CN115140486B

CN115140486B - Method, device, equipment and storage medium for taking out and putting in material box

Info

Publication number: CN115140486B
Application number: CN202210820292.8A
Authority: CN
Inventors: 章鑫宇
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2023-09-05
Anticipated expiration: 2042-07-13
Also published as: CN115140486A

Abstract

The embodiment of the disclosure provides a bin taking-out method, a bin warehousing method, a bin taking-out device, a bin warehousing device, a bin storage medium and an intelligent warehouse system. The method for taking out the feed box comprises the following steps: determining the size of a material box to be taken out and the type of a stock position stored in the material box to be taken out, wherein the type of the stock position comprises a deep stock position in a double deep stock position and a shallow stock position in the double deep stock position; determining a box taking strategy of a box to be taken out according to the size of the box and the type of the bin; and issuing a box taking task based on a box taking strategy of the to-be-taken-out box so as to control the storage robot to take out the to-be-taken-out box. According to the technical scheme, the bin is taken out and put in according to different bin positions and different bin position types, so that the flexibility of bin storage and taking of a bin storage system is improved.

Description

Method, device, equipment and storage medium for taking out and putting in material box

Technical Field

The disclosure relates to the technical field of intelligent storage, in particular to a bin taking-out method, a bin putting-in device and a storage medium.

Background

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

In the existing warehousing system, corresponding to the feed boxes with different sizes, the intelligent warehousing system can send out the conveying tasks to the warehousing robots with different sizes, divide the warehouse positions with different sizes in the warehouse, execute the feed box conveying tasks with specific sizes by each warehousing robot, and has low warehouse utilization rate and poor flexibility of task allocation and warehousing.

Disclosure of Invention

The embodiment of the disclosure provides a bin taking-out method, a bin putting-in method, a bin taking-out device, a bin putting-in device and a storage medium, so that the flexibility of bin storage and taking-out of a bin of a warehouse system is improved.

In a first aspect, an embodiment of the present disclosure provides a bin extraction method, where the bin extraction method is applied to an intelligent storage system, where bins of at least two sizes are stored in the intelligent storage system, the bin extraction method includes:

determining the size of a material box to be taken out and the type of a stock position stored in the material box to be taken out, wherein the type of the stock position comprises a deep stock position in a double deep stock position and a shallow stock position in the double deep stock position;

determining a box taking strategy of a box to be taken out according to the size of the box and the type of the bin;

and issuing a box taking task based on a box taking strategy of the to-be-taken-out box so as to control the storage robot to take out the to-be-taken-out box.

Optionally, determining a bin removal strategy for removing the bin according to the bin size and bin type, including: determining a reading action for the to-be-fetched discharging box according to the type of the stored bin; and determining box taking actions aiming at the to-be-taken discharging box according to the size of the box and the type of the stored bin.

Optionally, determining a reading action for the to-be-fetched discharging box according to the stored bin type includes: when the bin type is the deep bin in the double deep bin, determining the reading action aiming at the discharge bin to be taken as the deep bin reading action; when the bin type is the shallow bin in the double-deep bin, determining the reading action aiming at the to-be-fetched discharging bin as the shallow bin reading action.

Optionally, determining a bin removal action for the to-be-removed bin according to the bin size, including: when the size of the material box meets a first size range and the bin type is a shallow bin in the double-deep bin, determining that the box taking action for the material box to be taken is a shallow bin box taking action; when the size of the material box meets the second size range or the bin type is the deep bin in the double deep bin, determining that the box taking action for the material box to be taken is the deep bin box taking action.

Optionally, determining a bin picking strategy for picking the bin according to the bin size and the type of the bin, including: when the bin type is the deep bin in the double deep bin, determining a bin fetching strategy of a bin to be fetched to comprise a deep bin reading action and a deep bin fetching action; when the bin type is shallow bin in the double-deep bin and the size of the bin is in a first size range, determining a bin fetching strategy of the bin to be fetched to comprise shallow bin reading action and shallow bin fetching action; when the bin type is shallow bin in the double-deep bin and the bin size is in the second size range, determining a bin fetching strategy of the bin to be fetched comprises shallow bin reading action and deep bin fetching action.

Optionally, issuing a bin picking task based on a bin picking policy of the bin to be picked up to control the storage robot to pick up the bin to be picked up, including: based on the reading action and the box taking action corresponding to the box to be taken out, a box taking task is issued so as to control the storage robot to take out the box to be taken out according to the box taking task.

In a second aspect, an embodiment of the present disclosure provides a bin warehousing method, where the bin warehousing method is applied to an intelligent warehousing system, and the bin warehousing method includes:

determining the size of a material box of the material box to be stored and the type of the storage position stored in the material box to be stored, wherein the type of the storage position comprises a deep storage position in double deep storage positions and a shallow storage position in the double deep storage positions;

determining a storage strategy of the bin to be stored according to the bin size and the bin type of the bin to be stored;

and sending a warehousing task to a warehousing robot according to a storage strategy of the to-be-warehoused workbin so as to control the warehousing robot to warehouse the to-be-warehoused workbin.

Optionally, determining a bin size of the bin to be binned, and a bin type of the bin to be binned, includes: when the size of the material box to be stored meets a first size range, determining that the type of the storage position stored in the material box to be stored is a deep storage position in double deep storage positions or a shallow storage position in double deep storage positions; when the size of the material box to be stored meets the second size range, determining that the type of the storage position stored in the material box to be stored is a shallow storage position in the double deep storage positions.

Optionally, when the size of the bin to be put in storage meets the first size range, determining that the bin type of the bin to be put in storage is a deep bin of the double deep bin or a shallow bin of the double deep bin, including: when the size of the bin to be stored meets a first size range and the bin is not stored in the deep bin of the double deep bin for storing the bin to be stored, determining that the bin type stored in the bin to be stored is the deep bin in the double deep bin; when the size of the bin to be stored meets a first size range, and the bin is stored in the adjacent deep bin of the shallow bin for storing the double deep bin of the bin to be stored, determining that the bin type stored in the bin to be stored is the shallow bin in the double deep bin.

Optionally, determining a storage strategy of the bin to be stored according to the bin size and the bin type of the bin to be stored, including: and determining a storage action aiming at the material box to be stored according to the storage position type.

Optionally, determining a storage action for the bin to be stored according to the bin type includes: when the bin type is the deep bin in the double deep bin, determining the storage action aiming at the bin to be stored as the deep bin storage action; when the bin type is the shallow bin in the double-deep bin, determining the storage action aiming at the bin to be stored as the shallow bin storage action.

Optionally, according to a storage policy of the bin to be stored, a storage task is sent to a storage robot to control the storage robot to store the bin to be stored, including: and issuing a warehousing task based on the storage action corresponding to the to-be-warehoused bin so as to control the warehousing robot to warehouse the to-be-warehoused bin according to the warehousing task.

