CN114044296A

CN114044296A - Storage system and container storage method

Info

Publication number: CN114044296A
Application number: CN202111567405.XA
Authority: CN
Inventors: 汪奎; 李小龙
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-02-15
Also published as: WO2023116247A1

Abstract

The application provides a warehousing system and a container warehousing method, wherein in the warehousing system, a measuring frame device used for acquiring size information and/or type information of a container is arranged, whether the container information meets a preset requirement is determined based on the size information and/or the type information of the container, and if so, the container can be directly warehoused; if the container information does not meet the preset requirements, the goods of the container are transferred into another container of which the container information meets the preset requirements, and then the other container with the goods is put in storage. Through the scheme of this embodiment, can guarantee that all packing box information of putting in storage packing box all satisfy and predetermine the requirement to be convenient for put in storage management.

Description

Storage system and container storage method

Technical Field

The application relates to the technical field of warehousing, in particular to a warehousing system and a container warehousing method.

Background

Warehousing systems are commonly used to store a variety of different types of goods, which are typically placed in bins that are placed on shelves of the warehousing system. Wherein, based on the size difference of goods, there is certain difference in the size and the type of the packing box for placing the goods. For example, for large cargo the corresponding container size is also larger, whereas for small cargo the container size may be smaller. In addition, the types of containers used may be different for different goods, for example, the types of containers may be specifically classified into easily deformable containers (such as cartons) and not easily deformable containers (such as rubber boxes, steel boxes, etc.), and the like.

Wherein, the size of easy deformation packing box can have the multiple to the goods of adaptation different sizes. For goods that easily expand, for example clothing, cotton-wadded quilt etc. can lead to easily deformable packing box to take place the inflation to the size that leads to easily deformable packing box changes, and the size becomes great promptly, and then leads to easily deformable packing box not convenient for go on warehouse management. Relatively speaking, the size of the container which is not easy to deform is more fixed due to the fact that the size of the container is not easy to change, and therefore the container which is not easy to deform is more convenient to store and manage.

For the warehousing system, when the containers with goods are warehoused, due to the size difference and the type difference of the containers, how to warehouse various types of containers is a problem to be solved.

Disclosure of Invention

The application provides a warehousing system and a container warehousing method, which are used for solving the problems in the prior art.

In a first aspect, the present application provides a warehousing system comprising:

the conveying line is used for conveying the containers;

the frame measuring equipment is arranged on the conveying line and used for acquiring the information of the containers;

wherein the conveyor line comprises a first branch and a second branch, the first branch and the second branch being located downstream of the conveyor line with respect to the frame sizing device;

the first branch is used for conveying a first container to a warehousing place, and the first container is a container of which the information of the container in the container to be warehoused meets the preset requirement;

the second branch is used for conveying a second container to an operation platform, the second container is a container of which the container information does not meet the preset requirement in a container to be warehoused, the operation platform is used for transferring the goods of the second container to a third container of which the container information meets the preset requirement, and transmitting the third container to a warehousing place through the conveying line, and the third container is a container on the conveying line except the first container and the second container.

In some embodiments, the warehousing system further comprises: a server;

the frame measuring device comprises: the image acquisition device is used for acquiring image information of the container to be warehoused and sending the image information to the server;

the server is used for carrying out container type identification according to the image information of the containers to be warehoused to obtain the type identification result of the containers to be warehoused, and determining whether the container information of the containers to be warehoused meets the preset requirement or not according to the type identification result;

and when the type identification result is that the type of the container to be warehoused belongs to the preset type, the server is used for determining that the container information of the container to be warehoused meets the preset requirement.

In some embodiments, the volume box device further comprises: the 3D sensor is used for carrying out size measurement processing on the container to be warehoused and sending the obtained size measurement result to the server;

the server is used for determining whether the container information of the container to be warehoused meets the preset requirement or not according to the size measurement result when the type identification result of the container to be warehoused is that the type of the container to be warehoused does not belong to the preset type;

if the size measurement result is within the preset size range, the server is used for determining that the container information of the container to be warehoused meets the preset requirement;

and if the size measurement result exceeds the preset size range, the server is used for determining that the container information of the container to be warehoused does not meet the preset requirement.

In some embodiments, the warehousing system further comprises: a server;

the frame measuring device comprises: the 3D sensor is used for carrying out size measurement processing on the container to be warehoused and sending the obtained size measurement result to the server;

the server is used for determining whether the container information of the container to be warehoused meets the preset requirement or not according to the size measurement result;

and if the size measurement result is within the preset size range, the server is used for determining that the container information of the container to be warehoused meets the preset requirement.

In some embodiments, the volume box device further comprises: the image acquisition device is used for acquiring image information of the container to be warehoused and sending the image information to the server;

the server is used for carrying out container type identification according to the image information of the containers to be warehoused when the size measurement result of the containers to be warehoused exceeds the preset size range, obtaining the type identification result of the containers to be warehoused, and determining whether the container information of the containers to be warehoused meets the preset requirement according to the type identification result;

when the type identification result is that the type of the container to be warehoused belongs to a preset type, the server is used for determining that the container information of the container to be warehoused meets the preset requirement;

and when the type identification result is that the type of the container to be warehoused does not belong to the preset type, the server is used for determining that the container information of the container to be warehoused does not meet the preset requirement.

In some embodiments, the second branch includes a drop-in line for delivering the second container to the station.

In some embodiments, the number of stations is at least two;

when there is an empty station in the at least two stations, the binning line is used for transporting the second container to the empty station in the goods conveying direction.

In some embodiments, the console further comprises a cache slot;

when no idle operation platform exists in the at least two operation platforms, the warehousing line is used for conveying the second container to the operation platform with the idle buffer storage goods position in the goods conveying direction.

In some embodiments, the number of the operation platforms is at least two, and the operation platforms further comprise a cache cargo space;

the warehousing line is used for conveying Mi second containers to each operating platform, and Mi is determined and obtained based on the operating platforms and the state of the buffer storage cargo space;

when the ith operating platform is in an idle state and the number of the buffer storage goods positions with empty states on the ith operating platform is Ni, Mi is Ni + 1;

when the ith operating platform is in a non-idle state, and the number of the buffer cargo space with an empty state on the ith operating platform is Ni, Mi is Ni.

In some embodiments, the warehousing line is communicated with the operating platform through a flap structure;

when the turning plate structure is switched from the first turning state to the second turning state, the warehousing line conveys the second container to the operating platform through the turning plate structure;

wherein, in the second turnover state, the turnover plate structure is close to the warehousing line;

under the first upset state, turn over the board structure and keep away from the line of warehousing.

In some embodiments, the flap structure is configured to serve as a buffer bay for the operations console when the flap structure is in the second flipped state.

In some embodiments, the conveyor line includes a first empty container line for conveying a third container not loaded with cargo to the station.

