated machine;

500-a transfer robot; 510-moving the base; 520-robotic shelves;

600-auxiliary conveying line.

Detailed Description

Since the plurality of U-shaped picking workstations of the cargo conveying system in the related art are independently arranged, the cargo to be picked in the plurality of U-shaped picking workstations needs to be carried between the picking conveying lines by the carrying device. In the process, the goods need to be transferred from the last U-shaped picking workstation to the conveying device, the conveying device transports the goods to the next picking workstation, and the goods are transferred from the conveying device to the other U-shaped picking workstation, so that the efficiency of goods conveying is low, and a large number of conveying devices are needed.

In order to solve the above problem, the embodiment of the present disclosure provides a cargo conveying system and a cargo conveying method, in which at least two picking conveying lines are arranged on a closed-loop conveying line, so that a cargo which needs to enter a plurality of picking conveying lines can be directly conveyed along the closed-loop conveying line and enter a plurality of picking conveying lines one by one for picking, thereby not only omitting a transfer device between each picking conveying line, but also being beneficial to improving the efficiency of cargo conveying. Further, the embodiment of the present disclosure provides a cargo conveying system, where at least three first transfer devices are disposed on a closed-loop conveying line, so that the first transfer devices transfer the cargo on the second conveying section to the first conveying section, or transfer the cargo on the first conveying section to the second conveying section. On the one hand, the goods entering the first conveying section through the goods inlet can enter the second conveying section through the first transfer device with a shorter conveying path and enter the picking conveying line, or the goods picked on the picking conveying line can enter the first conveying section through the first transfer device with a shorter conveying path and leave from the goods outlet, so that the goods do not need to go around a large circle along the closed-loop conveying line, and the efficiency of goods conveying is further improved. On the other hand, the goods missing the picking conveying line can be selected to bypass the missing picking conveying line through the first transfer device with the shorter conveying path, so that the efficiency of goods conveying is further improved.

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. 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.

Example one

Fig. 1 is a schematic top view of a cargo conveying system according to an embodiment of the present disclosure; fig. 2 is a schematic top view of a cargo conveying system according to an embodiment of the present disclosure; fig. 3 is a schematic diagram third of a top view of a cargo conveying system provided in an embodiment of the present disclosure; fig. 4 is a first schematic top view of a partially closed loop conveying line and a sorting conveying line provided in the embodiment of the present disclosure; fig. 5 is a schematic top view of a partially closed loop conveying line and a sorting conveying line provided in the embodiment of the present disclosure; FIG. 6 is a schematic side view of the auxiliary conveyor lines positioned above the picking conveyor line of FIG. 4; fig. 7 is a schematic structural view illustrating a docking of a transfer robot and a discharging machine according to an embodiment of the present disclosure.

Referring to fig. 1 to 7, the present disclosure provides a cargo conveying system, which includes a closed-loop conveying line 100, where the closed-loop conveying line 100 includes a first conveying section 110 and a second conveying section 120 that are connected end to end, and conveying directions of the first conveying section 110 and the second conveying section 120 are opposite. Illustratively, the first conveying section 110 and the second conveying section 120 each extend along a straight line and are parallel to each other.

At least two sets of goods entrances and exits are arranged at one side of the first conveying section 110 at intervals, and the goods entrances and exits comprise a goods entrance 111 and a goods exit 112. At least two picking conveying lines 121 are arranged on one side of the second conveying section 120, and two ends of the picking conveying lines 121 are connected to the second conveying section 120 at intervals, so that goods on the second conveying section 120 enter the picking conveying lines 121 from the first end of the picking conveying lines 121, or goods on the picking conveying lines 121 enter the second conveying section 120 from the second end of the picking conveying lines 121. For example, the picking conveying line 121 may be U-shaped, and both ends of the U-shaped picking conveying line may be connected to the second conveying section 120 through the transfer device; alternatively, the picking conveying line 121 may be a linear type, and both ends of the linear type picking conveying line may be connected to the second conveying section 120 by the transfer device.

At least three first transfer devices 130 are arranged on the closed-loop conveying line 100, wherein two first transfer devices are respectively located at two ends of the first conveying section 110, so that the two ends of the first conveying section 110 and the second conveying section 120 are respectively and correspondingly connected through the first transfer devices 130, so that the first conveying section 110, the second conveying section 120 and the first transfer devices 130 located at two ends of the first conveying section 110 form a closed loop together, and the function of closed-loop conveying of the closed-loop conveying line 100 is realized. Optionally, the conveying direction of the first conveying section 110 and the second conveying section 120 may be changed according to actual needs, and the first transfer devices 130 located at two ends of the first conveying section 110 may also change the transfer direction according to actual needs, so that the closed-loop conveying line 100 may convey clockwise or counterclockwise.

The remaining first transfer devices 130 are located between any two picking conveyor lines 121, and the remaining first transfer devices 130 are located between any two groups of goods entrances and exits. Optionally, the other first transfer devices 130 may change the transfer direction according to actual needs; the number of the remaining first transfer devices 130 may be one, two, or more according to actual needs.

In a specific implementation, the first transfer device 130 transfers the goods on the second conveying section 120 to the first conveying section 110, so that the goods which are picked can leave the closed-loop conveying line 100 in a relatively close path; alternatively, the first transfer device 130 transfers the goods on the first conveying section 110 to the second conveying section 120, so that the goods entering the first conveying section 110 can enter the picking conveying line 121 by selecting a relatively close route. It should be understood that the function of the first transfer device 130 in the cargo conveying system is only an example, and is not a limitation to the function of the first transfer device 130 in the cargo conveying system.

Referring to fig. 1, 2 and 7, the cargo conveying system may further include an unloader 200 and an loader 300. The unloader 200 is provided at the cargo inlet 111, and serves to transfer the cargo on the unloader 200 to the cargo inlet 111. The loader 300 is provided at the goods outlet 112, and serves to transfer goods of the goods outlet 112 to the loader 300.

The goods conveying system may further include a transfer robot 500, and the unloader 200 is used to simultaneously transfer a plurality of goods on the transfer robot 500 to the unloader 200 when the transfer robot 500 is docked with the unloader 200. When the transfer robot 500 is docked with the loader 300, the loader 300 is configured to transfer a plurality of loads on the loader 300 to the transfer robot 500 at the same time.