Optionally, the method further comprises: according to the size of the bin to be put in the warehouse and the target bin position of the bin to be put in the warehouse, determining the occupancy condition of the bin position, and locking the occupied bin position.

Optionally, determining the occupation condition of the bin according to the size of the bin to be put in the bin and the target bin position of the bin to be put in the bin, including: when the target bin position of the bin to be put into the bin is the deep bin position in the double deep positions, determining to occupy the target bin position; when the target bin position of the bin to be stored is a shallow bin position in the double deep positions and the bin size of the bin to be stored meets a first size range, determining to occupy the target bin position; and when the target bin position of the bin to be stored is a shallow bin position in the double deep positions and the size of the bin to be stored meets a second size range, determining to occupy the target bin position and the deep bin position corresponding to the target bin position.

In a third aspect, embodiments of the present disclosure provide a bin extraction device, the bin extraction device being applied to an intelligent warehousing system in which bins of at least two sizes are stored, the bin extraction device comprising:

The first determining module is used for determining the depth of a bin bit stored in the bin to be taken out in response to the received ex-warehouse request;

the second determining module is used for determining a box taking strategy of the to-be-taken-out box according to different storage bit depths stored in the box;

and the output module is used for sending a carrying task to the storage robot based on a box taking strategy corresponding to the box to be taken out of the warehouse-out request.

Optionally, the second determining module is specifically configured to determine a reading action for the to-be-fetched discharging box according to the type of the stored bin; and determining box taking actions aiming at the to-be-taken discharging box according to the size of the box and the type of the stored bin.

Optionally, the second determining module is specifically configured to determine, when the bin type is a deep bin in the double deep bin, a reading action for the to-be-fetched discharging bin as a deep bin reading action; when the bin type is the shallow bin in the double-deep bin, determining the reading action aiming at the to-be-fetched discharging bin as the shallow bin reading action.

Optionally, the second determining module is specifically configured to determine that the box taking action for the to-be-taken discharging box is a shallow library position box taking action when the size of the box meets the first size range and the library position type is a shallow library position in the double-deep library position; when the size of the material box meets the second size range or the bin type is the deep bin in the double deep bin, determining that the box taking action for the material box to be taken is the deep bin box taking action.

Optionally, the second determining module is specifically configured to determine that the box taking policy of the to-be-taken-out bin includes a deep bin reading action and a shallow bin taking action when the bin type is a deep bin in the double deep bin; when the bin type is shallow bin in the double-deep bin and the size of the bin is in a first size range, determining a bin fetching strategy of the bin to be fetched to comprise shallow bin reading action and shallow bin fetching action; when the bin type is shallow bin in the double-deep bin and the bin size is in the second size range, determining a bin fetching strategy of the bin to be fetched comprises shallow bin reading action and deep bin fetching action.

Optionally, the output module is specifically configured to issue a bin picking task based on a reading action and a bin picking action corresponding to the bin to be picked up, so as to control the storage robot to pick up the bin to be picked up according to the bin picking task.

In a fourth aspect, an embodiment of the present disclosure provides a bin warehousing device, where the bin warehousing device is applied to an intelligent warehousing system, the bin warehousing device includes:

the first determining module is used for determining the size of a material box of the material box to be put into storage and the type of the stock position stored in the material box to be put into storage, wherein the type of the stock position comprises a deep stock position in double deep stock positions and a shallow stock position in the double deep stock positions;

The second determining module is used for determining a storage strategy of the material box to be stored according to the size of the material box to be stored and the type of the stock position;

and the output module is used for sending a warehousing task to a warehousing robot according to the storage strategy of the to-be-warehoused material box so as to control the warehousing robot to warehouse the to-be-warehoused material box.

Optionally, the first determining module is specifically configured to determine, when a size of a bin of the bin to be stored meets a first size range, that a bin type stored in the bin to be stored is a deep bin in a double deep bin or a shallow bin in the double deep bin; when the size of the material box to be stored meets the second size range, determining that the type of the storage position stored in the material box to be stored is a shallow storage position in the double deep storage positions.

Optionally, the first determining module is specifically configured to determine that the bin type stored in the bin to be stored is a deep bin in the double deep bin when the bin size of the bin to be stored meets the first size range and the bin is not stored in the deep bin of the double deep bin for storing the bin to be stored; when the size of the bin to be stored meets a first size range, and the bin is stored in the adjacent deep bin of the shallow bin for storing the double deep bin of the bin to be stored, determining that the bin type stored in the bin to be stored is the shallow bin in the double deep bin.

Optionally, the second determining module is specifically configured to determine, according to the bin type, a storage action for the bin to be put in.

Optionally, the second determining module is specifically configured to determine, when the bin type is a deep bin of the double deep bins, a storage action for the bin to be stored as a deep bin storage action; when the bin type is the shallow bin in the double-deep bin, determining the storage action aiming at the bin to be stored as the shallow bin storage action.

Optionally, the output module is specifically configured to issue a warehousing task based on a storage action corresponding to the to-be-warehoused bin, so as to control the warehousing robot to warehouse the to-be-warehoused bin according to the warehousing task.

Optionally, the output module is further configured to determine a bin occupation condition according to a bin size of the bin to be put in storage and a target bin position of the bin to be put in storage, and lock the occupied bin position.

Optionally, the output module is specifically configured to determine that the target bin is occupied when the target bin of the bin to be put into storage is a deep bin of the double deep bins; when the target bin position of the bin to be stored is a shallow bin position in the double deep positions and the bin size of the bin to be stored meets a first size range, determining to occupy the target bin position; and when the target bin position of the bin to be stored is a shallow bin position in the double deep positions and the size of the bin to be stored meets a second size range, determining to occupy the target bin position and the deep bin position corresponding to the target bin position.

In a fifth aspect, embodiments of the present disclosure further provide a control apparatus, including:

at least one processor;

and a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to cause the control apparatus to perform the bin extraction method according to the first aspect of the present disclosure; alternatively, the instructions are executable by the at least one processor to cause the control device to perform the bin binning method as in the second aspect of the present disclosure.

In a sixth aspect, embodiments of the present disclosure also provide a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are configured to implement a bin extraction method as in the first aspect of the present disclosure; alternatively, computer-executable instructions, when executed by a processor, are for implementing a bin binning method as in the second aspect of the present disclosure.

In a seventh aspect, the presently disclosed embodiments also provide a computer program product comprising computer-executable instructions for implementing the bin extraction method as in the first aspect of the present disclosure when executed by a processor; alternatively, computer-executable instructions, when executed by a processor, are for implementing a bin binning method as in the second aspect of the present disclosure.