In some embodiments, the first empty container line is connected to the packing station, and the third container not loaded with goods comprises an empty container which is taken out of the packing station, and the packing station is used for packing the taken-out goods.

In some embodiments, the conveyor line includes a drop-off line for conveying a third container with cargo to the warehousing location.

In some embodiments, the number of stations is at least two;

and a container transmission line of the container throwing line passes through each operation platform, and the container throwing line is used for transmitting the third containers which are processed by each operation platform and are filled with the goods to a warehousing place.

In some embodiments, the number of warehousing locations is at least two;

and when the idle warehousing place exists, the box throwing line is used for conveying the third container filled with the goods to the idle warehousing place in the container conveying direction of the box throwing line.

In some embodiments, the warehousing location is provided with a caching storage location;

when the idle warehousing place does not exist, the box throwing line is used for conveying the third container filled with the goods to the warehousing place with the idle buffering warehousing position in the container transmission direction of the box throwing line.

In some embodiments, the drop line comprises a first sub-drop line and a second sub-drop line;

the first sub-box throwing line is used for conveying a third container filled with goods to a warehousing place;

the second sub box throwing line is communicated with the first sub box throwing line and used for conveying a third container conveyed to the downstream position of the first sub box throwing line to the upstream position of the first sub box throwing line and/or each warehousing place according to the conveying direction of the container opposite to that of the first sub box throwing line.

In some embodiments, when there is an idle warehousing location, the second sub-drop line is used to transport a third container to the idle warehousing location in the container transport direction of the second sub-drop line;

and when no idle warehousing place exists, the second sub-box throwing line is used for conveying the third container to the warehousing place with the idle buffering warehousing position in the container transmission direction of the second sub-box throwing line.

In some embodiments, the warehousing places comprise a first warehousing place and at least one second warehousing place which are sequentially arranged along the container transmission direction of the first sub-box-throwing line;

the box throwing line also comprises a container transferring device; the container transfer equipment is used for transferring the third container from the first sub-container throwing line to the second sub-container throwing line and/or transferring the third container from the second sub-container throwing line to the first sub-container throwing line.

In some embodiments, the warehousing location is provided with a unloader;

the unloader is used for transferring the third containers filled with the goods to the transfer robot, so that the transfer robot can carry out warehousing processing on the third containers filled with the goods.

In some embodiments, the conveyor line further comprises a second empty container line for conveying a second container not loaded with goods to the packing station.

In a second aspect, the present application provides a container warehousing method applied to the warehousing system, including:

when containers to be warehoused exist, container information of the containers to be warehoused is acquired through a quantity frame device;

determining whether the container information meets preset requirements through a server;

controlling a first branch of a conveying line to convey the first container, of which the container information meets the preset requirement, to a warehousing place;

and controlling a second branch of the conveying line to convey a second container, the information of which does not meet the preset requirement, in the container to be warehoused to an operation table, controlling the operation table to transfer the goods of the second container to a third container, the information of which meets the preset requirement, and controlling the conveying line to convey the third container to the warehousing place, wherein the third container is a container on the conveying line except the first container and the second container.

In some embodiments, the operation platform comprises a turning plate structure, and the turning plate structure is used for communicating the operation platform and a warehousing line for conveying the containers to be warehoused to the operation platform;

the second branch of control transfer chain carries the second packing box that the packing box information does not satisfy the requirement of predetermineeing in waiting to put in storage packing box to the operation panel, includes:

when the turning plate structure is detected to be switched from the first turning state to the second turning state, the warehousing line of the second branch and the turning plate structure are controlled to convey the second container to the operation platform;

In some embodiments, determining whether the container information meets a preset requirement includes:

acquiring image information of a container to be warehoused, which is acquired by an image acquisition device of the quantity frame equipment;

carrying out container type identification according to the image information of the containers to be warehoused to obtain the type identification result of the containers to be warehoused;

determining whether the container information of the container to be warehoused meets a preset requirement or not according to the type identification result;

and when the type identification result is that the type of the container to be warehoused belongs to the preset type, determining that the container information of the container to be warehoused meets the preset requirement.

In some embodiments, further comprising:

obtaining a size measurement result obtained by performing size measurement processing on a container to be warehoused through a 3D sensor of the measuring frame equipment;

when the type of the container to be warehoused does not belong to the preset type, determining whether the container information of the container to be warehoused meets the preset requirement or not according to the size measurement result;

if the size measurement result is within a preset size range, determining that the container information of the container to be warehoused meets a preset requirement;

and if the size measurement result exceeds the preset size range, determining that the container information of the container to be warehoused does not meet the preset requirement.

determining whether the container information of the container to be warehoused meets a preset requirement or not according to the size measurement result;

and if the size measurement result is within the preset size range, determining that the container information of the container to be warehoused meets the preset requirement.

In some embodiments, further comprising:

when the size measurement result of the container to be warehoused exceeds the preset size range, identifying the type of the container according to the image information of the container to be warehoused to obtain the type identification result of the container to be warehoused;

when the type identification result is that the type of the container to be warehoused belongs to a preset type, determining that the container information of the container to be warehoused meets a preset requirement;

and when the type identification result is that the type of the container does not belong to the preset type, determining that the container information of the container to be warehoused does not meet the preset requirement.

In some embodiments, the number of stations is at least two;

and when an idle operation platform exists in the at least two operation platforms, controlling the second branched warehousing line to convey the second container to the idle operation platform in the cargo conveying direction.

In some embodiments, the console includes a cache slot;

the method further comprises the following steps:

when no idle operation platform exists in the at least two operation platforms, the warehousing line of the second branch is controlled to convey the second container to the operation platform with the idle buffer storage goods position in the goods conveying direction.

In some embodiments, the number of stations is at least two, the stations including cache slots;

controlling a warehousing line of a second branch to convey Mi second containers to each operation table, wherein Mi is determined and obtained based on the operation tables and the state of a buffer storage cargo space;

In some embodiments, the number of warehousing locations is at least two;

transporting a third container to a warehousing location via a conveyor line, comprising:

and when an idle warehousing place exists, controlling a first sub-box throwing line of a box throwing line in the conveying line to convey the third container to the idle warehousing place in the container conveying direction.

the method further comprises the following steps:

and when no idle warehousing place exists, controlling the first sub-box throwing line to convey the third container to the warehousing place with the idle buffering warehousing position in the container transmission direction.

In some embodiments, the transfer line includes a drop-off line for transferring a third container filled with goods to the warehousing location;

the method further comprises the following steps:

and controlling a second sub-box throwing line in the box throwing lines, and conveying a third container conveyed to the downstream position of the first sub-box throwing line to the upstream position of the first sub-box throwing line and/or each warehousing place according to the conveying direction of the container opposite to the conveying direction of the first sub-box throwing line in the box throwing lines.