In concrete implementation, the transfer robot 500 can take the goods from the storage shelves and move to the butt joint with the unloader 200 while carrying the goods away, the unloader 200 can transfer a plurality of goods on the transfer robot 500 to the unloader 200 at the same time, the unloader 200 can transfer the goods on the unloader 200 to the goods inlet 111, so that the goods enter the closed-loop conveying line 100 through the goods inlet 111. Goods on the closed-loop conveying line 100 enter the loading machine 300 through the goods outlet 112, the loading machine 300 can simultaneously transfer a plurality of goods on the loading machine 300 to the transfer robot 500 docked with the loading machine, and the transfer robot 500 can transfer the processed goods to the storage shelves.

Illustratively, the unloader 200 includes an unloading rack 210 and a first elevating mechanism 220, the first elevating mechanism 220 being disposed between the unloading rack 210 and the cargo inlet 111. The unloading pallet 210 transfers a plurality of loads on the transfer robot 500 to the unloading pallet 210 at the same time, and the first elevating mechanism 220 transfers the loads on the unloading pallet 210 to the load inlet 111. In a specific implementation, the unloading shelves 210 include multiple loading layers arranged in the height direction, the cargo inlets 111 are flush with the first conveying section 110, the first lifting mechanism 220 has a conveying platform capable of moving up and down, and the conveying platform can transfer the cargo on any loading layer of the unloading shelves 210 to the cargo inlets 111.

Illustratively, the loader 300 includes a loading ledge and a second lift mechanism disposed between the loading ledge and the product outlet 112. The second elevating mechanism transfers the goods at the goods outlet 112 to the loading ledges, and the loading ledges transfer the goods on the loading ledges to the transfer robot 500. During the concrete implementation, material loading goods shelves are including the multilayer layer of putting goods of arranging along the direction of height, and goods export 112 and first transport section 110 parallel and level, and second elevating system has the conveying platform that can go up and down to remove, and conveying platform can shift the goods of goods export 112 to any layer of putting goods of material loading goods shelves.

Illustratively, the transfer robot 500 includes a movable base 510 and a robot shelf 520 disposed on the movable base 510, the robot shelf 520 may include a plurality of cargo layers arranged in a height direction, and the robot shelf 520 is configured to interface with the loader 300, the unloader 200, or the loader-unloader 400 hereinafter. During specific implementation, the robot shelf 520 can be butted with the unloading shelf 210, so that a plurality of goods on the robot shelf 520 can be transferred onto the unloading shelf at the same time, and the multilayer goods placing layers of the robot shelf 520 and the multilayer goods placing layers of the unloading shelf 210 can have the same layer number and are correspondingly flush; the robot shelf 520 can be docked with the loading shelf so that a plurality of goods on the loading shelf can be transferred to the robot shelf 520 at the same time, and the multilayer goods placing layer of the robot shelf 520 and the multilayer goods placing layer of the loading shelf can be the same in number of layers and correspond to the same level.

Referring to fig. 1 to 3, the cargo inlet 111 and the cargo outlet 112 may be adjacently disposed, and of course, the cargo inlet 111 and the cargo outlet 112 may be disposed at an interval according to actual needs.

Referring to fig. 3, when the goods inlet 111 and the goods outlet 112 are adjacently disposed, a second transfer device 140 may be disposed on at least one of the goods inlet 111 and the goods outlet 112, and the second transfer device 140 transfers the goods at the goods outlet 112 to the goods inlet 111.

Further, the cargo inlet 111 is provided with an upper discharging integrated machine 400, and the upper discharging integrated machine 400 is used for transferring the cargo on the upper discharging integrated machine 400 to the cargo inlet 111, or the upper discharging integrated machine 400 is used for transferring the cargo transferred from the cargo outlet 112 to the cargo inlet 111 to the upper discharging integrated machine 400.

During specific implementation, the transfer robot 500 can take the goods from the storage shelves and move to be in butt joint with the loading and unloading all-in-one machine 400 with the goods facing away, the loading and unloading all-in-one machine 400 can transfer a plurality of goods on the transfer robot 500 to the loading and unloading all-in-one machine 400 at the same time, and the loading and unloading all-in-one machine 400 can transfer the goods on the loading and unloading all-in-one machine 400 to the goods inlet 111, so that the goods enter the closed-loop conveying line 100 through the goods inlet 111. The goods leaving the closed-loop conveying line 100 enter the goods outlet 112, enter the goods inlet 111 through the second transfer device 140, and enter the loading and unloading all-in-one machine 400, the loading and unloading all-in-one machine 400 can simultaneously transfer a plurality of goods on the loading and unloading all-in-one machine 400 onto the transfer robot 500 in butt joint with the loading and unloading all-in-one machine 400, and the transfer robot 500 can transfer the processed goods to the storage shelves. On one hand, the loading and unloading integrated machine 400 can be shared by loading the goods at the goods inlet 111 and unloading the goods at the goods outlet 112, so that the structure of the goods conveying system is simplified, and the cost is saved. On the other hand, after the transfer robot 500 finishes unloading the goods on the loading and unloading all-in-one machine 400, the loading and unloading all-in-one machine 400 can load the recovered goods into the transfer robot 500 without moving, which is beneficial to reducing the operation path of the transfer robot 500 and saving the energy consumption of the transfer robot 500.

Illustratively, the loading and unloading all-in-one machine 400 comprises an loading and unloading shelf and a third lifting mechanism, wherein the third lifting mechanism is arranged between the loading and unloading shelf and the goods inlet 111. When the loading and unloading all-in-one machine 400 loads materials, the third lifting mechanism transfers the goods transferred from the goods outlet 112 to the goods inlet 111 to the loading and unloading goods shelf, and the loading and unloading goods shelf transfers a plurality of goods on the loading and unloading goods shelf to the transfer robot 500 at the same time; when the loading and unloading all-in-one machine 400 unloads, the loading and unloading goods shelf transfers a plurality of goods on the transfer robot 500 to the loading and unloading goods shelf at the same time, and the third lifting mechanism transfers the goods on the loading and unloading goods shelf to the goods inlet 111.

During specific implementation, the upper discharging goods shelf comprises a plurality of goods placing layers arranged along the height direction, the goods inlet 111 is flush with the first conveying section 110, the third lifting mechanism is provided with a conveying platform capable of moving up and down, the conveying platform can transfer goods on any goods placing layer of the upper discharging goods shelf to the goods inlet 111, or transfer goods on the goods inlet 111 to any goods placing layer of the upper discharging goods shelf. The robotic shelves 520 may interface with the upper and lower discharge shelves to allow transfer of goods on the upper and lower discharge shelves to the robotic shelves 520 during loading or to allow transfer of goods on the robotic shelves 520 to the upper and lower discharge shelves during unloading. The multiple layers of the robot shelf 520 and the multiple layers of the upper and lower discharge shelves may be the same in number and correspondingly flush.