According to the bin extraction method, the bin extraction device, the bin extraction equipment and the storage medium, bin sizes of the bins to be extracted and bin types stored in the bins to be extracted are determined, and bin extraction strategies of the bins to be extracted are determined according to the bin sizes and the bin types; and issuing a box taking task based on a box taking strategy of the to-be-taken-out box so as to control the storage robot to take out the to-be-taken-out box. Therefore, under the condition that only one bin size exists, bins with different sizes can be stored, and the same storage robot can pick and place bins with different bin sizes, so that the storage utilization rate is effectively improved, and the storage flexibility and the bin carrying flexibility are improved.

Drawings

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

Fig. 1 is an application scenario diagram of a bin extraction method provided in an embodiment of the present disclosure;

FIG. 2 is a flow chart of a bin removal method provided by one embodiment of the present disclosure;

FIG. 3 is a flow chart of a bin removal method provided by yet another embodiment of the present disclosure;

FIG. 4a is a top view of the pick-up mechanism of the embodiment of FIG. 3 when performing a deep garage pick-up operation;

FIG. 4b is a schematic diagram showing the correspondence between bin removal policies and bin sizes and bin types in the embodiment shown in FIG. 3;

FIG. 5 is a flow chart of a bin warehousing method provided by yet another embodiment of the disclosure;

FIG. 6 is a flow chart of a bin warehousing method provided by yet another embodiment of the disclosure;

FIG. 7 is a schematic view of a bin extraction device according to yet another embodiment of the present disclosure;

fig. 8 is a schematic structural view of a bin warehouse entry device according to another embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a control device according to an embodiment of the present disclosure.

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

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

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

In the existing warehouse system, for a warehouse with different size bins, the warehouse area is divided into a plurality of different partitions, for example, each bin in the partition for storing small size bins is smaller, each bin in the partition for storing large size bins is larger, and the number of large size bins and the number of small size bins stored in the warehouse in real time are not fixed, so that the storage number of bins with the partitions is far smaller than the designed maximum storage number (for example, the warehouse area A comprises 100 large bins, the warehouse area B comprises 100 small bins, but in a certain period of time, the large bins in the warehouse area only have 10 bins, but the small bins have 110 bins), and the overall storage density is small. Moreover, when the intelligent storage system carries out material handling, storage robots of different types can be selected according to the size and the partition of the material box, and the storage and box taking tasks of the material box are issued, so that the material box is carried out. However, since the stocker robot is generally configured to perform only the bin handling task corresponding to the specific size range, when the bin size is different, it is necessary to configure a plurality of different stocker robots to handle the bin, and thus, the robot is required to have a large amount of space and the task execution flexibility is poor.

In order to solve the problem, the embodiment of the disclosure provides a bin extraction method, corresponding bin extraction strategies are determined according to the size and bin type of a bin, and then specific carrying tasks are sent to a storage robot based on the bin extraction strategies, so that the storage robot can extract the bin corresponding to the bin in a targeted manner, and the problem that the bin storage system has poor bin storage flexibility is effectively solved.

The application scenario of the embodiments of the present disclosure is explained below:

fig. 1 is an application scenario diagram of a bin extraction method according to an embodiment of the present disclosure. As shown in fig. 1, in the process of taking out the bin, the intelligent storage system 100 sends a carrying task to the storage robot 130 according to the bin type (the bin positions on the shelf of the bin area in the warehouse are double deep bin positions, including deep bin positions and shallow bin positions, wherein the deep bin positions and the shallow bin positions have the same size and are opposite in position, the shallow bin positions are positioned on the shelf and are close to the storage robot, the deep bin positions are positioned on the shelf and are far away from the storage robot, and the shallow bin positions are positioned between the deep bin positions and the storage robot) of the bin 110 and the bin size, so that the storage robot 130 can carry the bin 110.

It should be noted that, in the scenario shown in fig. 1, the bin, the inventory rack, and the storage robot are only illustrated as an example, but the disclosure is not limited thereto, that is, the number of bins, inventory racks, and storage robots may be arbitrary.

The bin removal method provided by the present disclosure is described in detail below by way of specific examples.

Fig. 2 is a flow chart of a bin removal method provided by an embodiment of the present disclosure. The bin extraction method is applied to an intelligent warehousing system. As shown in fig. 2, the method for taking out the material box provided in this embodiment includes the following steps:

step S201, determining the size of the bin to be removed and the type of the bin to be removed and stored.

The library bit type comprises deep library bits in double deep library bits and shallow library bits in double deep library bits.

Specifically, since bins in inventory typically have a plurality of different sizes, in the case where there is only one bin size in the bin area, there may be a case where a bin occupies one bin and a bin occupies both a deep bin and a shallow bin in a double deep bin, and thus, it is necessary to determine the size of the bin to be removed in order to determine the execution action of the pick-up mechanism when the bin is removed.

Meanwhile, when the bin occupies only one bin of the double deep bins, the specific bin type of the bin to be taken out is determined, so that the specific moving position and distance of a cargo taking mechanism of the bin to be taken out by the storage robot are determined, the bin is effectively taken out, the situation that the bin (of the deep bin) cannot be taken out or the bin (of the shallow bin) is pushed to collide with other bins (of the deep bin) due to the wrong moving position and distance of the cargo taking mechanism of the storage robot is avoided, the bin is damaged, and the completion of a bin conveying task is influenced.

Step S202, determining a bin taking strategy of a bin to be taken out according to the bin size and the bin type.

Specifically, the box taking strategy is used for representing specific execution actions of the storage robot determined by the intelligent storage system server, and according to different box taking strategies, the storage robot can take different specific actions to take out the bins with different sizes and different positions, for example, the extension amount of the goods taking mechanism along the direction from the shallow storage position to the deep storage position is determined according to the shallow storage position size in the double deep storage positions, and goods taking operation is carried out. Because the box taking strategy can be used for independently determining the specific size of each box and the type of the stored storage position, each storage robot can be effectively ensured to take out the boxes with different sizes and different storage position types, and further the flexibility of the intelligent storage system server in distributing the box carrying task is improved.

Step S203, issuing a box taking task based on a box taking strategy of the to-be-taken-out box so as to control the storage robot to take out the to-be-taken-out box.

Specifically, after the box taking strategy is determined, a corresponding box taking task is generated based on the specific action of the storage robot determined by the box taking strategy. Meanwhile, the box taking task further comprises a specific shelf position of the box to be taken out in the inventory area, and if the specific shelf position is a No. 02 double deep position warehouse position of a No. 2 shelf layer 2. The storage robot can finish the goods taking of the corresponding material box to be taken out according to the specific goods shelf position and the specific action.

Further, the box taking strategy comprises two parts, namely a reading action and a box taking action adopted by the storage robot. In addition, the storage robot has a specific goods shelf position to be moved, namely the goods shelf position of the double deep-position warehouse position corresponding to the material box to be taken out. Because the stock positions are fixed, the specific shelf positions of the bins which are different in size and stored in the same stock position but stored in different stock position types are unchanged, and the stock position information belongs to part of information required by a bin taking task.