In some embodiments, further comprising:

when an idle warehousing place exists, controlling a second sub-box throwing line of a second branch to convey a third container to the idle warehousing place in the container conveying direction of the second sub-box throwing line;

and when no idle warehousing place exists, controlling a second sub-box throwing line of the second branch to convey the third container to the warehousing place with the idle buffering warehousing position in the container transmission direction of the second sub-box throwing line.

the method further comprises the following steps:

and the container transfer equipment controls the box throwing line to transfer the third container from the first sub box throwing line to the second sub box throwing line and/or transfer the third container from the second sub box throwing line to the first sub box throwing line.

In some embodiments, the method further comprises:

and controlling an unloader arranged at the warehousing place to transfer the first container and the third container at the warehousing place to the transfer robot so that the transfer robot can carry out warehousing treatment on the third container.

In some embodiments, the method further comprises:

controlling a first empty box line of the conveying line, and conveying a third container which is not loaded with goods and has container information meeting preset requirements to an operation platform;

the first empty box line is connected with the packing platform, the third packing box which is not provided with the goods and has packing box information meeting the preset requirement comprises an empty packing box which takes the goods out of the packing platform, and the packing platform is used for packing the taken goods.

In some embodiments, the method further comprises:

and controlling a second empty box line of the second branch, and conveying a second container which is not provided with the goods after the goods are transferred through the operation platform and has container information which does not meet the preset requirement to the packing platform.

According to the storage system and the container warehousing method, in the storage system, frame measuring equipment used for acquiring size information and/or type information of containers is arranged, whether the container information meets a preset requirement is determined based on the size information and/or the type information of the containers, and if the container information meets the preset requirement, the containers can be directly warehoused; if the container information does not meet the preset requirements, the goods of the container are transferred into another container of which the container information meets the preset requirements, and then the other container with the goods is put in storage. Through the scheme of this embodiment, can guarantee that all packing box information of putting in storage packing box all satisfy and predetermine the requirement to be convenient for put in storage management.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

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

FIG. 2 is a schematic structural diagram of a second branch in an embodiment of the present application;

FIG. 3 is a schematic view of a flap structure in the embodiment of the present application;

fig. 4 is a schematic diagram of a container warehousing method provided in an embodiment of the present application.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the embodiments of the present application, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the characters "three" in this document generally indicate that the former and latter associated objects are in an "or" relationship.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

Warehousing systems are commonly used to store a variety of different types of goods, which are typically placed in bins that are placed on shelves of the warehousing system.

Wherein, based on the size difference of goods, there is certain difference in the size and the type of the packing box for placing the goods. For example, for large cargo the corresponding container size is also larger, whereas for small cargo the container size may be smaller.

In addition, the types of containers used may be different for different goods, for example, the types of containers may be specifically classified into easily deformable containers (such as cartons) and not easily deformable containers (such as rubber boxes, steel boxes, etc.), and the like.

Wherein, the size of easy deformation packing box can have the multiple to the goods of adaptation different sizes. For goods that easily expand, for example clothing, cotton-wadded quilt etc. can lead to easily deformable packing box to take place the inflation to the size that leads to easily deformable packing box changes, and the size becomes nonstandard promptly, and the robot of being inconvenient for takes the transport to the packing box, therefore is inconvenient for carry out warehouse entry management.

Relatively speaking, the size of the container which is not easy to deform is more fixed due to the fact that the size of the container is not easy to change, and therefore the container which is not easy to deform is more convenient to store and manage.

The application provides a warehousing system and a container warehousing method, and aims to solve the technical problems in the prior art.

The main conception of the scheme of the application is as follows: in the warehousing system, frame measuring equipment used for acquiring size information and/or type information of the containers is arranged, whether the information of the containers meets the preset requirements is determined based on the size information and/or the type information of the containers, and if the information of the containers meets the preset requirements, the containers can be directly warehoused; if the container information does not meet the preset requirements, the goods of the container are transferred into another container of which the container information meets the preset requirements, and then the other container with the goods is put in storage. Through the scheme of this application, can guarantee that all packing box information of putting in storage packing box all satisfy and predetermine the requirement to be convenient for put in storage management.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic view of a warehousing system provided in an embodiment of the present application, as shown in fig. 1, the warehousing system includes:

a conveyor line 100 for conveying containers, the direction of transport of the goods of the conveyor line being indicated by the arrows;

the frame measuring equipment 200 is arranged on the conveying line and used for acquiring the information of the containers, the containers to be warehoused firstly pass through the frame measuring equipment according to the cargo conveying direction of the conveying line, the frame measuring equipment measures and acquires corresponding container information, and the container information is used for judging whether the containers meet the preset requirements of warehousing or not;

wherein the conveyor line comprises a first branch 110 and a second branch 120, the first branch and the second branch being located downstream of the conveyor line with respect to the frame dosing apparatus; it can be understood that after the container information is obtained by measuring the frame measuring device, the container information can be used for judging whether the container meets the preset requirement of warehousing, that is, the container passing through the frame measuring device is divided into two types: a first container whose container information satisfies the preset requirement, such as the cargo 31 in fig. 1, and a second container whose container information does not satisfy the preset requirement, such as the cargo 32 in fig. 1.

After passing through the frame measuring equipment, the first container with the container information meeting the preset requirement is conveyed to the warehousing place through the first branch, and the first container is the container with the container information meeting the preset requirement, so that warehousing treatment can be directly carried out at the warehousing place;

in addition, the second container is transmitted by the second branch, and because the container information of the second container does not meet the preset requirement, the second branch does not transmit the second container to the warehousing site, but transmits the second container to the operation console, and the operation console can perform box changing processing on the goods in the second container, that is, the goods of the second container are transferred to a third container whose container information meets the preset requirement, and then the third container is transmitted to the warehousing site via a transmission line, for example, the goods 33 in fig. 1, and the third container is a container on the transmission line except for the first container and the second container.

It can be understood that the warehousing location corresponding to the first branch and the warehousing location corresponding to the second branch may be set to be the same warehousing location, or may be set to be different warehousing locations, which is not specifically limited in this application.

Based on the scheme of the embodiment, in the warehousing system, frame measuring equipment used for acquiring the size information and/or the type information of the container is arranged, whether the container information meets the preset requirement is determined based on the size information and/or the type information of the container, and if the container information meets the preset requirement, the container can be directly warehoused; if the container information does not meet the preset requirements, the goods of the container are transferred into another container of which the container information meets the preset requirements, and then the other container with the goods is put in storage. Through the scheme of this embodiment, can guarantee that all packing box information of putting in storage packing boxes all satisfies the requirement of predetermineeing to be convenient for manage, it is concrete, on the one hand, can be convenient for to the packing box save, put etc. and put the management of putting in storage, on the other hand also makes things convenient for the robot to carry the packing box, thereby is convenient for carry out the automation of packing box and goes out to put in storage and handle.