The conveying direction of the picking conveying line 121 is from a first end of the picking conveying line 121 to a second end of the picking conveying line 121. In one possible implementation, referring to fig. 2, the first end of the picking conveyor line 121 and the second end of the picking conveyor line 121 are arranged in sequence along the conveying direction of the second conveying section 120. In a specific implementation, the goods are conveyed to the first end of the picking conveying line 121 along the second conveying section 120, and can directly enter the picking conveying line 121 from the first end of the picking conveying line 121, so that the picking rate is increased, and the goods leave the picking conveying line 121 from the second end of the picking conveying line 121 and enter the second conveying section 120 again.

In another possible implementation, referring to fig. 1, the second end of the picking conveying line 121 and the first end of the picking conveying line 121 are arranged in sequence along the conveying direction of the second conveying section 120. In a specific implementation, the goods are conveyed along the second conveying section 120 through the second end of the picking conveying line 121 to the first end of the picking conveying line 121, and may enter the picking conveying line 121 from the first end of the picking conveying line 121, leave the picking conveying line 121 from the second end of the picking conveying line 121, and enter the second conveying section 120 again. In this process, on one hand, longer buffering time is provided before the goods are conveyed to the first end of the picking conveying line 121 along the second conveying section 120, so that the probability that the goods cannot enter the picking conveying line 121 when the buffering positions of the picking conveying line 121 are less and the goods cannot enter the picking conveying line 121 is reduced, and the goods can be queued to enter the picking conveying line 121; on the other hand, after the goods leave the picking conveyor line 121 from the second end of the picking conveyor line 121, the goods may be conveyed along the second conveyor segment 120 to the first end of the picking conveyor line 121 again, so that when the picking conveyor line 121 picks an error or fails, the goods are returned to the picking conveyor line 121 by the shortest distance to correct the error or complete the picking.

Optionally, at least one bin is spaced between the first end of the picking conveyor line 121 and the second end of the picking conveyor line 121. For example, one, two or more container positions may be spaced between the first end of the picking conveying line 121 and the second end of the picking conveying line 121, which is beneficial to ensuring the length of the picking conveying line 121 and facilitating picking; on the other hand, it is advantageous to ensure the length of the second conveying section 120 between the first end of the picking conveying line 121 and the second end of the picking conveying line 121, so that when the first end of the picking conveying line 121 is connected to the second conveying section 120 at a position downstream of the position where the second end of the picking conveying line 121 is connected to the second conveying section 120, the goods can have a longer buffer container position before entering the first end of the picking conveying line 121, and congestion is avoided.

Optionally, an identification device 122 is provided at a location upstream of each picking conveyor line 121, the identification device 122 being configured to identify a container adjacent to the picking conveyor line 121 to determine whether a container needs to enter the picking conveyor line 121. For example, the identification device 122 may be a barcode scanner, and the container is provided with an identification code, and the barcode scanner may scan the identification code of the container to identify the container. Of course, the identification device 122 may also be other devices known to those skilled in the art, and will not be described herein.

Referring to fig. 5, the picking conveyor line 121 may include two picking positions, and two adjacent third transfer devices 150 are disposed between the two picking positions. The third transfer device 150 near the first end of the picking conveyor line 121 transfers the goods on the picking conveyor line 121 to the second conveyor segment 120, and the third transfer device 150 near the second end of the picking conveyor line 121 transfers the goods on the second conveyor segment 120 to the picking conveyor line 121.

For example, the third transfer device 150 may be a push-pull rod that transfers the goods in the transfer direction, and the push-pull rod may be disposed on the transport line at the front end in the transfer direction, or the push-pull rod may be disposed on the transport line at the rear end in the transfer direction. Or, the third transfer device 150 may be a lifting rolling member, when the lifting rolling member is lifted, the goods are supported on the lifting rolling member, and the lifting rolling member drives the goods to move along the transfer direction; when the lifting rolling element descends, the goods are recovered to be conveyed. The lifting rolling member may be provided on a conveying line at the rear end in the transfer direction, or the lifting rolling member may be provided on two adjacent conveying lines in the transfer direction at the same time. The lifting rollers may be spherical, cylindrical, etc. Alternatively, the third transfer device 150 may be a device known to those skilled in the art that can transfer goods between the picking conveyor line 121 and the second conveyor segment 120.

When the picking amount is relatively small, the picking position located upstream in the conveying direction of the picking conveyor line 121 may be closed to normally operate the picking position located downstream in the conveying direction of the picking conveyor line 121, and the two adjacent third transfer devices 150 between the two picking positions may be closed. In a specific implementation, the goods enter the picking conveying line 121 from the first end of the picking conveying line 121, and leave the picking conveying line 121 from the second end of the picking conveying line 121 after being picked at the picking position downstream of the picking conveying line 121. Thereby not only be favorable to increasing the container and arrive the buffering position before selecting the position, and be favorable to reducing and select personnel's input.

When the picking amount is relatively large, two picking positions of the picking conveying line 121 may be opened, and at the same time, two adjacent third transfer devices 150 between the two picking positions may be opened. In a specific implementation, a part of the goods may enter the picking conveying line 121 from the first end of the picking conveying line 121, and after being picked at a picking position upstream of the picking conveying line 121, the goods are transferred to the second conveying section 120 from the third transfer device 150 close to the first end of the picking conveying line 121; a part of the goods may enter the picking conveyor line 121 from the third transfer device 150 near the second end of the picking conveyor line 121, and leave the picking conveyor line 121 from the second end of the picking conveyor line 121 after being picked at the picking position downstream of the picking conveyor line 121. Thereby be favorable to improving and select efficiency, reduce the latency of packing box.

Further, in the conveying direction of the second conveying section 120, an identification device may be disposed near and upstream of the first end of the picking conveying line 121 to identify the goods that need to enter the picking conveying line 121 from the first end of the picking conveying line 121; an identification device may be provided near the upstream of the third transfer device 150 near the second end of the picking conveyor line 121 to identify the goods entering the picking conveyor line 121 from the third transfer device 150 near the second end of the picking conveyor line 121.