When the box taking task is executed, the box taking mechanism (or any other mechanism with a box moving function) for the storage robot reads box information (such as 3D point cloud information, size information and the like) to determine the specific position of the box, and then adjusts the box taking mechanism to accurately acquire the box, so that the reading action is required to be determined according to the type of the box, for example, the deep box is read, or the shallow box is read, and if the type of the box is not determined, the box information is directly read, so that the inaccurate reading condition is caused.

When the storage robot finishes the reading action, the information acquired by the reading action aligns the storage mechanism of the storage robot to the bin, and then the bin is taken according to the bin taking action (different types of bin taking actions, for example, different extension lengths of the mechanical arms of the fork).

According to the bin extraction method provided by the embodiment of the disclosure, the bin size of the bin to be extracted and the bin type stored in the bin to be extracted are determined, and then the bin extraction strategy of the bin to be extracted is determined according to the bin size and the bin type; and issuing a box taking task based on a box taking strategy of the to-be-taken-out box so as to control the storage robot to take out the to-be-taken-out box. Therefore, the same storage robot can take out the bins with different bin sizes and different storage position types, and is not limited by the bin sizes and the storage position depths, so that flexibility of task allocation is obviously provided, stable taking out of the bins is ensured, and storage and conveying efficiency is effectively improved.

Fig. 3 is a flow chart of a bin removal method provided by one embodiment of the present disclosure. As shown in fig. 3, the method for taking out the material box provided in this embodiment includes the following steps:

step S301, determining the size of the bin to be removed and the type of the bin to be removed and stored.

Specifically, the content of this step is the same as that of step S201 in the embodiment shown in fig. 2, and the details are not repeated here.

Step S302, when the bin type is the deep bin in the double deep bin, determining the reading action for the to-be-fetched discharging bin as the deep bin reading action.

Step S303, when the bin type is the shallow bin in the double-deep bin, determining the reading action for the to-be-fetched discharging bin as the shallow bin reading action.

And determining a reading action for the to-be-fetched discharging box according to the type of the stored bin.

In the deep-bank reading operation and the shallow-bank reading operation, the reading depth of the reading device (e.g., an image sensor, a camera, etc.) is different, the reading reference point is different, for example, the reading focus of the camera is different, the focal length is different, etc.

Specifically, the parameter settings corresponding to the deep library reading action and the shallow library reading action are set before leaving the factory, and only need to be executed according to the task strategy.

Step S304, when the size of the material box meets the first size range and the bin type is the shallow bin in the double-deep bin, determining that the box taking action for the material box to be taken is the shallow bin box taking action.

Specifically, in addition to determining the reading action, a bin picking action for the bin to be picked needs to be determined according to the bin size and the type of bin to be stored. The bin removal action is used to indicate the specific posture of the storage robot that the bin removal mechanism needs to adjust for extracting the bin to be removed from the goods shelf and the action of removing the bin from the goods shelf, and when the bin removal action is completed, the bin is located on the storage robot (possibly in a basket carried by the storage robot and possibly still located on the goods removal mechanism) and is out of the range of the goods shelf.

In the case taking action, before the case is moved out of the goods shelf, the clamping mode or the specific gesture of the case needs to be determined according to the different sizes of the case to be taken out, and the case taking action comprises a specific telescopic state of a goods taking mechanism, for example, when the goods taking mechanism comprises a bottom fork arm penetrating through the lower part of the case and extending forwards or side clamping arms clamping the case from two sides, the bottom clamping arm and the side clamping arms need to stretch to the extent that the case can be stably clamped according to the different sizes of the case.

The specific posture of the goods taking mechanism is that the length of the goods taking mechanism extending below the material box or the length extending to two sides of the material box is larger than 1 meter and smaller than 1.2 meters if the depth of the material box to be taken out is 1 meter and the depth of the shallow warehouse position (0 to 0.6 meter and the depth of the deep warehouse position (0.6 to 1.2 meters), otherwise, the material box is easy to fall over or slide down to affect the completion of a conveying task, and if the depth of the material box to be taken out is only 0.5 meter, the length of the goods taking mechanism extending below the material box or the length extending to two sides of the material box is not more than 0.6 meter, otherwise, the goods taking mechanism can collide with the material box on another warehouse position in other double deep warehouse positions or the material box on other goods shelves.

Therefore, in order to facilitate the execution of the storage robot, the storage robot is divided into two ranges according to different sizes of the material box, and two different box taking actions are adopted respectively so as to ensure the safety of carrying the material box.

The first size range is used for indicating that the size of the bin is smaller than or equal to the largest size which can be placed by one of the deep bin and the shallow bin in the double-deep bin, and the second size range is used for indicating that the size of the bin is larger than the first size range and smaller than or equal to the largest size which can be placed together by the deep bin and the shallow bin in the double-deep bin.

The box taking action of the shallow warehouse position corresponding to the first size range, namely, the picking mechanism takes a specific gesture of clamping the material box with the maximum size smaller than or equal to the maximum size of the shallow warehouse position in the double-deep warehouse position, and then takes the material box out of the goods shelf (for example, the length of the picking mechanism penetrating into the lower part or two sides of the material box is equal to the maximum depth of the shallow warehouse position).

Step S305, when the size of the bin meets the second size range or the bin type is a deep bin in the double deep bin, determining that the bin fetching action for the bin to be fetched is a deep bin fetching action.

Specifically, the box taking action of the deep bin corresponding to the second size range or the bin type is a deep bin in the double-deep bin, and the box taking action is used for indicating that the size of the box which can be clamped by the specific gesture of the goods taking mechanism is larger than the largest size of the shallow bin and smaller than or equal to the largest size which can be placed when the shallow bin and the deep bin are used as the combined bin, and then the box is taken out from the goods shelf (for example, the length of the goods taking mechanism penetrating into the lower part or two sides of the box is equal to the sum of the maximum depths of the deep bin and the shallow bin).

As shown in fig. 4a, which is a top view of the picking mechanism when performing the deep bin picking operation, the picking mechanism 411 of the storage robot 410 has a length a of the picking mechanism 411 penetrating into the bin when picking the container 420, and a is equal to the sum of the deep bin depth L1 and the shallow bin depth L2.

To sum up, as shown in fig. 4b, which is a schematic diagram of the correspondence between the bin-fetching strategy and the bin size and bin type, the possible bin-fetching strategy may be determined to include:

and when the type of the bin is the deep bin in the double deep bin, determining a bin fetching strategy of the bin to be fetched to comprise a deep bin reading action and a deep bin fetching action.

And when the bin type is the shallow bin in the double-deep bin and the size of the bin is in the first size range, determining a bin fetching strategy of the bin to be fetched to comprise a shallow bin reading action and a shallow bin fetching action.

And determining a box taking strategy of the box to be taken out to comprise a shallow library position reading action and a deep library position box taking action when the library position type is the shallow library position in the double deep library position and the size of the box is in a second size range.