In some embodiments, the warehousing system further comprises: a server (not shown in fig. 1); and the frame measuring equipment sends the container information obtained by measurement to a server, and the server judges whether the container information meets the preset requirement.

In this embodiment, the server may determine whether the container information satisfies the preset requirement by the container type. The container types can be specifically divided into easily deformable containers (such as cartons) and difficultly deformable containers (such as rubber boxes and steel boxes).

Specifically, the frame measuring device includes: the image acquisition device is used for shooting to obtain image information of the container and sending the image information to the server;

after receiving the image information sent by the image acquisition device, the server identifies the type of the container according to the image information of the container to obtain a type identification result of the container, and determines whether the container information of the container meets the preset requirement according to the type identification result;

and when the type identification result is that the type of the container belongs to the preset type, the server is used for determining that the container information of the container meets the preset requirement.

Optionally, the preset type can be a container which is not easy to deform, such as a rubber box and a steel box, and when the type of the container is the preset type, the size of the current container is not easy to change, so that warehousing management is facilitated. Therefore, when the type of the container belongs to the preset type, the server determines that the container information of the container meets the preset requirement, and warehousing management can be directly carried out.

Optionally, when the type identification result is that the type of the container does not belong to the preset type, the server is configured to determine that the container information of the container does not meet the preset requirement.

In this embodiment, the server may determine whether the container information satisfies the preset requirement by a determination manner of "only seeing the container type", so as to distinguish and obtain the first container and the second container.

In some embodiments, the server may also determine whether the container information meets the preset requirements by the type of the container and the size of the container.

In this embodiment, the frame measuring device further includes: the 3D sensor is used for carrying out size measurement processing on the container and sending an obtained size measurement result to the server;

after receiving the size measurement result sent by the 3D sensor, when the type identification result of the container is that the type of the container does not belong to the preset type, the server determines whether the container information of the container meets the preset requirement or not according to the size measurement result;

for example, if the server determines that the type identification result of the container is a deformable container, the server may further determine whether the container information meets the preset requirement by combining the size measurement result of the container.

If the size measurement result is within the preset size range, the server is used for determining that the container information of the container meets the preset requirement; and if the size measurement result exceeds the preset size range, the server is used for determining that the container information of the container does not meet the preset requirement.

Specifically, although the container is an easily deformable container, if the size measurement result of the container is within the preset size range, the size of the container is more standard, the robot can conveniently take and carry the container, and therefore warehousing management is still facilitated, and therefore the server can determine that the container information of the container meets the preset requirement.

In addition, when the container is an easily-deformable container, if the size measurement result of the container exceeds the preset size range, the size of the container is not standard, the container cannot be taken and carried by a robot, and therefore warehousing management is not facilitated, and the server can determine that the container information of the container does not meet the preset requirement.

In this embodiment, predetermine the type and specifically can be for the difficult packing box that deforms, for example glue the case, steel case etc. when the type of packing box was the above-mentioned type of predetermineeing, explain that the size of present packing box is difficult for changing promptly, be convenient for more carry out the management of putting in storage. Therefore, when the type of the container belongs to the preset type, the server determines that the container information of the container meets the preset requirement, and warehousing management can be directly carried out.

In this embodiment, the server may determine whether the container information satisfies the preset requirement by a determination method of "first seeing the container type, and then seeing the container size", so as to distinguish and obtain the first container and the second container.

In some embodiments, the server may also determine whether the container information meets the preset requirements by the container size.

Specifically, the frame measuring device includes: the 3D sensor is used for carrying out size measurement processing on the container and sending an obtained size measurement result to the server;

after receiving the size measurement result sent by the 3D sensor, the server is used for determining whether the container information of the container meets the preset requirement according to the size measurement result;

and if the size measurement result is within the preset size range, the server is used for determining that the container information of the container meets the preset requirement.

Specifically, if the size measurement result of the container is within the preset size range, the size of the container is more standard, the robot can conveniently take and carry the container, and warehousing management is facilitated, so that the server can determine that the container information of the container meets the preset requirement.

Optionally, if the size measurement result exceeds the preset size range, the server is configured to determine that the container information of the container does not meet the preset requirement.

In this embodiment, the server may determine whether the container information satisfies the preset requirement by a determination manner of "only seeing the container size", so as to distinguish and obtain the first container and the second container.

In some embodiments, the server may also determine whether the container information meets the preset requirements through the container size and the container type.

In this embodiment, the frame measuring device further includes: the image acquisition device is used for acquiring image information of the container and sending the image information to the server;

after receiving the image information sent by the image acquisition device, the server is used for carrying out container type identification according to the image information of the container when the size measurement result of the container exceeds the preset size range, obtaining a container type identification result and determining whether the container information of the container meets the preset requirement according to the type identification result;

when the type identification result is that the type of the container belongs to the preset type, the server is used for determining that the container information of the container meets the preset requirement;

and when the type identification result is that the type of the container does not belong to the preset type, the server is used for determining that the container information of the container does not meet the preset requirement.

Specifically, the preset type can be a container which is not easy to deform, such as a rubber box and a steel box, and when the type of the container is the preset type, the size of the current container is not easy to change, even if the size of the container exceeds the preset size range, the container is fixed in size, and therefore warehousing management is still facilitated. Therefore, when the type of the container belongs to the preset type, the server determines that the container information of the container meets the preset requirement, and warehousing management can be directly carried out.

If the type of the container does not belong to the preset type, for example, the type of the container is an easily deformable container, it is indicated that the size of the container is easy to change subsequently, and the container is inconvenient to store and manage when the size of the container exceeds the preset size range. Therefore, the server determines that the container information of the container does not satisfy the preset requirement.

In this embodiment, the server may determine whether the container information satisfies the preset requirement by a determination method of "first seeing the container size, and then seeing the container type", so as to distinguish and obtain the first container and the second container.

In some embodiments, the specific structure of the second branch is explained.

Fig. 2 is a schematic structural diagram of a second branch in the embodiment of the present application, and other structures are omitted for convenience of understanding, and as shown in fig. 2, the second branch includes a warehousing line 121 for transporting a second container to an operation platform.

Optionally, the number of the operation platforms is at least two, for example, the warehouse structure in fig. 2 includes two operation platforms, that is, the operation platform 1 and the operation platform 2; when there is an empty station in the at least two stations, the binning line is used for transporting the second container to the empty station in the goods conveying direction.

In this embodiment, when the second container is conveyed to each console, the server first acquires the current state of each console, and optionally, the server may communicate with the warehousing line to acquire the current state of each console, and then control the warehousing line to convey the second container to the console, or the warehousing line acquires the current state of each console through the server and conveys the second container to the console.