Referring to fig. 6, the conveying surface of the picking conveying line 121 may be disposed obliquely, and a side of the conveying surface away from the second conveying section 120 is lower than a side of the conveying surface close to the second conveying section 120. In a specific implementation, the picking staff is located on one side of the picking conveying line 121 far away from the second conveying section 120, and when the containers are conveyed on the conveying surface of the picking conveying line 121, one side of each container close to the picking staff is inclined downwards so that the picking staff can pick the goods in the containers.

With continued reference to fig. 6, the cargo conveying system may further include an auxiliary conveying line 600, the auxiliary conveying line 600 being disposed above the picking conveying line 121; the projection of the side of the auxiliary conveyor line 600 remote from the second conveyor segment 120 in the vertical direction falls between the side of the picking conveyor line 121 remote from the second conveyor segment 120 and the second conveyor segment 120. The bottom surface of the container conveyed by the goods conveying system is rectangular, the width of the conveying surface of the auxiliary conveying line 600 is consistent with that of the bottom surface of the container, and the width of the conveying surface of the picking conveying line 121 is consistent with that of the bottom surface of the container. Not only can the auxiliary conveyor line be prevented from obstructing the picker from picking the goods from the picking conveyor line 121, but also it is convenient to put the empty box on the auxiliary conveyor line 600 for recycling, or to complete other conveying tasks through the auxiliary conveyor line 600.

Referring to fig. 1 to 3, at least one picking conveyor line 121 may be disposed between two adjacent first transfer devices 130; or, at least one group of goods import and export can be arranged between two adjacent first transfer devices 130; alternatively, at least one picking conveyor line 121 and at least one group of goods import and export ports may be disposed between two adjacent first transfer devices 130. Therefore, the goods conveying system can form more conveying paths, the conveying strategy is more flexible, and the conveying efficiency and the conveying flexibility of the goods conveying system can be improved.

Optionally, a conveying roller or a conveying belt is arranged on the closed-loop conveying line 100, and the conveying roller or the conveying belt on the closed-loop conveying line 100 drives the goods to move along the conveying direction of the closed-loop conveying line 100. Illustratively, a plurality of conveying rollers are arranged on the closed-loop conveying line 100, and the plurality of conveying rollers are arranged in parallel along the conveying direction of the closed-loop conveying line 100 so as to drive the goods to move along the conveying direction of the closed-loop conveying line 100. The picking conveying line 121 is provided with a conveying roller or a conveying belt, and the conveying roller or the conveying belt on the picking conveying line 121 drives the goods to move along the conveying direction of the picking conveying line 121. Illustratively, a plurality of conveying rollers are arranged on the picking conveying line 121, and the plurality of conveying rollers are arranged in parallel along the conveying direction of the picking conveying line 121 so as to drive the goods to move along the conveying direction of the picking conveying line 121.

In one possible implementation, the first transfer device 130 or the second transfer device 140 is a push-pull rod, and the push-pull rod transfers the goods along the transfer direction. For example, the push-pull rod may be provided on the conveyance line at the front end in the transfer direction, or the push-pull rod may be provided on the conveyance line at the rear end in the transfer direction.

In another possible implementation manner, the first transfer device 130 or the second transfer device 140 is a lifting rolling member, when the lifting rolling member is lifted, the goods are supported on the lifting rolling member, and the lifting rolling member drives the goods to move along the transfer direction; when the lifting rolling element descends, the goods are recovered to be conveyed. For example, the lifting rollers may be provided on the conveying line at the rear end in the transfer direction, or the lifting rollers may be provided on two adjacent conveying lines in the transfer direction at the same time. The lifting rollers may be spherical, cylindrical, etc.

It is understood that the first transfer device 130 and the second transfer device 140 may also include other devices known to those skilled in the art, as long as the requirements of the first transfer device 130 and the second transfer device 140 according to the embodiments of the present disclosure can be met, and the detailed description is omitted here.

In conclusion, the goods conveying system that this disclosure embodiment provided is through setting up two at least picking transfer lines on closed loop transfer line to the goods that need get into a plurality of picking transfer lines can directly carry and get into a plurality of picking transfer lines one by one along closed loop transfer line and pick, thereby not only can save each transfer device of picking between the transfer line, is favorable to improving the efficiency that the goods was carried moreover. Further, the embodiment of the present disclosure provides a cargo conveying system, where at least three first transfer devices are disposed on a closed-loop conveying line, so that the first transfer devices transfer the cargo on the second conveying section to the first conveying section, or transfer the cargo on the first conveying section to the second conveying section. On the one hand, the goods entering the first conveying section through the goods inlet can enter the second conveying section through the first transfer device with a shorter conveying path and enter the picking conveying line, or the goods picked on the picking conveying line can enter the first conveying section through the first transfer device with a shorter conveying path and leave from the goods outlet, so that the goods do not need to go around a large circle along the closed-loop conveying line, and the efficiency of goods conveying is further improved. On the other hand, the goods missing the picking conveying line can be selected to bypass the missing picking conveying line through the first transfer device with the shorter conveying path, so that the efficiency of goods conveying is further improved.

Example two

Fig. 8 is a first flowchart of a cargo conveying method according to an embodiment of the present disclosure; fig. 9 is a flowchart of a cargo conveying method according to an embodiment of the present disclosure; fig. 10 is a flowchart of a cargo conveying method according to an embodiment of the present disclosure; fig. 11 is a fourth flowchart of a cargo conveying method according to an embodiment of the present disclosure.

With reference to fig. 8 to 11, an embodiment of the present disclosure provides a cargo conveying method, which is applied to a cargo conveying system in the first embodiment, and the components and the specific structure of the cargo conveying system in the first embodiment may refer to the description in the first embodiment. The execution main body of the goods conveying method can be management equipment, the management equipment can comprise a computer, a server, a chip and the like, the management equipment can control the working state of each component of the goods conveying system, and can plan the conveying path of the goods and the like, so that the goods conveying system in the first embodiment can realize the goods conveying method in the first embodiment of the disclosure.

Referring to fig. 8, a cargo conveying method provided by the embodiment of the present disclosure includes the following steps:

and step S100, when the target goods are picked on one or more target picking conveying lines, determining that the target goods are positioned at the position of the second conveying section.

It will be appreciated that the second conveyor section of the closed loop conveyor line may be provided with a plurality of picking conveyor lines, and the target picking conveyor line may be one or more than one before the target goods enter the closed loop conveyor line, i.e. the picking conveyor line determined to need to enter and be picked. When the target picking conveying line is one, the target goods enter the target picking conveying line to complete picking, and at this time, the position of the target goods to be finished picking, which is located at the second conveying section, may be an exit position of the target picking conveying line. When the number of the target picking conveying lines is multiple, the target goods sequentially enter the target picking conveying lines and are picked, and at this time, the position where the target goods, which are picked by the multiple target picking conveying lines and are located at the second conveying section, may be the exit position of the last target picking conveying line.