Specifically, the box taking action corresponding to the box occupying the deep bin in the double deep bin is fixed, and is necessarily the box taking action corresponding to the deep bin; if the size meets the first size range, the corresponding reading action is a deep bank reading action; and if the bins of the deep bin and the shallow bin are occupied at the same time, the size of the bins meets a second size range, which corresponds to the shallow bin reading action and the deep bin fetching action.

After the size of the bin and the specific bin type stored in the bin are determined, the corresponding reading action and the bin taking action can be directly determined, and then the bin taking strategy of the storage robot when carrying the bin is determined, so that the corresponding instruction can be sent to the storage robot to finish the taking of the bin.

Step S306, issuing a box taking task based on the reading action and the box taking action corresponding to the box to be taken out, so as to control the storage robot to take out the box to be taken out according to the box taking task.

Specifically, after determining the corresponding box taking task based on the reading action and the box taking action, the storage robot can complete the taking out of the material box only by operating based on the corresponding reading action and the box taking action contained in the box taking task.

Further, before the warehouse robot executes the task of taking the box, the warehouse robot is already located at the goods shelf position corresponding to the double deep warehouse position where the box is located, and at the moment, only the goods taking mechanism on the warehouse robot is required to be moved, so that the box is taken out.

According to the bin removal method provided by the embodiment of the disclosure, after the size of the bin to be removed and the type of the storage position corresponding to the bin to be removed are determined, the reading action for removing the bin is determined according to the type of the storage position stored in the bin, the bin removal action when the bin is removed is determined according to the size of the bin, the bin removal strategy for the bin to be removed is comprehensively determined, and the bin removal task is issued based on the bin removal strategy for the bin to be removed, so that the storage robot is controlled to remove the bin to be removed. Therefore, the same storage robot can take out the bin by adopting corresponding reading action and bin taking action aiming at bins of different bin sizes and different bin types, and the bin is not limited by the bin size and the bin depth, so that flexibility of task allocation is obviously provided, stable taking out of the bin is ensured, and further storage and conveying efficiency is effectively improved.

Fig. 5 is a flowchart of a bin warehousing method according to an embodiment of the present disclosure. The bin warehousing method is applied to an intelligent warehousing system. As shown in fig. 5, the bin storage method provided in this embodiment includes the following steps:

step S501, determining the size of the bin to be put in storage and the type of the bin to be put in storage.

Specifically, when the bin is put into storage, firstly, the storage type which can be stored is determined according to the size of the bin to be put into storage, and the storage position which can be used for placing the bin to be put into storage is determined according to the storage position type of the bin to be put into storage and the storage state of each double deep storage position.

Further, the type of the storage position which can be stored is determined according to the size of the storage box to be stored, namely, the storage box to be stored is determined according to the size of the storage box to be stored, and only needs to occupy the deep storage position or the shallow storage position in the double-deep storage position or simultaneously occupies the deep storage position and the shallow storage position in the double-deep storage position.

Further, the stock state of the double-deep stock position is used for indicating whether the double-deep stock position has a bin stored therein. When the bin is not stored in the double-deep bin, the double-deep bin (whether the deep bin or the shallow bin) can be used for placing the bin to be stored; when the deep bin of the double-deep bin is stored with the bin, the bin to be stored with smaller size (only needs to occupy the shallow bin) can still be placed in the shallow bin of the corresponding double-deep bin; when the bin is stored in the shallow bin of the double-deep bin, the bin to be stored cannot be placed in the corresponding double-deep bin (the bin of the shallow bin can be removed and then placed in the corresponding deep bin, but because the operation is complicated, the bin to be stored is usually preferably placed in the double-deep bin of the bin which is not stored in the shallow bin).

Step S502, determining a storage strategy of the bin to be stored according to the bin size and the bin type of the bin to be stored.

Specifically, after the size of the bin to be put in storage and the type of the bin specifically stored in the double-deep bin are determined, specific actions to be taken by the storage robot when the bin is put in storage, namely the storage strategy of the bin to be put in storage, can be determined.

According to different sizes of the bins and different types of storage positions, targeted actions are adopted, so that the same storage robot can finish the storage of the bins of different types, and the flexibility of the distribution of the storage tasks of the bins is improved.

Step S503, according to the storage strategy of the storage box, a storage task is sent to the storage robot to control the storage robot to store the storage box.

Specifically, the intelligent warehousing system server sends specific warehousing tasks to the corresponding warehousing robots according to the storage strategies, so that the warehousing robots can take targeted actions according to the warehousing tasks, the warehousing processing of the to-be-warehoused bins with different sizes and corresponding different bin types can be accurately completed, the accuracy of the warehousing robots in the process of carrying out bin warehousing can be improved, and the flexibility of the intelligent warehousing system in distributing bin conveying tasks can be improved.

According to the bin warehousing method provided by the embodiment of the disclosure, after the bin size of the bin to be warehoused and the bin position type corresponding to the bin size are determined, the storage strategy of the bin to be warehoused is determined according to the bin size and the bin position type of the bin to be warehoused, and a warehousing task is sent to a warehousing robot according to the storage strategy of the bin to be warehoused so as to control the warehousing robot to warehouse the bin to be warehoused. Therefore, the specific storage position types of the storage boxes with different sizes on the goods shelf can be determined, the action of taking and placing the storage boxes to be stored, which is needed to be taken by the same storage robot, is determined in a targeted manner, so that the storage robot can finish the storage of the storage boxes with different sizes and different storage position types without being limited by the storage box size and the storage position depth, the flexibility of task allocation is obviously provided, the accuracy of the storage robot in storing the storage boxes is ensured, and the storage and transportation efficiency is effectively improved.

Fig. 6 is a flowchart of a bin warehousing method according to an embodiment of the present disclosure. As shown in fig. 6, the bin storage method provided in this embodiment includes the following steps:

and step S601, when the size of the material box to be stored meets a first size range, determining that the type of the storage position stored in the material box to be stored is a deep storage position in the double deep storage position or a shallow storage position in the double deep storage position.

Specifically, after the size of the bin to be put in storage is determined, the type of bin to be put in storage, which is needed to be occupied by the bin to be put in storage, can be determined. If the bin to be stored meets the first size range, the bin to be stored only needs to occupy one of the deep bin or the shallow bin in the double-deep bin.

In some embodiments, after determining the size of the bin to be stored, the intelligent storage system server determines a specific bin for placing the bin to be stored according to the type of the bin to be stored and the stock state of each double-deep bin, if the bin to be stored needs to occupy the deep bin and the shallow bin in the double-deep bin at the same time, then the stock state needs to be determined to be the double-deep bin in which neither the bin is placed nor the deep bin is placed, and the corresponding deep bin and the shallow bin are used as the bin for placing the bin to be stored.