The current state of the operation platform comprises a working state and an idle state, wherein the working state is that the operation platform is currently carrying out container transfer processing; the idle state is that the operation panel does not carry out the packing box at present and shifts the processing, consequently, the line of warehousing can carry the second goods to the ascending idle operation panel of goods transmission direction to, make the operation panel can carry out the goods to shift the processing to the second packing box.

It is understood that in this embodiment, the warehousing line may be configured to transport containers one by one, for example, if both of the two operation platforms in fig. 2 are idle operation platforms, the warehousing line may transport the second container to the operation platform closest to the cargo transport direction, i.e., operation platform 2 in fig. 2, and then transport the other second container to the next operation platform in the cargo transport direction, i.e., operation platform 1 in fig. 2.

Alternatively, the order of the containers in the loading line may be reversed, for example, a second container may be transported to the station 1, and then another second container may be transported to the station 2.

Optionally, when the number of the operation platforms is greater than 2, the warehousing line may also perform container allocation in a disorder manner, which is not limited in this embodiment.

In some embodiments, the console further includes a cache slot (not shown); when no idle operation platform exists in the at least two operation platforms, the warehousing line is used for conveying the second container to the operation platform with the idle buffer storage goods position in the goods conveying direction.

In this embodiment, when the second container is transported to each console, the server may obtain the status of the buffer storage space of each console in addition to the current status of each console. Optionally, the server may communicate with the warehousing line to obtain the states of the cache cargo spaces of the operation platforms, and then control the warehousing line to convey the second container to the cache cargo spaces of the operation platforms, or the warehousing line obtains the states of the cache cargo spaces of the operation platforms through the server and conveys the second container to the cache cargo spaces of the operation platforms.

When a container is not cached on the cache goods position, the cache goods position is an idle cache goods position; when a container is cached on the cache goods position, the cache goods position is a non-idle cache goods position.

Therefore, when no idle operation platform exists currently, the operation platform with the idle buffer storage goods position is determined, and then the second container is transmitted to the idle buffer storage goods position of the operation platform, so that the operation platform can perform goods transfer processing on the second container placed on the buffer storage goods position after the current container transfer processing work is completed.

It can be understood that, in this embodiment, the warehousing line may be configured to perform container transportation from one operation console to another, for example, if neither of the two operation consoles in fig. 2 is an idle operation console, but both of the two operation consoles have an idle buffer storage location, the warehousing line may first transport the second container to the idle buffer storage location of the operation console closest to the cargo transportation direction, that is, the idle buffer storage location of the operation console 2 in fig. 2, and then transport the other second containers to the idle buffer storage location of the next operation console in the cargo transportation direction, that is, the idle buffer storage location of the operation console 1 in fig. 2.

Alternatively, the warehousing line may also perform container allocation in an order reverse to the above logic, for example, first conveying the second container to the free buffer storage space of the console 1, and then conveying the other second containers to the free buffer storage space of the console 2.

Optionally, when the number of the operation platforms is greater than 2, containers may be allocated to the operation platforms in a disorder manner, which is not limited in this embodiment.

In some embodiments, the number of the operation platforms is at least two, and the operation platforms further comprise a cache cargo space; in this embodiment, the warehousing line can be one-time to "fill up" the operation panel and the cache cargo space when the cargo box is allocated.

Specifically, the warehousing line firstly obtains the number Mi of second containers corresponding to each operation platform, and the Mi is determined and obtained based on the states of the operation platforms and the buffer cargo space; the specific numerical value of Mi can be determined by the warehousing line, or can be determined by the server, and then the numerical value is sent to the warehousing line, or after the numerical value is determined by the server, the warehousing line is controlled to convey the second container.

For example, when the ith console is in an idle state, and the number of cache slots with empty states on the ith console is Ni, Mi is Ni + 1; wherein, Ni packing boxes are used for filling up the idle buffer memory goods of operation panel, and 1 packing box is used for transporting to the operation panel and handles.

In addition, when the ith console is in a non-idle state, and the number of cache slots with empty states on the ith console is Ni, Mi is Ni. Wherein, Ni packing boxes are used for filling up the idle buffer memory goods of operation panel.

It can be understood that when the ith console is in a non-idle state and there is no buffer cargo space in the ith console whose state is empty, that is, Ni is 0, and in this case, Mi is 0, which means that the number of second cargo containers to be transported to the ith console is 0, that is, the second cargo containers are not transported to the ith console.

After the number Mi of the second containers corresponding to each operation platform is obtained, the Mi second containers are sequentially conveyed to each operation platform by the warehousing line, so that the containers are currently processed by each operation platform, and the second containers to be processed are placed in the buffer storage goods position of each operation platform.

In some embodiments, referring to fig. 2, the warehousing line is in communication with the console through a flap structure;

fig. 3 is a schematic view of the flap structure in the embodiment of the present application, and as shown in fig. 3, the flap structure is connected to the console at a point O, and can be turned up and down around the point O.

Referring to fig. 3, the state of the flap structure includes two kinds:

(1) under the first upset state, turn over the board structure and keep away from the line of warehousing. At this time, the flap structure may be turned upward to be away from the warehousing line, such as the OC position in fig. 3; it may also be flipped down to be away from the binning line, such as the OB position in fig. 3.

(2) And in the second overturning state, the turning plate structure is close to the warehousing line. At this point, the flap structure may place the staging line in communication with the console, such as the OA position in fig. 3.

In this embodiment, when the turning plate structure is switched from the first turning state to the second turning state, the warehousing line conveys the second container to the operation platform through the turning plate structure; therefore, based on the turning state of the turning plate structure, the warehousing line can also determine whether the operation platform is in a normal working state currently, so that whether the container is conveyed to the operation platform or not is determined conveniently.

Alternatively, referring to fig. 3, a sensor for detecting the flap structure may be disposed at the position of the point a shown in the figure, and when the sensor detects the flap structure, the flap structure is illustrated in the OA position in the figure, that is, the flap structure is in the second turnover state; when the sensor does not detect the flap structure, it indicates that the flap structure is not located at the OA position in the drawing, such as at the OB position or the OC position in the drawing, i.e., the flap structure is in the first flip state. Thus, by providing the sensor, automatic detection of the state of the flip structure can be achieved.

Specifically, except the buffer memory goods position that operation panel itself set up, when turning over the board structure and be in the second upset state, turn over the board structure and also can be used for the buffer memory goods position as the operation panel to can increase the buffer memory goods position quantity of each operation panel, make things convenient for the more second packing boxes of buffer memory.

In some embodiments, the conveyor line includes a first empty container line 122 for conveying a third container not loaded with cargo to the operator station. The first empty box line may be provided at a position above or below the warehousing line, or may be provided in an air-suspended manner.