For example, referring to fig. 1 to 3, a position sensor may be disposed on the second conveying section, and the position sensor may detect a position of the target cargo on the second conveying section and transmit position information of the target cargo on the second conveying section to the management device, so that the management device plans the conveying path of the target cargo.

Step S200, determining a first target first transfer device according to the position of the target goods, so that the target goods enter a first conveying section through the first target first transfer device and leave the closed-loop conveying line through any one target goods outlet.

For example, the management device may plan a path of the target cargo from the closed-loop conveying line according to a position of the target cargo on the second conveying section, that is, the management device may determine the first target transfer device and may also determine the target cargo outlet, so that the target cargo after being picked may leave the closed-loop conveying line along the path planned by the management device. The path planned by the management equipment can be the shortest path for conveying the goods and can also be a path for avoiding congestion in the process of conveying the goods, so that the efficiency of conveying the goods is improved.

Referring to fig. 9, the cargo conveying method provided in the embodiment of the present disclosure further includes the following steps:

step S300, determining a second target first transfer device according to the target cargo inlet of the target cargo and the one or more target picking transportation lines corresponding to the target cargo, so that the target cargo enters the first transportation section through the target cargo inlet and enters the second transportation section through the second target first transfer device.

And the target goods enter the position of the second conveying section through the second target first transfer device and are positioned at the upstream of all target picking conveying lines corresponding to the target goods.

And step S400, controlling the target goods to enter the target picking conveying line through the second conveying section so that the target picking conveying line finishes the picking operation of the target goods.

For example, the management apparatus may plan a path of the target goods entering the target picking conveying line according to the target goods inlet of the target goods and one or more target picking conveying lines corresponding to the target goods, that is, the management apparatus may determine the second target first transfer device, so that the goods entering the first conveying section via the target goods inlet may enter the second conveying section via the second target first transfer device. The path planned by the management equipment can be the shortest path for conveying the goods and can also be a path for avoiding congestion in the process of conveying the goods, so that the efficiency of conveying the goods is improved.

In some embodiments, the target goods may enter the target picking conveying line through steps S300 and S400, so that the target picking conveying line completes the picking operation of the target goods. The target cargo that has completed picking may leave the closed-loop conveying line through steps S100 and S200.

In some embodiments, the target goods may enter the target picking conveying line through steps S300 and S400, so that the target picking conveying line completes the picking operation of the target goods. The selected target goods can uniformly bypass to any one goods outlet along the last first transfer device in the conveying direction of the second conveying section of the closed-loop conveying line and leave the closed-loop conveying line without the method of the step S100 and the step S200, so that more goods outlets can be selected, and the efficiency of returning the target goods to the warehouse is improved.

In some embodiments, the target goods may bypass to the second conveying section along the last first transfer device in the conveying direction of the first conveying section of the closed-loop conveying line, and enter the target picking conveying line under the conveying of the second conveying section, so that the target picking conveying line completes the picking operation of the target goods, which is beneficial to reducing the probability of bypassing the target goods when the target picking conveying line is newly added in the goods picking process. The target cargo that has completed picking may leave the closed-loop conveying line through steps S100 and S200.

With continued reference to fig. 9, the cargo conveying method according to the embodiment of the present disclosure, after controlling the target cargo to enter the target picking conveying line via the second conveying section in step S400, so that the target picking conveying line completes the picking operation on the target cargo, further includes:

and step S500, judging whether the target goods need to enter other picking conveying lines.

In some embodiments, the management device may determine whether the target goods need to enter other picking conveying lines for picking according to the temporarily increased order demand information.

If the target cargo needs to enter another picking conveying line, step S510 is executed to control the target cargo to enter another picking conveying line via the second conveying section, so that the other picking conveying line completes the picking operation of the target cargo.

In some embodiments, the management apparatus may perform step S510 at any time after the target cargo is picked at all of the target picking conveyor lines and before the target cargo leaves the second conveyor segment.

In some embodiments, the management apparatus may perform step S510 at any time after the target cargo is picked on all target picking conveyor lines and before the target cargo enters the first conveying section through the first target first transfer device and leaves the closed-loop conveyor line through any one target cargo outlet.

If the target cargo does not need to enter other picking conveying lines, step S520 is executed to control the target cargo to leave the closed-loop conveying line.

In some embodiments, the management apparatus may control the target cargo to bypass to the cargo outlet and leave the closed-loop conveying line along the last first transfer device in the conveying direction of the second conveying section of the closed-loop conveying line.

In some embodiments, the management device may perform steps S100 and S200 to move the target cargo out of the closed-loop conveying line.

Referring to fig. 10, in step S510, controlling the target cargo to enter another picking conveying line via the second conveying section may specifically include:

step S511, determining whether the target cargo is located in the second conveying section.

For example, whether the target cargo is located on the second conveying section may be determined by a position sensor disposed on the second conveying section.

If the target cargo is located at the second conveying section and the other picking conveying lines are located at the upstream of the current location of the target cargo, step S512 is executed to control the target cargo to surround the third target first transfer device and the fourth target first transfer device to the upstream of the second conveying section and enter the other picking conveying lines.

If the target cargo is located in the second conveying section and the other picking conveying lines are located downstream of the current location of the target cargo, step S513 is executed to control the target cargo to enter the other picking conveying lines through the second conveying section.

For example, the position of the target cargo on the second conveying section may be detected by a position sensor arranged on the second conveying section, and the position information of the target cargo is conveyed to the management device, and the management device may determine the position relationship between the position of the target cargo and other picking conveying lines according to the position information of the target cargo and the position information of other picking conveying lines into which the target cargo enters.

If the other picking conveying lines are located at the upstream of the current position of the target goods, the management equipment can plan the path of the target goods entering the other picking conveying lines according to the position information of the target goods, the position information of the other picking conveying lines and the position information of the first transfer device.