Further, in the case that the bin to be put into storage can be placed in a deep storage position and a shallow storage position, two conditions are included:

in the first case, when the size of the bin to be stored meets the first size range and the bin is not stored in the deep bin of the double deep bin for storing the bin to be stored, determining that the bin type stored in the bin to be stored is the deep bin in the double deep bin.

Specifically, according to the occupancy state of the double deep positions for placing the bin to be stored and the type of the bin to be stored in the bin to be stored, the specific placed bin of the bin to be stored can be determined.

When the deep bin for placing the double deep bin for the bin to be stored does not store the bin, and the bin to be stored occupies only one of the deep bin or the shallow bin, the bin to be stored is stored in the deep bin of the double deep bin preferentially, so that the shallow bin of the corresponding double deep bin is kept in a state in which materials can be placed, and more bins can be placed on a goods shelf, so that the inventory efficiency is improved.

And secondly, when the size of the material box to be stored meets a first size range, and the material box is stored in the adjacent deep storage position without the material box in the shallow storage position for storing the double deep storage position of the material box to be stored, determining that the specific storage position stored in the material box to be stored is the shallow storage position in the double deep storage position.

Specifically, when the deep bin of the double deep bin is placed with the bin, and the shallow bin is not placed with the bin, the bin to be put into storage can be determined to be placed in the shallow bin of the double deep bin.

If the shallow bin of the double deep bin is provided with a bin, the deep bin of the bin which is not provided with other shallow bins is preferentially selected to be provided with a bin to be put in storage, or the bin of the shallow bin is taken out, the bin to be put in storage is provided with the deep bin, and then the bin of the shallow bin is put back to the original position.

Step S602, when the size of the bin to be stored meets the second size range, determining that the bin type stored in the bin to be stored is a shallow bin in the double deep bins.

Specifically, when the size of the bin to be put in storage meets the second size range, the bin to be put in storage needs to occupy the deep bin and the shallow bin of the double deep bin simultaneously, and at this time, the double deep bin for placing the bin to be put in storage must be in an empty state in which neither the deep bin nor the shallow bin is placed in the bin, otherwise, the bin to be put in storage cannot be put in storage. At this time, from the angle of storage robot placement workbin, only need place the workbin in the shallow storehouse position of two deep storehouse positions, this workbin skew storage robot's one end, will be located the deep storehouse position of two deep storehouse positions.

Step S603, determining a storage action aiming at the bin to be stored according to the bin type.

In particular, the depositing act is used to indicate an act of extending the picking mechanism to a designated bin location and then placing a bin on the picking mechanism at the designated bin location. After the bin is placed, the goods taking mechanism can be retracted to a default state.

Because the storage positions of the feed boxes are different, the storage actions are different, and therefore, the corresponding storage actions are required to be determined according to the type of the storage positions of the feed boxes to be stored.

Further, the storing actions corresponding to different bin types include the following cases:

in the first case, when the bin type is the deep bin in the double deep bin, determining the storage action aiming at the bin to be stored as the deep bin storage action.

Specifically, the deep storage position storage action is used for indicating that the material box is stored to the deep storage position of the double deep storage position by the material taking mechanism of the storage robot, and when the material box to be stored needs to be stored in the deep storage position of the double deep storage position, the corresponding storage action can be determined as the deep storage position storage action.

And secondly, when the bin type is the shallow bin in the double-deep bin, determining the storage action aiming at the bin to be stored as the shallow bin storage action.

Specifically, the shallow storage action is used for indicating that the cargo taking mechanism of the storage robot stores the bin to the shallow storage position with double deep storage positions.

And the shallow bin storage action is adopted for the case that the bin is in the first size range and occupies only the shallow bin in the double-deep bin, or for the case that the bin is in the second size range and occupies both the shallow bin and the deep bin in the double-deep bin.

Step S604, based on the storage action corresponding to the to-be-stored bin, issuing a storage task to control the storage robot to store the to-be-stored bin according to the storage task.

Specifically, the warehousing task comprises a storage action required to be executed by the warehousing robot, and the position of the double deep warehouse corresponding to the to-be-warehoused material box on the goods shelf, and the warehousing robot can finish the warehousing and storage process of the to-be-warehoused material box according to the warehousing task.

Step S605, determining the occupation condition of the bin positions according to the bin size of the bin to be put in storage and the target bin positions of the bin to be put in storage, and locking the occupied bin positions.

Specifically, when a warehouse-in task is issued, the corresponding occupied double deep warehouse positions in the intelligent warehouse system also need to be set to be in a locking state synchronously, so that the problem that a warehouse-in material box is continuously allocated and a system error is caused is avoided.

Further, for different size bins and bin types, there may be different bin occupancy conditions, including the following:

and in the first case, when the target bin of the bin to be put into storage is the deep bin in the double deep bits, determining to occupy the target bin.

Specifically, when the bin to be put in storage only needs to occupy the deep bin in the double deep bin and does not need to occupy the shallow bin, the size of the bin to be put in storage is indicated to be in the first size range, so that the bin can still be placed in the shallow bin, and therefore, only the deep bin needs to be set in a locking state so as to continue to distribute the bin to the shallow bin.

And secondly, when the target bin position of the bin to be put in storage is a shallow bin position in double deep positions and the size of the bin to be put in storage meets a first size range, determining to occupy the target bin position.

Specifically, when the size of the bin to be put into storage is limited to the first size range and only the shallow bin of the double deep bin is occupied, the shallow bin needs to be set in a locked state.

In some embodiments, since the bin position where the bin is already stored is generally not allowed to be readjusted, if the bin is not placed in the double-deep bin, the deep bin of the double-deep bin where the bin is to be stored should be set to the locked state at the same time. Thereby avoiding the situation that the bin needs to be moved when the bin is allocated to the deep bin in the double deep bin.

In some embodiments, if a bin is placed in a deep bin of a dual deep bin, the state of the deep bin of the dual deep bin need not be changed.

And thirdly, determining to occupy the target bin and the deep bin corresponding to the target bin when the target bin of the bin to be stored is a shallow bin in double deep bins and the size of the bin to be stored meets a second size range.

Specifically, when the size of the bin to be stocked meets the second size range, the bin to be stocked needs to occupy the deep bin and the shallow bin of the double deep bin at the same time, so that the target bin is set to be the shallow bin of the double deep bin when the bin to be stocked is placed, but the deep bin and the shallow bin of the double deep bin need to be set to be in a locked state at the same time.

According to the bin warehousing method provided by the embodiment of the disclosure, the bin type of the bin to be warehoused is determined according to the size of the bin to be warehoused, the storage action is determined according to the bin type corresponding to the bin, the warehousing task is generated based on the storage action, and the bin corresponding to the bin is locked. Therefore, the specific storage position types on the goods shelf can be determined according to the storage boxes with different sizes, and storage actions to be taken corresponding to the same storage robot can be determined pertinently, so that the storage robot can finish the storage of the storage boxes with different sizes and different storage position types, the corresponding storage positions can be locked, the distribution of the storage boxes to be stored subsequently is facilitated, and the storage conveying efficiency is effectively improved.