Specifically, because the operation panel is used for changing the case to the goods in the second packing box and handles, be about to the goods of second packing box shifts to the third packing box that packing box information satisfies the requirement of predetermineeing, consequently, through setting up first empty case line, can guarantee that there is sufficient quantity, the third packing box that is not equipped with the goods is carried to the operation panel, avoids appearing empty third packing box quantity not enough and leads to the unable condition of changing the case and handling of operation panel.

Specifically, referring to fig. 2, since the first empty box line is used for conveying a third container which is not filled with goods, the starting point of the first empty box line may be connected to the packing table, and after the robot conveys a third container filled with goods to be packed to the packing table from the warehouse, the packing table takes the goods to be packed out of the third container to be packed for packing, so that the third container becomes an empty container, and therefore, the third container which becomes an empty container may be conveyed to the operation table through the first empty box line, thereby realizing recycling of the third container.

In some embodiments, referring to fig. 2, the conveyor line includes a drop-off line for transporting a third container with cargo to the loading location.

The operation table is used for changing the goods in the second container, namely after the goods in the second container are transferred to a third container, the information of which meets the preset requirements, the third container filled with the goods flows into a box throwing line, and the box throwing line can convey the third container filled with the goods to a storage place, so that the third container filled with the goods can be stored in the storage place.

In some embodiments, the number of stations is at least two; and a container transmission line of the container throwing line passes through each operation platform, and the container throwing line is used for transmitting the third containers which are processed by each operation platform and are filled with the goods to a warehousing place.

For example, referring to fig. 2, the operation table includes an operation table 1 and an operation table 2, and a container conveying line of the box throwing line passes through the operation table 1 and the operation table 2, so that the box throwing line can convey a third container filled with the goods processed by the operation table 1 and the operation table 2 to the warehousing site.

In some embodiments, the number of warehousing locations is at least two; for example, referring to fig. 2, the warehousing locations include a first warehousing location and a second warehousing location.

Specifically, the box throwing line can convey the third containers which are processed by each operation table and filled with the goods to each warehousing place, and the state of the warehousing places can be divided into idle state and non-idle state. If the warehousing place is in a non-idle state, it is indicated that a third container is currently warehoused at the warehousing place; and if the warehousing place is in an idle state, the situation that no third container is currently warehoused at the warehousing place is indicated.

Therefore, the box throwing line can firstly acquire the current state of each warehousing place, and when the idle warehousing place exists, the box throwing line is used for conveying the third container filled with the goods to the idle warehousing place in the container transmission direction of the box throwing line, so that the third container filled with the goods can be timely warehoused.

In some embodiments, the warehousing location is provided with a cache storage location (not shown).

In this embodiment, the drop-in line may further obtain the current status of the buffer storage location in each warehousing location, and if there is an idle buffer storage location, it indicates that the drop-in line may temporarily place the third container with goods in the idle buffer storage location.

Therefore, when the idle warehousing place does not exist, the box throwing line can convey the third container with the goods to the warehousing place with the idle cache storage position in the container transmission direction of the box throwing line, namely, the third container with the goods is cached through the idle cache storage position of the warehousing place.

In some embodiments, referring to fig. 2, the binning line comprises a first sub-binning line 123 and a second sub-binning line 124;

For example, in fig. 2, the first sub-drop-in line is used for conveying containers from the operation table 1 to the operation table 2, and the second sub-drop-in line may be used for conveying a third container conveyed to a position downstream of the first sub-drop-in line to a position upstream of the first sub-drop-in line and/or conveying the third container to each warehousing location in a direction from the operation table 2 to the operation table 1.

In addition, when the number of containers to be warehoused of the first sub-box throwing line is large, if all warehousing places are in a non-idle state and no idle buffer storage position exists, the second sub-box throwing line and the first sub-box throwing line can form an annular transmission line, containers to be warehoused can be temporarily transmitted on the annular transmission line until the idle buffer storage position or the idle warehousing place exists, and then warehousing processing is carried out.

Optionally, when an idle warehousing place exists, the second sub-box throwing line is used for conveying the third container to the idle warehousing place in the container conveying direction of the second sub-box throwing line; and when no idle warehousing place exists, the second sub-box throwing line is used for conveying the third container to the warehousing place with the idle buffering warehousing position in the container transmission direction of the second sub-box throwing line.

the drop line also includes a container transfer device 125; the container transfer equipment is used for transferring the third container from the first sub-container throwing line to the second sub-container throwing line and/or transferring the third container from the second sub-container throwing line to the first sub-container throwing line.

For example, if the third container on the first sub-container throwing line is transported to the position corresponding to the first warehousing location, the first warehousing location cannot receive the third container, and therefore the first sub-container throwing line transports the third container in the cargo transport direction.

When the third container passes through the first warehousing place and does not reach the position corresponding to the second warehousing place, if the container transfer equipment detects that the second warehousing place cannot receive the third container, but the first warehousing place can receive the third container at the moment, for example, the first warehousing place has an idle buffer storage position or finishes warehousing tasks, the container transfer equipment can transfer the third container to the second sub-box-throwing line from the first sub-box-throwing line, and because the cargo transmission direction of the second sub-box-throwing line is opposite to that of the first sub-box-throwing line, at the moment, the third container can return to the first warehousing place again under the transmission of the second sub-box-throwing line, so that the third container can be warehoused at the first warehousing place.

It will be appreciated that the number of container transfer devices may be plural, for example one container transfer device may be provided between each two warehousing locations.

In this embodiment, by arranging the container transfer device, the warehousing location of the third container can be flexibly adjusted by matching the first sub-container throwing line and the second sub-container throwing line according to actual conditions, so as to ensure that the warehousing task is normally performed.

In some embodiments, referring to fig. 2, the warehousing location is provided with a unloader; the unloader is used for transferring the third containers filled with the goods to the transfer robot, so that the transfer robot can carry out warehousing processing on the third containers filled with the goods.

It will be appreciated that the unloader is also used to transfer the first container delivered to the loading location via the first branch to the transfer robot so that the transfer robot loads the first container for loading processing.

In some embodiments, referring to fig. 2, the conveying line further includes a second empty line 126 for conveying a second container not loaded with goods to the packing table, and the second empty line may be disposed at an upper position of the first sub-drop line or the second sub-drop line, or disposed at a lower position of the first sub-drop line or the second sub-drop line, or may be disposed in an aerial suspension manner.

Specifically, the operation panel is used for replacing the goods in the second container, namely the goods of the second container are transferred to the third container with the container information meeting the preset requirement, the original second container is changed into an empty container without the goods, although the container information of the second container does not meet the preset requirement, the storage processing cannot be carried out, however, the second container without the goods can be used for containing the packaged goods, and therefore, the second container without the goods can be transmitted to the packaging panel through the second empty container line by setting the second empty container line, and the second container can be reused.