That is, the management apparatus may determine a third target first transfer device located downstream of the position where the goods are currently located at the position of the second conveying section and a fourth target first transfer device located upstream of the positions of the other picking conveying lines at the position of the second conveying section, for example, so that the target goods may be looped to the upstream of the second conveying section via the third target first transfer device and the fourth target first transfer device, and at this time, the position where the target goods are looped to the second conveying section may be upstream of the other picking conveying lines, so as to enable the second conveying section to drive the target goods to enter the other picking conveying lines. The path planned by the management equipment can be the shortest path for conveying the goods and can also be a path for avoiding congestion in the process of conveying the goods, so that the efficiency of conveying the goods is improved.

If other picking conveying lines are located at the downstream of the current position of the target goods, the management equipment can control the second conveying section to drive the target goods to move and enter the other picking conveying lines.

If the target cargo is not in the second conveying section, step S514 is executed to control the target cargo to enter the second conveying section from the fifth target first transfer device, and enter another picking conveying line.

In some embodiments, the target cargo on the first conveying section may be detected by a position sensor disposed on the first conveying section, and position information of the target cargo is conveyed to the management apparatus, and the management apparatus may determine the fifth target first transfer device according to the position information of the target cargo and position information of other picking conveying lines to which the target cargo is to enter. It is understood that the fifth target first transfer device is located upstream of the location of the other picking conveyor line at the location of the second conveyor section, the target cargo located on the first conveyor section enters the second conveyor section through the fifth target first transfer device, and the location of the target cargo entering the second conveyor section is upstream of the other picking conveyor line, so that the second conveyor section drives the target cargo into the other picking conveyor line.

Optionally, an identification device may be provided at a location upstream of each picking conveyor line.

Step S400, controlling the target cargo to enter the target picking conveying line via the second conveying section, which may specifically include:

and identifying the target goods entering the identification area through the identification device corresponding to the target picking conveying line, and judging whether the target goods need to enter the target picking conveying line.

And if the target goods need to enter the target picking conveying line, controlling the target goods to enter the target picking conveying line.

For example, the identification device, such as a code scanner, may scan the identification code of the target cargo and transmit the identification code information of the target cargo to the management device, and the management device may determine whether the target cargo needs to enter the target picking conveying line corresponding to the current identification device according to the identification code information of the target cargo and the picking order information. And if the target goods need to enter the target picking conveying line corresponding to the current identification device, controlling the target goods to enter the target picking conveying line.

If the target goods do not need to enter the target picking conveying line and the target goods also need to enter other target picking conveying lines, the management equipment can control the second conveying section to convey the target goods to the next target picking conveying line; or the target goods are picked by all the target picking conveying lines, and the management equipment can plan a path to enable the target goods to leave the closed-loop conveying line; or the target goods also need to enter other picking conveying lines, and the management equipment can plan a path to convey the target goods to the other picking conveying lines. The specific steps herein can refer to the above description, and are not repeated herein.

Optionally, each of the pick conveyor line entrance bin positions is provided with a sensor, which may be, for example, an infrared sensor.

Referring to fig. 11, in step S400, controlling the target cargo to enter the target picking conveying line via the second conveying section may further include:

step S410, detecting whether an entrance container position of the target picking conveying line is occupied through a sensor:

if the entrance container position of the target picking conveying line is not occupied, step S450 is executed to control the target cargo to enter the entrance container position of the target picking conveying line through the second conveying segment.

In specific implementation, the sensor can detect whether an inlet cargo box position of the target picking conveying line is occupied or not and transmit detected information to the management equipment. When the entrance box position is not occupied, the management equipment can control the target goods to enter the entrance box position of the picking conveying line, so that the target goods can be picked in the picking conveying line. When the entrance cargo space is occupied, the management equipment can control the target cargo to continue conveying, and the management equipment can plan the conveying path of the target cargo according to the order information and the picking condition of the target cargo.

Optionally, if the sensor detects that the container position at the entrance of the target picking conveying line is occupied, step S420 may be executed to determine whether the target cargo is waiting, or step S440 may be directly executed, which is not limited herein.

For example, the management device may determine whether the target cargo is waiting according to the conveying condition of the picking conveying line.

If the target cargo needs to wait, step S430 is executed to control the target cargo to stop moving and wait, and the step of detecting whether the entrance cargo space of the target picking conveying line is occupied via the sensor is repeatedly executed until the target cargo enters the entrance cargo space of the target picking conveying line.

In some embodiments, the management device may also preset the predetermined time for the target cargo to stop waiting according to actual conditions. In a preset time, if the sensor detects that the inlet container position of the target picking conveying line is empty, the target goods can enter the inlet container position of the target picking conveying line; and if the sensor detects that the container position at the inlet of the target picking conveying line is occupied, the target goods continue to wait. After the preset time is up, if the target goods do not enter the inlet goods box position of the target picking conveying line, the management equipment can control the target goods to continue conveying, and the management equipment can plan the conveying path of the target goods according to the order information and the picking condition of the target goods.

If the target cargo does not need to wait, step S440 is executed to control the target cargo to surround the entrance end of the target picking conveyor line via the closed-loop conveyor line.

Further, step S440, controlling the target cargo to surround the inlet end of the target picking conveyor line via the closed-loop conveyor line may specifically include:

and acquiring a sixth target first transfer device through which the target goods are transferred from the second conveying section to the first conveying section, and a seventh target first transfer device through which the target goods are transferred from the first conveying section to the second conveying section. Along the conveying direction of the second conveying section, the sixth target first transferring device is positioned at the downstream of the inlet end of the target picking conveying line, and the seventh target first transferring device is positioned at the upstream of the inlet end of the target picking conveying line; and the target goods sequentially pass through the sixth target first transfer device and the seventh target first transfer device to return to the inlet end of the target picking conveying line.

In some embodiments, if the target cargo does not need to wait, the target cargo may be controlled to directly bypass to the entrance end of the target picking transportation line that has not successfully entered, and at this time, only the target picking transportation line that has not successfully entered needs to be included between the sixth target first transfer device and the seventh target first transfer device.

In some embodiments, if the target cargo does not need to wait, after the target cargo is controlled to continue to be transported and the picking of the subsequent target picking transportation line is completed, the target cargo is controlled to bypass to the entry end of the target picking transportation line which has not successfully entered, at this time, a plurality of target picking transportation lines are required to be included between the sixth target first transfer device and the seventh target first transfer device, and the plurality of target picking transportation lines include the target picking transportation line which has not successfully entered the target cargo and the subsequent target picking transportation line.