Fig. 7 is a schematic structural view of a bin extraction device according to an embodiment of the present disclosure. As shown in fig. 7, the bin extraction device 700 includes: a first determination module 710, a second determination module 720, and an output module 730. Wherein:

a first determining module 710, configured to determine a bin bit depth of a bin to be fetched for storage in response to a received outbound request;

a second determining module 720, configured to determine a bin fetching policy of the bin to be fetched according to different bin depths stored in the bin;

And an output module 730, configured to send a handling task to the warehousing robot based on a bin taking policy corresponding to a bin to be taken out of the warehouse.

Optionally, the second determining module 720 is specifically configured to determine a reading action for the to-be-fetched discharging box according to the type of the stored bin; and determining box taking actions aiming at the to-be-taken discharging box according to the size of the box and the type of the stored bin.

Optionally, the second determining module 720 is specifically configured to determine, when the bin type is a deep bin of the double deep bins, a reading action for the to-be-fetched bin as a deep bin reading action; when the bin type is the shallow bin in the double-deep bin, determining the reading action aiming at the to-be-fetched discharging bin as the shallow bin reading action.

Optionally, the second determining module 720 is specifically configured to determine that the box taking action for the to-be-taken discharging box is a shallow library position box taking action when the size of the bin meets the first size range and the library position type is a shallow library position in the double-deep library position; and when the size of the material box meets the second size range, determining that the box taking action aiming at the material box to be taken is a deep bin box taking action.

Optionally, the second determining module 720 is specifically configured to determine that the box taking policy of the box to be taken out includes a deep bin reading action and a deep bin box taking action when the bin type is a deep bin in the double deep bin or the bin type is a deep bin in the double deep bin; when the bin type is shallow bin in the double-deep bin and the size of the bin is in a first size range, determining a bin fetching strategy of the bin to be fetched to comprise shallow bin reading action and shallow bin fetching action; when the bin type is shallow bin in the double-deep bin and the bin size is in the second size range, determining a bin fetching strategy of the bin to be fetched comprises shallow bin reading action and deep bin fetching action.

Optionally, the output module 730 is specifically configured to issue a bin picking task based on a reading action and a bin picking action corresponding to the bin to be picked out, so as to control the storage robot to pick out the bin to be picked out according to the bin picking task.

In this embodiment, the bin extraction device, through the combination of each module, can be based on the size and the storehouse position type of the bin to be extracted, the bin extraction strategy that corresponds is pointedly confirmed to guarantee that same storage robot can stably take out different sizes, deposit in the bin of different storehouse position types, thereby effectively improve intelligent warehouse system's task allocation flexibility, and then improve warehouse management efficiency.

Fig. 8 is a schematic structural diagram of a bin warehouse entry device according to an embodiment of the present disclosure. As shown in fig. 8, the bin storage device 800 includes: a first determination module 810, a second determination module 820, and an output module 830. Wherein:

a first determining module 810, configured to determine a size of a bin of the bin to be put into storage, and a type of a bin stored in the bin to be put into storage, where the type of the bin includes a deep bin of the double deep bin and a shallow bin of the double deep bin;

a second determining module 820, configured to determine a storage policy of the bin to be stored according to the bin size and the bin type of the bin to be stored;

And the output module 830 is configured to send a warehousing task to a warehousing robot according to the storage policy of the to-be-warehoused bin, so as to control the warehousing robot to warehouse the to-be-warehoused bin.

Optionally, the first determining module 810 is specifically configured to determine that the type of the bin to be stored in the bin to be stored is a deep bin in the double deep bin or a shallow bin in the double deep bin when the size of the bin to be stored in the bin to be stored meets the first size range; when the size of the material box to be stored meets the second size range, determining that the type of the storage position stored in the material box to be stored is a shallow storage position in the double deep storage positions.

Optionally, the first determining module 810 is specifically configured to determine that the bin type stored in the bin to be stored is a deep bin of the double deep bin when the bin size of the bin to be stored meets the first size range and the bin is not stored in the deep bins of the double deep bin for storing the bin to be stored; when the size of the bin to be stored meets a first size range, and the bin is stored in the adjacent deep bin of the shallow bin for storing the double deep bin of the bin to be stored, determining that the bin type stored in the bin to be stored is the shallow bin in the double deep bin.

Optionally, the second determining module 820 is specifically configured to determine a storage action for the bin to be put in according to the bin type.

Optionally, the second determining module 820 is specifically configured to determine, when the bin type is a deep bin of the double deep bins, a depositing action for the bin to be deposited as a deep bin depositing action; when the bin type is the shallow bin in the double-deep bin, determining the storage action aiming at the bin to be stored as the shallow bin storage action.

Optionally, the output module 830 is specifically configured to issue a warehousing task based on a storage action corresponding to the to-be-warehoused bin, so as to control the warehousing robot to warehouse the to-be-warehoused bin according to the warehousing task.

Optionally, the output module 830 is further configured to determine a bin occupancy condition according to a bin size of the bin to be binned and a target bin of the bin to be binned, and lock the occupied bin.

Optionally, the output module 830 is specifically configured to determine that the target bin is occupied when the target bin of the bin to be stored is a deep bin of the double deep bins; when the target bin position of the bin to be stored is a shallow bin position in the double deep positions and the bin size of the bin to be stored meets a first size range, determining to occupy the target bin position; and when the target bin position of the bin to be stored is a shallow bin position in the double deep positions and the size of the bin to be stored meets a second size range, determining to occupy the target bin position and the deep bin position corresponding to the target bin position.

In this embodiment, the bin warehouse entry device, through the combination of each module, can confirm corresponding bin type based on the size of the bin to be warehoused, and then pointedly confirm corresponding bin storage strategy, so as to ensure that the same warehouse robot can stably store bins with different sizes and corresponding different bins, thereby effectively improving the task allocation flexibility of the intelligent warehouse system and further improving the warehouse management efficiency.

Fig. 9 is a schematic structural diagram of a control device according to an embodiment of the present disclosure, as shown in fig. 9, the control device 900 includes: a memory 910 and a processor 920.

Wherein the memory 910 stores a computer program executable by the at least one processor 920. The computer program is executed by the at least one processor 920 to cause the control apparatus to implement the material withdrawal method as provided in any of the embodiments above or the material warehousing method as provided in any of the embodiments above.

Wherein the memory 910 and the processor 920 may be connected by a bus 930.

The relevant descriptions and effects corresponding to the relevant description and effects corresponding to the method embodiments may be understood, and are not repeated herein.

An embodiment of the present disclosure provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor to implement a material retrieval method as provided in any of the method embodiments above or a material warehousing method as provided in any of the method embodiments above.