In some embodiments, a container warehousing method is provided, which is applied to the warehousing systems of the above embodiments.

Fig. 4 is a schematic diagram of a container warehousing method provided in an embodiment of the present application, and as shown in fig. 4, the method mainly includes the following steps:

s100, when a container to be warehoused exists, acquiring container information of the container to be warehoused through a quantity frame device;

s200, determining whether the container information meets preset requirements through a server;

s300, controlling a first branch of a conveying line to convey the first container, of which the container information meets the preset requirement, to a warehousing place;

s400, controlling a second branch of the conveying line to convey a second container, of which the container information does not meet preset requirements, in the container to be warehoused to an operation table, controlling the operation table to transfer the goods of the second container to a third container, of which the container information meets the preset requirements, and controlling the conveying line to convey the third container to a warehousing place, wherein the third container is a container on the conveying line except the first container and the second container.

Based on the scheme of the embodiment, in the warehousing system, frame measuring equipment used for acquiring the size information and/or the type information of the container is arranged, whether the container information meets the preset requirement is determined based on the size information and/or the type information of the container, and if the container information meets the preset requirement, the container can be directly warehoused; if the container information does not meet the preset requirements, the goods of the container are transferred into another container of which the container information meets the preset requirements, and then the other container with the goods is put in storage. Through the scheme of this embodiment, can guarantee that all packing box information of putting in storage packing box all satisfy and predetermine the requirement to be convenient for put in storage management.

In some embodiments, further comprising:

In some embodiments, the number of stations is at least two;

In some embodiments, the console includes a cache slot;

the method further comprises the following steps:

In some embodiments, the number of warehousing locations is at least two;

the method further comprises the following steps:

In some embodiments, further comprising:

the method further comprises the following steps:

In some embodiments, the method further comprises:

For specific limitations on the container warehousing method, reference may be made to the above limitations on the warehousing system, and details are not repeated here.

In some embodiments, there is provided a computer device comprising: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the method embodiments of the application.

In the above computer devices, the memory and the processor are electrically connected directly or indirectly to enable data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines, such as a bus. The memory stores computer-executable instructions for implementing the data access control method, and includes at least one software functional module which can be stored in the memory in the form of software or firmware, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory.

The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory is used for storing programs, and the processor executes the programs after receiving the execution instructions. Further, the software programs and modules within the aforementioned memories may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In some embodiments, a computer-readable storage medium having stored thereon computer-executable instructions for performing the steps of the method embodiments of the present application when executed by a processor is provided.

In some embodiments, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of the method embodiments of the present application.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, the computer program can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A warehousing system, comprising:

the conveying line is used for conveying the containers;

2. The warehousing system of claim 1, further comprising: a server;

the frame measuring device includes: the image acquisition device is used for acquiring image information of the container to be warehoused and sending the image information to the server;

the server is used for carrying out container type identification according to the image information of the container to be warehoused to obtain a type identification result of the container to be warehoused, and determining whether the container information of the container to be warehoused meets a preset requirement according to the type identification result;

and when the type identification result indicates that the type of the container to be warehoused belongs to a preset type, the server is used for determining that the container information of the container to be warehoused meets a preset requirement.

3. The warehousing system of claim 2, wherein the frame dosing apparatus further comprises: the 3D sensor is used for carrying out size measurement processing on the container to be warehoused and sending the obtained size measurement result to the server;

the server is used for determining whether the container information of the container to be warehoused meets a preset requirement according to the size measurement result when the type identification result of the container to be warehoused is that the type of the container to be warehoused does not belong to a preset type;

if the size measurement result is within a preset size range, the server is used for determining that the container information of the container to be warehoused meets a preset requirement;

and if the size measurement result exceeds a preset size range, the server is used for determining that the container information of the container to be warehoused does not meet the preset requirement.

4. The warehousing system of claim 1, further comprising: a server;

the frame measuring device includes: the 3D sensor is used for carrying out size measurement processing on the container to be warehoused and sending the obtained size measurement result to the server;

the server is used for determining whether the container information of the container to be warehoused meets a preset requirement according to the size measurement result;

and if the size measurement result is within a preset size range, the server is used for determining that the container information of the container to be warehoused meets a preset requirement.

5. The warehousing system of claim 4, wherein the frame dosing apparatus further comprises: the image acquisition device is used for acquiring image information of the container to be warehoused and sending the image information to the server;

the server is used for carrying out container type identification according to the image information of the container to be warehoused when the dimension measurement result of the container to be warehoused exceeds a preset dimension range to obtain the type identification result of the container to be warehoused, and determining whether the container information of the container to be warehoused meets the preset requirement according to the type identification result;

when the type identification result indicates that the type of the container to be warehoused belongs to a preset type, the server is used for determining that the container information of the container to be warehoused meets a preset requirement;

and when the type identification result indicates that the type of the container to be warehoused does not belong to a preset type, the server is used for determining that the container information of the container to be warehoused does not meet the preset requirement.

6. The warehousing system of claim 1, wherein said second branch includes a loading line for transporting said second container to said operator station.

7. The warehousing system of claim 6, wherein the number of stations is at least two;

when there is an empty station in at least two stations, the binning line is used to transport the second container to the empty station in the goods conveying direction.

8. The warehousing system of claim 7, wherein the console further comprises a buffer bay;

when no idle operation platform exists in the at least two operation platforms, the warehousing line is used for conveying the second container to the operation platform with an idle buffer storage goods position in the goods conveying direction.

9. The warehousing system of claim 6, wherein the number of stations is at least two, the stations further comprising buffer bays;

10. The warehousing system of any of claims 6-9, wherein the warehousing line is in communication with the console through a flap structure;

when the turning plate structure is switched from a first turning state to a second turning state, the warehousing line conveys the second container to the operating platform through the turning plate structure;

wherein, in the second turnover state, the turning plate structure is close to the warehousing line;

and in the first overturning state, the turning plate structure is far away from the warehousing line.

11. The warehousing system of claim 10 wherein said flap structure is configured to act as a buffer bay for said operations desk when said flap structure is in a second flipped state.

12. The warehousing system of any of claims 1-9 wherein said conveyor line includes a first empty bin line for conveying a third bin not loaded with cargo to said operator station.

13. The warehousing system of claim 12, wherein the first empty bin line is coupled to a packing station, and the third empty bin not loaded with goods comprises an empty bin to be taken out of the packing station, the packing station being configured to pack the taken out goods.

14. The warehousing system of any of claims 1-9 wherein the conveyor line includes a drop-in line for transporting a third container with goods to a warehousing location.

15. The warehousing system of claim 14, wherein the number of stations is at least two;

and a container transmission line of the box throwing line passes through each operating platform, and the box throwing line is used for transmitting the third containers filled with the goods processed by each operating platform to a warehousing place.