It is understood that, if the target picking conveyor line to which the target cargo has not successfully entered is the first target picking conveyor line to be entered, at this time, the plurality of target picking conveyor lines included between the sixth target first transfer device and the seventh target first transfer device may be all the target picking conveyor lines corresponding to the target cargo. If the target picking conveyor line to which the target cargo has not successfully entered is not the first target picking conveyor line to which the target cargo needs to enter, at this time, the plurality of target picking conveyor lines included between the sixth target first transfer device and the seventh target first transfer device may be part of the target picking conveyor lines corresponding to the target cargo.

In a specific implementation, the management device may determine the sixth target first transfer device and the seventh target first transfer device according to the position of the target picking conveying line, so as to minimize a route from the target goods to the entrance end of the target picking conveying line, or prevent the route from being blocked.

It is understood that since the sixth target first transfer device and the seventh target first transfer device, and the third target first transfer device and the fourth target first transfer device are each determined according to the position of the specific picking conveyance line, and each can form a small loop line including the specific picking conveyance line with the first conveyance section and the second conveyance section. Thus, in some embodiments, the sixth and seventh target first transfer devices, and the third and fourth target first transfer devices may be identical, partially identical, or completely different.

In some embodiments, the target cargo may correspond to a plurality of target picking transportation lines, and the plurality of target picking transportation lines may be located between the sixth target first transfer device and the seventh target first transfer device.

For example, the plurality of target picking conveying lines corresponding to the target goods may be all the target picking conveying lines corresponding to the target goods, or may be some of all the target picking conveying lines corresponding to the target goods.

During specific implementation, the sixth target first transfer device, the seventh target first transfer device, the first conveying section and the second conveying section are enclosed to form a small ring shape, a plurality of target picking conveying lines corresponding to target goods are located in the range of the small ring line, and the management equipment can control the goods to be conveyed on the small ring line and respectively enter the plurality of target picking conveying lines to finish picking.

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. The goods conveying system is characterized by comprising a closed-loop conveying line, wherein the closed-loop conveying line comprises a first conveying section and a second conveying section which are sequentially connected end to end, and the conveying directions of the first conveying section and the second conveying section are opposite;

at least two groups of goods inlets and outlets are arranged on one side of the first conveying section at intervals, and each goods inlet and outlet comprises a goods inlet and a goods outlet; at least two picking conveying lines are arranged on one side of the second conveying section, and two ends of each picking conveying line are connected to the second conveying section at intervals, so that goods on the second conveying section enter the picking conveying lines from the first ends of the picking conveying lines, or goods on the picking conveying lines enter the second conveying section from the second ends of the picking conveying lines;

at least three first transfer devices are arranged on the closed-loop conveying line, wherein two first transfer devices are respectively positioned at two ends of the first conveying section; and the rest of the first transfer devices are positioned between any two picking conveying lines, the rest of the first transfer devices are positioned between any two groups of the goods inlets and outlets, and the first transfer devices transfer the goods on the second conveying section to the first conveying section or transfer the goods on the first conveying section to the second conveying section.

2. The cargo conveying system of claim 1, further comprising an unloader and an loader; the unloading machine is arranged at the goods inlet and is used for transferring goods on the unloading machine to the goods inlet; the feeding machine is arranged at the goods outlet and used for transferring goods at the goods outlet to the feeding machine.

3. The cargo conveying system according to claim 2, further comprising a transfer robot, wherein when the transfer robot is docked with the unloader, the unloader is adapted to transfer the cargo on the transfer robot to the unloader;

when the transfer robot is in butt joint with the feeding machine, the feeding machine is used for transferring the goods on the feeding machine to the transfer robot.

4. The cargo conveying system according to claim 1, wherein the cargo inlet and the cargo outlet are adjacently disposed.

5. The cargo conveying system according to claim 4, wherein the cargo inlet and/or the cargo outlet is provided with a second transfer device that transfers the cargo at the cargo outlet to the cargo inlet.

6. The cargo conveying system according to claim 5, wherein the cargo inlet is provided with an upper discharging all-in-one machine for transferring the cargo on the upper discharging all-in-one machine to the cargo inlet, or the upper discharging all-in-one machine for transferring the cargo transferred from the cargo outlet to the cargo inlet to the upper discharging all-in-one machine.

7. The cargo conveying system according to claim 1, wherein the first end of the picking conveyor line and the second end of the picking conveyor line are arranged in sequence along the conveying direction of the second conveying section; or the second end of the picking conveying line and the first end of the picking conveying line are sequentially arranged along the conveying direction of the second conveying section;

the conveying direction of the picking conveying line is from the first end of the picking conveying line to the second end of the picking conveying line.

8. The cargo conveying system according to claim 1 or 7, wherein the first end of the picking conveyor line and the second end of the picking conveyor line are separated by at least one bin position.

9. The cargo conveying system according to claim 1 or 7, wherein each picking conveyor line is provided at a location upstream thereof with an identification device for identifying a container adjacent to the picking conveyor line to determine whether the container requires access to the picking conveyor line.

10. The cargo conveying system according to claim 1 or 7, wherein the picking conveyor line comprises two picking positions, and two adjacent third transfer devices are arranged between the two picking positions; the third transfer device close to the first end of the picking conveying line transfers the goods on the picking conveying line to the second conveying section, and the third transfer device close to the second end of the picking conveying line transfers the goods on the second conveying section to the picking conveying line.

11. The cargo conveying system according to claim 1, wherein the conveying surface of the picking conveying line is arranged obliquely, and a side of the conveying surface away from the second conveying section is lower than a side of the conveying surface close to the second conveying section.

12. The cargo conveying system according to claim 1 or 11, further comprising an auxiliary conveying line disposed above the picking conveying line;

the projection of one side of the auxiliary conveying line far away from the second conveying section in the vertical direction falls between one side of the picking conveying line far away from the second conveying section and the second conveying section;

the bottom surface of the container conveyed by the goods conveying system is rectangular, the width of the conveying surface of the auxiliary conveying line is consistent with that of the bottom surface of the container, and the width of the conveying surface of the picking conveying line is consistent with that of the bottom surface of the container.

13. The cargo conveying system according to any one of claims 1 to 7, wherein at least one picking conveyor line and/or at least one group of cargo entrances and exits are provided between two adjacent first transfer devices.

14. The cargo conveying system according to claim 3, wherein the unloader includes an unloading rack and a first elevating mechanism, the first elevating mechanism being disposed between the unloading rack and the cargo inlet;

the goods on the carrying robot are transferred to the unloading goods shelf through the unloading goods shelf, and the goods on the unloading goods shelf are transferred to the goods inlet through the first lifting mechanism.

15. The cargo conveying system according to claim 3, wherein the loader comprises a loading rack and a second lifting mechanism, the second lifting mechanism being disposed between the loading rack and the cargo outlet;

the second lifting mechanism transfers the goods at the goods outlet to the loading goods shelf, and the loading goods shelf transfers the goods on the loading goods shelf to the transfer robot.

16. The cargo conveying system according to claim 6, wherein the all-in-one machine for loading and unloading comprises an upper unloading shelf and a third lifting mechanism, and the third lifting mechanism is arranged between the upper unloading shelf and the cargo inlet;

when the loading and unloading integrated machine is used for loading, the third lifting mechanism transfers the goods transferred from the goods outlet to the goods inlet to the loading and unloading goods shelf, and the loading and unloading goods shelf transfers the goods on the loading and unloading goods shelf to the transfer robot;

when the upper discharging and discharging integrated machine discharges materials, the upper discharging and discharging goods shelf transfers goods on the transfer robot to the upper discharging and discharging goods shelf, and the third lifting mechanism transfers the goods on the upper discharging and discharging goods shelf to the goods inlet.

17. The cargo conveying system according to claim 3, wherein the transfer robot includes a moving base and a robot shelf provided on the moving base, the robot shelf being adapted to dock with a loader, unloader or all-in-one loader and unloader and transfer the cargo.

18. The cargo conveying system according to any one of claims 1-7, wherein conveying rollers or conveying belts are arranged on the closed-loop conveying line, and the conveying rollers or the conveying belts on the closed-loop conveying line move the cargo along the conveying direction of the closed-loop conveying line;

the picking conveying line is provided with conveying rollers or conveying belts, and the conveying rollers or the conveying belts on the picking conveying line drive the goods to move along the conveying direction of the picking conveying line.

19. The cargo conveying system according to claim 5, wherein the first transfer device or the second transfer device is a push-pull rod that transfers the cargo in a transfer direction.

20. The cargo conveying system according to claim 5, wherein the first transfer device or the second transfer device is a lifting roller, when the lifting roller is lifted, the cargo is supported on the lifting roller, and the lifting roller drives the cargo to move along the transfer direction; when the lifting rolling piece descends, the goods are recovered to be conveyed.

21. A cargo conveying method applied to the cargo conveying system according to any one of claims 1 to 20, the cargo conveying method comprising:

determining a location of a target shipment at a second delivery leg when the target shipment completes picking on one or more target picking conveyors;

and determining a first target first transfer device according to the position of the target goods, so that the target goods enter a first conveying section through the first target first transfer device and leave the closed-loop conveying line through any one target goods outlet.

22. The cargo conveying method according to claim 21, further comprising:

determining a second target first transfer device according to a target cargo inlet of the target cargo and the one or more target picking conveying lines corresponding to the target cargo, so that the target cargo enters the first conveying section through the target cargo inlet and enters the second conveying section through the second target first transfer device;

the position of the target cargo entering the second conveying section through the second target first transfer device is located at the upstream of all the target picking conveying lines corresponding to the target cargo;

and controlling the target goods to enter the target picking conveying line through the second conveying section so that the target picking conveying line completes the picking operation of the target goods.

23. The cargo conveying method according to claim 22, wherein the controlling the target cargo to enter the target picking conveyor line via the second conveying section so that the target picking conveyor line completes the picking operation of the target cargo further comprises:

judging whether the target goods need to enter other picking conveying lines:

if so, controlling the target goods to enter the other picking conveying lines through the second conveying section so as to enable the other picking conveying lines to finish picking operation of the target goods;

and if not, controlling the target goods to leave the closed-loop conveying line.

24. The method for conveying goods according to claim 23, wherein said controlling the target goods to enter the other picking conveyor line via the second conveyor section comprises:

judging whether the target cargo is positioned in the second conveying section:

if the target goods are located on the upstream of the current position of the target goods, the target goods are controlled to surround the upstream of the second conveying section by a third target first transfer device and a fourth target first transfer device and enter the other picking conveying lines;

if the target goods are located at the downstream position of the current position of the target goods, controlling the target goods to enter the other picking conveying lines through the second conveying section;

and if not, controlling the target goods to enter the second conveying section from a fifth target first transfer device and enter other sorting conveying lines.

25. The method for conveying goods according to any one of claims 22 to 24, wherein an identification device is provided at each position upstream of the picking conveyor line, and the controlling of the target goods into the target picking conveyor line via the second conveyor section comprises:

identifying the target goods entering an identification area through an identification device corresponding to the target picking conveying line, and judging whether the target goods need to enter the target picking conveying line:

and if so, controlling the target goods to enter the target picking conveying line.

26. The method for conveying goods according to any one of claims 22-24, wherein an entry bin of each picking conveyor line is provided with a sensor, and the controlling of the target goods into the target picking conveyor line via the second conveyor segment comprises:

detecting, via the sensor, whether an entry bin position of the target picking conveyor line is occupied:

and if not, controlling the target goods to enter an inlet goods box position of the target picking conveying line through the second conveying section.

27. The method of conveying cargo of claim 26, wherein after detecting via the sensor whether an entry bin of the target pick conveyor line is occupied, the method further comprises:

if the sensor detects that the inlet container position of the target picking conveying line is occupied, judging whether the target cargo waits:

if so, controlling the target goods to stop moving and wait, and repeatedly executing the step of detecting whether an entrance goods box position of the target picking conveying line is occupied through the sensor until the target goods enter the entrance goods box position of the target picking conveying line;

and if not, controlling the target goods to surround to the inlet end of the target picking conveying line through the closed-loop conveying line.

28. The cargo conveying method according to claim 27, wherein the controlling the target cargo to loop to the entrance end of the target picking conveyor line via the closed loop conveyor line comprises:

acquiring a sixth target first transfer device through which the target goods are transferred from the second conveying section to the first conveying section, and a seventh target first transfer device through which the target goods are transferred from the first conveying section to the second conveying section;

wherein, along the conveying direction of the second conveying section, the sixth target first transferring device is positioned at the downstream of the inlet end of the target picking conveying line, and the seventh target first transferring device is positioned at the upstream of the inlet end of the target picking conveying line; and the target goods sequentially pass through the sixth target first transferring device and the seventh target first transferring device to return to the inlet end of the target picking conveying line.

29. The cargo conveying method according to claim 28, wherein the target cargo corresponds to a plurality of target picking conveyance lines each located between the sixth target first transfer device and the seventh target first transfer device.