The computer readable storage medium may be, among other things, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

An embodiment of the present disclosure provides a computer program product containing computer-executable instructions for implementing a material retrieval method as in the method embodiments described above or a material warehousing method as provided in any of the embodiments described above when executed by a processor.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general 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 is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A bin removal method, characterized by being applied to an intelligent warehousing system in which bins of at least two sizes are stored, the bin removal method comprising:

determining the size of a material box to be taken out and the type of a stock position stored in the material box to be taken out, wherein the type of the stock position comprises a deep stock position in a double-deep stock position and a shallow stock position in the double-deep stock position;

Determining a reading action for the bin to be taken out according to the bin type;

determining a box taking action for the to-be-taken-out box according to the size of the box and the bin type;

and issuing a box taking task to the storage robot so as to control the storage robot to take out the box to be taken out according to the box taking task, wherein the box taking task comprises a reading action and a box taking action corresponding to the box to be taken out.

2. The method according to claim 1, wherein said determining a read action for the bin to be fetched from according to the type of bin stored comprises:

when the bin type is the deep bin in the double-deep bin, determining the reading action aiming at the bin to be taken out as the deep bin reading action;

and when the bin type is the shallow bin in the double-deep bin, determining the reading action aiming at the bin to be taken out as the shallow bin reading action.

3. Method according to claim 1, wherein said determining a bin removal action for the bin to be removed from the bin size comprises:

when the size of the material box meets a first size range and the bin type is a shallow bin in a double-deep bin, determining that the box taking action for the material box to be taken out is a shallow bin box taking action;

And when the size of the material box meets a second size range or the bin type is a deep bin in a double deep bin, determining that the box taking action for the material box to be taken out is a deep bin box taking action.

4. The method of claim 1, wherein the step of determining the position of the substrate comprises,

when the bin type is the deep bin in the double-deep bin, determining the reading action aiming at the bin to be taken out as a deep bin reading action, and determining the bin taking action aiming at the bin to be taken out as a deep bin taking action;

when the bin type is a shallow bin in the double-deep bin and the size of the bin is in a first size range, determining a reading action for the bin to be taken out as a shallow bin reading action, and determining a bin taking action for the bin to be taken out as a shallow bin taking action;

when the bin type is the shallow bin in the double-deep bin and the size of the bin is in the second size range, determining the reading action aiming at the bin to be taken out as the shallow bin reading action, and determining the bin taking action aiming at the bin to be taken out as the deep bin taking action.

5. The bin warehousing method is characterized by being applied to an intelligent warehousing system, and comprises the following steps of:

Determining the size of a bin to be stored and the type of the bin stored in the bin to be stored, wherein the type of the bin comprises deep bins in double deep bins and shallow bins in double deep bins;

determining a storage action for the bin to be stored according to the bin type;

and sending a warehousing task to a warehousing robot to control the warehousing robot to warehouse the to-be-warehoused material box according to the warehousing task, wherein the warehousing task comprises a storage action corresponding to the to-be-warehoused material box.

6. The method of claim 5, wherein the determining the bin size of the bin to be binned and the bin type of the bin to be binned comprises:

when the size of the material box to be stored meets a first size range, determining that the type of the storage position stored in the material box to be stored is a deep storage position in double deep storage positions or a shallow storage position in double deep storage positions;

when the size of the material box to be stored meets a second size range, determining that the type of the storage position stored in the material box to be stored is a shallow storage position in the double deep storage positions.

7. The method of claim 6, wherein determining that the bin type stored by the bin to be binned is a deep bin of a double deep bin or a shallow bin of a double deep bin when the bin size of the bin to be binned meets a first size range comprises:

When the size of the bin to be stored meets a first size range and the bin is not stored in the deep bin of the double deep bin of the bin to be stored, determining that the type of the bin stored in the bin to be stored is the deep bin of the double deep bin;

when the size of the material box to be stored meets a first size range, and the material box is stored in the adjacent deep storage position without the material box in the shallow storage position of the double deep storage position for storing the material box to be stored, determining that the storage position type stored in the material box to be stored is the shallow storage position in the double deep storage position.

8. The method of claim 5, wherein the determining a depositing action for the bin to be deposited based on the bin type comprises:

when the bin type is the deep bin in the double deep bin, determining the storage action aiming at the bin to be stored as the deep bin storage action;

and when the bin type is the shallow bin in the double-deep bin, determining the storage action aiming at the bin to be stored as the shallow bin storage action.

9. The method according to any one of claims 5-8, further comprising: and determining the occupation condition of the bin positions according to the size of the bin to be put in storage and the target bin positions of the bin to be put in storage, and locking the occupied bin positions.

10. The method of claim 9, wherein determining a bin occupancy based on the bin size of the bin to be binned and the target bin of the bin to be binned comprises:

when the target bin position of the bin to be stored is a deep bin position in double deep positions, determining to occupy the target bin position;

when the target bin position of the bin to be stored is a shallow bin position in double deep positions and the bin size of the bin to be stored meets a first size range, determining to occupy the target bin position;

and when the target bin of the bin to be stored is a shallow bin in double deep positions and the size of the bin to be stored meets a second size range, determining to occupy the target bin and the deep bin corresponding to the target bin.

11. A bin extraction device, characterized in that is applied to intelligent warehouse system, the workbin of at least two kinds of sizes is stored in the intelligent warehouse system, the workbin extraction device includes:

the first determining module is used for determining the size of the material box to be taken out in response to the received ex-warehouse request, and determining the type of the stock position stored in the material box to be taken out, wherein the type of the stock position comprises a deep stock position in double deep stock positions and a shallow stock position in double deep stock positions;

The second determining module is used for determining a reading action for the bin to be taken out according to the bin type;

the output module is used for issuing a box taking task to the storage robot so as to control the storage robot to take out the box to be taken out according to the box taking task, and the box taking task comprises a reading action and a box taking action corresponding to the box to be taken out.

12. The utility model provides a bin warehouse entry device which characterized in that is applied to intelligent warehouse system, bin warehouse entry device includes:

the second determining module is used for determining the storage action aiming at the to-be-stored bin according to the bin type;

the output module is used for sending a warehousing task to the warehousing robot so as to control the warehousing robot to warehouse the to-be-warehoused workbin according to the warehousing task, wherein the warehousing task comprises a storage action corresponding to the to-be-warehoused workbin.

13. An electronic device, comprising:

at least one processor;

and a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to cause the electronic device to perform the bin extraction method of any one of claims 1-4; alternatively, the instructions are executed by the at least one processor to cause the electronic device to perform the bin binning method according to any one of claims 5-10.

14. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the bin removal method according to any one of claims 1 to 4; alternatively, the computer-executable instructions, when executed by a processor, are for implementing a bin binning method according to any of claims 5-10.

15. A computer program product comprising computer-executable instructions for implementing the bin removal method according to any one of claims 1-4 when executed by a processor; alternatively, the computer-executable instructions, when executed by a processor, are for implementing a bin binning method according to any of claims 5-10.