16. The warehousing system of claim 14, wherein the number of warehousing locations is at least two;

and when an idle warehousing place exists, the box throwing line is used for conveying the third container filled with the goods to the idle warehousing place in the container conveying direction of the box throwing line.

17. The warehousing system of claim 16, wherein the warehousing location is provided with a buffer storage bay;

and when no idle warehousing place exists, the box throwing line is used for conveying the third container filled with the goods to a warehousing place with an idle buffering warehousing place in the container transmission direction of the box throwing line.

18. The warehousing system of claim 16, wherein the drop line comprises a first sub-drop line and a second sub-drop line;

the second sub box throwing line is communicated with the first sub box throwing line, and the second sub box throwing line is used for conveying a third container conveyed to the downstream position of the first sub box throwing line to the upstream position of the first sub box throwing line and/or each warehousing place according to the conveying direction of the container opposite to the conveying direction of the first sub box throwing line.

19. The warehousing system of claim 18 wherein when there is an idle warehousing location, the second sub-drop line is configured to transport the third container to the idle warehousing location in the container transport direction of the second sub-drop line;

and when no idle warehousing place exists, the second sub box throwing line is used for conveying the third container to a warehousing place where an idle buffering warehousing place exists in the container transmission direction of the second sub box throwing line.

20. The warehousing system of claim 18, wherein the warehousing locations comprise a first warehousing location and at least one second warehousing location sequentially arranged along a container transport direction of the first sub-drop-in line;

the box throwing line further comprises a box transferring device; the container transfer equipment is used for transferring the third container from the first sub-container throwing line to the second sub-container throwing line and/or transferring the third container from the second sub-container throwing line to the first sub-container throwing line.

21. The warehousing system of any of claims 1-9 wherein the warehousing location is provided with a unloader;

the unloading machine is used for transferring the third containers filled with the goods to the transfer robot, so that the transfer robot can carry out warehousing processing on the third containers filled with the goods.

22. The warehousing system of any of claims 1-9 wherein the conveyor line further comprises a second empty bin line for conveying a second bin not loaded with goods to the packing station.

23. A container warehousing method applied to the warehousing system of any one of claims 1-22, comprising:

24. The method of claim 23, wherein the station includes a flap structure for communicating with the station and a loading line for transporting containers to be warehoused to the station;

and controlling a second branch of the conveying line to convey the second container of which the container information does not meet the preset requirement in the container to be warehoused to an operation platform, wherein the second branch comprises:

when the turning plate structure is detected to be switched from a first turning state to a second turning state, controlling the warehousing line of the second branch and the turning plate structure to convey the second container to the operating platform;

25. The method of claim 23, wherein determining whether the container information meets preset requirements comprises:

acquiring image information of the container to be warehoused, which is acquired by an image acquisition device of the frame measuring equipment;

carrying out container type identification according to the image information of the container to be warehoused to obtain a type identification result of the container to be warehoused;

and when the type identification result indicates that the type of the container to be warehoused belongs to a preset type, determining that the container information of the container to be warehoused meets a preset requirement.

26. The method of claim 25, further comprising:

obtaining a dimension measurement result obtained by the 3D sensor of the measuring frame equipment through dimension measurement processing of the container to be warehoused;

when the type of the container to be warehoused does not belong to a preset type, determining whether the container information of the container to be warehoused meets a preset requirement or not according to the size measurement result;

and if the size measurement result exceeds a preset size range, determining that the container information of the container to be warehoused does not meet the preset requirement.

27. The method of claim 23, wherein determining whether the container information meets preset requirements comprises:

and if the size measurement result is within a preset size range, determining that the container information of the container to be warehoused meets a preset requirement.

28. The method of claim 27, further comprising:

when the size measurement result of the container to be warehoused exceeds a preset size range, carrying out container type identification according to the image information of the container to be warehoused to obtain a type identification result of the container to be warehoused;

and when the type identification result is that the type of the container does not belong to a preset type, determining that the container information of the container to be warehoused does not meet the preset requirement.

29. The method of claim 23, wherein the number of stations is at least two;

and when an idle operation platform exists in at least two operation platforms, controlling the warehousing line of the second branch to convey the second container to the idle operation platform in the cargo conveying direction.

30. The method of claim 29, wherein the console comprises a cache slot;

the method further comprises the following steps:

and when no idle operation platform exists in the at least two operation platforms, controlling the warehousing line of the second branch to convey the second container to the operation platform with an idle buffer storage cargo space in the cargo conveying direction.

31. The method of claim 23, wherein the number of stations is at least two, the stations including buffer bays;

controlling the warehousing line of the second branch to convey Mi second containers to each operation table, wherein Mi is determined and obtained based on the operation tables and the state of the buffer cargo space;

32. The method of claim 23, wherein the number of warehousing locations is at least two;

transporting the third container to a warehousing location via the conveyor line, comprising:

and when an idle warehousing place exists, controlling a first sub-box throwing line of the box throwing lines in the conveying line to convey the third container to the idle warehousing place in the container conveying direction.

33. The method of claim 32, wherein the warehousing location is provided with a caching storage location;

the method further comprises the following steps:

and when no idle warehousing place exists, controlling the first sub-box throwing line to convey the third container to a warehousing place with an idle buffering warehousing position in the container transmission direction.

34. The method of claim 23, wherein the conveyor line includes a drop line for conveying a third container with cargo to the loading location;

the method further comprises the following steps:

35. The method of claim 34, further comprising:

when an idle warehousing place exists, controlling a second sub-box throwing line of the second branch to convey the third container to the idle warehousing place in the container conveying direction of the second sub-box throwing line;

and when no idle warehousing place exists, controlling a second sub-box throwing line of the second branch to convey the third container to a warehousing place with an idle buffering warehouse position in the container transmission direction of the second sub-box throwing line.

36. The method of claim 35, wherein the warehousing locations comprise a first warehousing location and at least one second warehousing location arranged in sequence along a container transport direction of the first sub-drop line;

the method further comprises the following steps:

and a container transfer device for controlling the box throwing line, wherein the third container is transferred from the first sub box throwing line to the second sub box throwing line, and/or the third container is transferred from the second sub box throwing line to the first sub box throwing line.

37. The method of claim 23, further comprising:

and controlling a discharging machine arranged at the warehousing place to transfer the first container and the third container to a transfer robot so that the transfer robot can carry out warehousing treatment on the third container.

38. The method of claim 23, further comprising:

controlling a first empty box line of the conveying line, and conveying a third container which is not loaded with goods and has container information meeting preset requirements to the operating platform;

the first empty container line is connected with the packing platform, the third container which is not filled with goods and has container information meeting the preset requirement comprises an empty container which is taken out of the packing platform, and the packing platform is used for packing the taken-out goods.

39. The method of claim 23, further comprising: