CN117485779A

CN117485779A - Container taking and placing method and warehousing system

Info

Publication number: CN117485779A
Application number: CN202311490174.6A
Authority: CN
Inventors: 汪旭
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-11-09
Filing date: 2023-11-09
Publication date: 2024-02-02

Abstract

The application relates to the technical field of warehouse logistics and discloses a container taking and placing method and a warehouse system. Determining a container hit by a task to be processed according to the task to be processed, and storing a hit carrier hit by the container; if the depth of the hit container on the hit carrier is larger than the depth of the first robot for executing the task to be processed, controlling the second robot to move the hit container to the target cargo space by pushing the first container in the target storage column corresponding to the hit container according to the current depth of the hit container on the hit carrier, the depth of the first robot for taking the cargo and the depth of the second robot for taking the cargo; the deep position of the target cargo space is smaller than or equal to the deep position of the first robot for picking and placing the cargo; and controlling the first robot to take out the hit container from the target cargo space according to the target cargo space. The container picking and placing method provided by the application can realize picking and placing of a container with a larger depth by adopting a robot with a smaller depth while ensuring high storage of a storage system.

Description

Container taking and placing method and warehousing system

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a container taking and placing method and a warehouse system.

Background

In a warehouse system, in order to improve the space utilization of the warehouse system, a greater number of containers can be placed by arranging a plurality of deep racks. However, when the deep position of the goods shelf is larger than the deep position of the goods shelf for picking and placing goods by the goods shelf robot, the goods shelf robot can only pick and place the goods shelf with the deep position smaller than or equal to the deep position of the goods shelf robot, and the goods shelf with the deep position larger than the deep position of the goods shelf robot can not be directly picked and placed, so that the goods shelf with the larger deep position is higher in picking and placing difficulty, and the implementation is complex. Therefore, how to use a container robot with a smaller depth to pick and place a container with a larger depth is a technical problem to be solved.

Disclosure of Invention

In order to solve the above problems, the embodiments of the present application provide a container picking and placing method and a warehouse system, which can use a robot with a smaller deep position to pick and place a container with a larger deep position. Specifically, the embodiment of the application discloses the following technical scheme:

an embodiment of the present application provides a method for taking and placing a container, where the method includes: firstly, determining a container hit by a task to be processed according to the task to be processed, and storing a hit carrier hit by the container. Secondly, if the depth of the hit container on the hit carrier is larger than the depth of the first robot for executing the task to be processed, controlling the second robot to move the hit container to the target cargo space by pushing the first container in the target storage column corresponding to the hit container according to the current depth of the hit container on the hit carrier, the depth of the first robot for taking the cargo and the depth of the second robot for taking the cargo; the deep position of the target cargo space is smaller than or equal to the deep position of the first robot for taking and placing the cargo, and the first robot and the second robot are respectively positioned in channels on two sides of the hit carrier. Finally, according to the target cargo space, the first robot is controlled to take out the hit container from the target cargo space.

In some embodiments, controlling the second robot to move the hit container to the target cargo space by pushing the first container in the target storage column corresponding to the hit container according to the current deep position of the hit container on the hit carrier, the deep position of the first robot to pick and put, and the deep position of the second robot to pick and put, comprises: if the blocking container exists in the target storage column, controlling the first robot to convey the blocking container to the target storage position according to the deep position of the blocking container and the deep position of the first robot for picking and placing goods; wherein, the blocking container is a container with a depth bit smaller than the current depth bit of the hit container in the target storage column. If the blocking container does not exist in the target storage column and the current depth of the hit container is larger than the depth of the first robot for picking and placing goods, the second robot is controlled to push the first container in the target storage column corresponding to the hit container according to the current depth of the hit container, the depth of the first robot for picking and placing goods and the depth of the second robot for picking and placing goods, so that the hit container is moved to the target goods.

In some embodiments, controlling the first robot to handle the barrier container to the target storage location based on the depth of the barrier container and the depth of the first robot to pick up the put, comprises: and if the depth of the blocking container is smaller than or equal to the depth of the first robot for picking and placing goods, controlling the first robot to carry the blocking container to the target storage position according to the depth of the blocking container and the depth of the first robot for picking and placing goods.

In some embodiments, controlling the first robot to handle the barrier container to the target storage location based on the depth of the barrier container and the depth of the first robot to pick up the put, comprises: if the depth of the blocking container is larger than that of the first robot for picking and placing the goods, and a first idle goods space with the depth smaller than that of the blocking container exists in the target storage column, the second robot is controlled to push the container to be pushed in the target storage column so as to move the blocking container to the first idle goods space. And controlling the first robot to carry the blocking container from the first idle goods space to the target storage space according to the deep position of the first idle goods space and the deep position of the first robot for taking the goods.

In some embodiments, controlling the second robot to move the hit container to the target cargo space by pushing the first container in the target storage column corresponding to the hit container according to the current deep position of the hit container on the hit carrier, the deep position of the first robot to pick and put, and the deep position of the second robot to pick and put, comprises: and controlling the second robot to push the first container positioned in the target storage column according to the current deep position of the hit container, the deep position of the first robot for taking and placing goods and the deep position of the second robot for taking and placing goods, or controlling the second robot to place the first container on a box taking mechanism of the second robot and push the first container to move the hit container to the target goods.

In some embodiments, the number of cargo spaces that hit the container when the second robot pushes the first container is less than or equal to the number of empty cargo spaces in the target storage column.

In some embodiments, controlling the second robot to move the hit container to the target cargo space by pushing the first container in the target storage column corresponding to the hit container comprises: when the box taking mechanism of the second robot pushes the first container, the supporting structure of the second robot is controlled to be connected with the hit carrier so as to move the hit container to the target goods space.

In some embodiments, controlling the first robot to handle the barrier container from the first free cargo space to the target storage location includes: determining heat information of the blocking container; and controlling the first robot to convey the blocking container to the target storage position according to the heat information of the blocking container.

In some embodiments, controlling the first robot to handle the barrier container to the target storage location based on the thermal information of the barrier container comprises: if the heat information of the blocking container is higher than the first heat threshold, controlling the first robot to convey the blocking container to a bottom layer cache position of the hit carrier; if the heat information of the blocking container is lower than the first heat threshold, controlling the first robot to convey the blocking container to a second idle goods position on the hit carrier and/or temporarily storing the first robot; the target storage bit comprises at least one of a bottom layer cache bit, a second idle goods bit and a temporary storage bit of the first robot.

In some embodiments, the second free space includes a free space on the hit carrier closest to the blocking container and/or a free space on the hit carrier at a different tier of the same column as the target storage column in which the blocking container is located.

In some embodiments, controlling the first robot to handle the blocking container to a second free cargo space on the hit carrier comprises: if a third idle goods space exists in a first storage column which is positioned on the same column and different layers from the target storage column on the hit carrier, and a placed container exists in an outer goods space of the third idle goods space, controlling the first robot to convey the blocking container to the third idle goods space or convey the blocking container to an original goods space of the placed container according to the heat information of the placed container and the heat information of the blocking container; wherein the second free cargo space comprises a third free cargo space and an original cargo space of the placed container.

In some embodiments, controlling the first robot to handle the blocking container to the third free location or to handle the blocking container to the original location of the placed container includes: if the heat information of the placed container is lower than the heat information of the blocking container, the first robot is controlled to push the placed container to move the placed container to the third idle goods position, and the blocking container is conveyed to the original goods position of the placed container. And if the heat information of the placed container is higher than the heat information of the blocking container, controlling the first robot to convey the placed container to a temporary storage position of the first robot, conveying the blocking container to a third idle goods position, and conveying the placed container on the temporary storage position to an original goods position of the placed container.

In some embodiments, the method further comprises: controlling a first robot to carry the first container to be stored to a position to be stored based on the cargo information of the first container to be stored; the object carrier comprises a hit carrier, and the first container comprises a first container to be stored.

In some embodiments, after the first robot conveys the first container to be stocked to the to-be-stocked cargo space, the method further comprises: if the inner side of the first container to be stored has an idle goods space, controlling the first robot to push the first container to be stored through the second container to be stored on the basis of the goods information of at least one second container to be stored and the deep position of the first robot for picking and placing goods so as to convey the second container to be stored to a target carrier; or if an idle goods space exists on the inner side of the first to-be-stored container, a to-be-fetched container corresponding to the second robot exists in the storage column where the first to-be-stored container is located, and the depth of the to-be-fetched container is larger than that of the second robot to fetch goods, the first robot is controlled to push the first to-be-stored container so as to move the to-be-fetched container to the to-be-fetched goods space; the deep position of the goods to be fetched is smaller than or equal to that of the goods fetched by the second robot.

In some embodiments, the method further comprises: controlling a first robot to carry the first container to be stored to a position to be stored based on the cargo information of the first container to be stored; the goods to be put in storage are internal goods on the first carrier, and the deep position of the internal goods is larger than or equal to the deep position threshold value. And if the idle goods space exists at the outer side of the goods space to be put in storage, controlling the first robot to place at least one second goods space to be put in storage at the idle goods space at the outer side of the goods space to be put in storage based on the goods information of at least one second goods space to be put in storage and the deep position of the goods to be put in storage taken by the first robot.

In some embodiments, the higher the heat information in the at least one second container to be warehoused, the smaller the depth of the container, and the lower the heat information, the greater the depth of the container.

In some embodiments, prior to controlling the first robot to carry the first container to be stocked to the to-be-stocked cargo space, the method further comprises: if the heat information of the first container to be stored is lower than the second heat threshold value or the first container to be stored is not hit again by the order to be processed within the preset time, controlling a third robot to convey the first container to be stored to a first bottom layer buffer position of the target carrier; the first bottom layer buffer is located at the bottom layer of the target carrier and is close to the outer side of the target carrier. Controlling the first robot to carry the first container to be stored to the goods to be stored, comprising: and controlling the first robot to carry the first container to be stored from the first bottom layer buffer storage position to the goods to be stored.

In some embodiments, prior to controlling the first robot to carry the first container to be stocked to the to-be-stocked cargo space, the method further comprises: if the heat information of the first container to be stored is lower than the second heat threshold value or the first container to be stored is hit again by the order to be processed within the set time, controlling a third robot to convey the first container to be stored to a second bottom layer buffer position of the target carrier; the second bottom layer buffer is located at the bottom layer of the target carrier and is close to the inner side of the target carrier.

In some embodiments, the method further comprises: carrying the to-be-sorted containers with the heat information higher than a third heat threshold value to a first cargo space based on the heat information of the to-be-sorted containers on the carrier; the deep position of the first goods is smaller than or equal to the deep position of the first robot for taking and placing goods. Carrying the to-be-sorted containers with the heat information lower than the third heat threshold value to a second goods position; the second cargo space is deeper than the first robot.

A second aspect of the embodiments of the present application provides a container picking and placing method, which is applied to a robot, and includes: firstly, acquiring a box taking assisting instruction; the box taking assisting instruction is generated under the condition that the hit container of the task to be processed is deeper than the first robot for executing the task to be processed. Secondly, pushing the first container in a target storage column corresponding to the hit container according to the box taking assisting instruction, and moving the hit container to a target cargo space so as to enable the first robot to take out the hit container from the target cargo space; the deep position of the target cargo space is smaller than or equal to the deep position of the first robot for taking and placing the cargo, and the first robot and the second robot are respectively positioned in channels on two sides of the hit carrier.

A third aspect of the embodiments of the present application provides a warehousing system. The warehousing system comprises a plurality of carriers, a plurality of robots and a control device. Wherein, the carrier includes a plurality of goods shelves, and the goods shelves is used for placing the container. The robot is configured to pick and place containers on the carrier. A control device configured to determine a container hit by the task to be processed, and a hit carrier storing the hit container, according to the task to be processed; if the depth of the hit container on the hit carrier is larger than the depth of the first robot for executing the task to be processed, generating a box taking assisting instruction according to the current depth of the hit container on the hit carrier, the depth of the first robot for taking the goods and the depth of the second robot for taking the goods; wherein the plurality of carriers includes the hit carrier, and the plurality of robots includes a first robot and a second robot. The second robot is positioned in a channel at one side of the hit carrier and is configured to push the first container in a target storage column corresponding to the hit container according to the box taking assisting instruction so as to move the hit container to a target goods position; the depth of the target cargo space is smaller than or equal to that of the first robot for picking and placing the cargo. The control device is further configured to generate a bin instruction according to the target cargo space. The first robot is located in the lane on one side of the hit carrier and is configured to retrieve the hit container at the target cargo space according to the fetch instruction.

A fourth aspect of the present application provides an electronic device, including: a processor and a memory. The memory is used for storing computer executable instructions; the processor is configured to read the instructions from the memory and execute the instructions to implement the container fetching method of the first aspect.

A fifth aspect of the embodiments of the present application provides a computer-readable storage medium storing computer program instructions that, when read by a computer, perform the container pick-and-place method of the foregoing first aspect.

A sixth aspect of the embodiments of the present application provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the container pick and place method of the first aspect described above.

According to the container picking and placing method and the storage system, when the depth of the hit container on the hit carrier is larger than the depth of the hit carrier on one side channel, and the first robot for executing the task of picking and placing the hit container is located on the depth of the hit carrier, the second robot located on the other side channel of the hit carrier can be controlled to push the hit container to the target cargo space with the depth smaller than that of the first robot by pushing the first container located on the same target storage column with the hit container. Since the depth of the target cargo space is smaller than the depth of the first robot for picking and placing the cargo, the first robot can pick and hit the container on the target cargo space. Therefore, the container taking and placing method provided by the embodiment of the application can also realize taking and placing of the container on the carrier with a larger depth by adopting the robot with a smaller depth without modifying and customizing the robot and the container. And the realization complexity and the realization cost are reduced while the high storage of the warehousing system is realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a warehousing system according to some embodiments of the present application;

FIG. 2 is a schematic diagram of a method for picking and placing containers according to some embodiments of the present application;

FIG. 3 is a schematic diagram of another warehousing system according to some embodiments of the application;

FIG. 4 is a schematic illustration of another method of picking and placing containers provided in some embodiments of the present application;

FIG. 5 is a schematic diagram of yet another warehousing system provided by some embodiments of the application;

FIG. 6 is a schematic diagram of yet another warehousing system according to some embodiments of the application;

FIG. 7 is a schematic illustration of yet another method of picking and placing containers provided in some embodiments of the present application;

FIG. 8 is a schematic diagram of yet another warehousing system according to some embodiments of the application;

FIG. 9 is a schematic diagram of yet another warehousing system according to some embodiments of the application;

FIG. 10 is a schematic illustration of yet another method of picking and placing containers provided in some embodiments of the present application;

FIG. 11 is a schematic illustration of yet another method of picking and placing containers provided in some embodiments of the present application;

FIG. 12 is a schematic view of a container handling apparatus according to some embodiments of the present disclosure;

fig. 13 is a schematic diagram of an electronic device according to some embodiments of the present application.

Detailed Description

In order to better understand the technical solution in the embodiments of the present invention and make the above objects, features and advantages of the embodiments of the present invention more comprehensible, the technical solution in the embodiments of the present invention is described in further detail below with reference to the accompanying drawings.

In a warehouse system, a robot (e.g., a container robot) may remove containers from a pallet or place containers on a pallet's cargo space. The size relationship between the deep position of the robot and the deep position of the goods shelf can determine whether the robot can perform picking and placing operations on a container placed on any goods shelf. For example, when the deep position of the container to be picked and placed on the goods shelf is larger than the deep position of the container to be picked and placed by the robot, the container picking mechanism of the robot cannot directly move to the container position where the container to be picked and placed is placed, so that the container to be picked and placed on the container position cannot be picked and placed.

In order to solve the problem that when the deep position of the goods shelf is larger than the deep position of the goods shelf for picking and placing goods by the robot, the robot cannot execute picking and placing operation on the goods shelf for the goods box with the deep position larger than the deep position of the robot, and the related technology correspondingly adjusts the structure of the robot and the structure of the goods box so as to pick and place the goods box with the deep position larger than the deep position of the robot on the goods shelf.

In some examples, the structure of the robot and the structure of the container may be modified in order to pick and place containers on the pallet that are deeper than the robot. For example, a hooking device may be disposed on the robot, a hooking device may be disposed on the container, the hooking device on the robot may be connected to the hooking device on the container, and a plurality of containers located in the same storage column may be connected by the hooking device, so that a plurality of containers are connected together to form a container sequence. When the robot hooks the container on the outer cargo space through the hooking device, the container on the outer cargo space can drive the container on the inner cargo space to move forward, so that the container on the inner cargo space with a large deep position can be taken out. Therefore, the container with larger depth can be fetched and placed by the robot with smaller depth while being densely stored.

However, the above implementation requires special customization (such as providing a hooking device and a hooking device) for the robot and the container, and the container is a standard container, so that customization is complex and high in cost. Moreover, as the robot is connected with the container through the hooks and the container is connected with the container, the connection failure such as unhooking and the like is easy to occur, and the case taking failure is caused.

In order to solve the above problems, the embodiment of the application provides a container picking and placing method and a storage system, through mutual cooperation between a first robot and a second robot, the first robot picks up a container on one side of a goods shelf, the second robot pushes the container on the other side of the goods shelf, and a pushing and pulling combined mode is adopted to achieve that the robot with a smaller depth can pick up and place a container with a larger depth. According to the container taking and placing method, high storage of the warehouse system is guaranteed, meanwhile, the robot and the container are not required to be modified and customized, and the container with the depth greater than that of the robot on the goods shelf can be taken and placed.

The warehousing system provided by the embodiment of the application is described below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of a warehousing system according to some embodiments of the present application. As shown in fig. 1, the warehousing system 100 includes a plurality of carriers 10, a plurality of robots 20, and a control device (not shown in fig. 1).

In some examples, the control device may communicate with the plurality of robots 20 over a network. The control device may be disposed on a server or a terminal, or may be a server or a terminal. When the control device is a terminal, the terminal can comprise a personal computer, a notebook computer, a smart phone, a tablet computer, a portable wearable device and the like; when the control device is a server, the server may be an independent server or may be a server cluster formed by a plurality of servers. The embodiment of the application does not limit the specific implementation form of the control device.

Illustratively, the carrier 10 includes a plurality of cargo bays for storing containers. The robots 20 may include different types of robots. For example, the plurality of robots 20 may include a plurality of container robots and a plurality of transfer robots. Wherein the container robot is used for taking and placing containers on the carrier 10 and the transfer robot is used for transferring containers between the carrier and the workstation.

As shown in fig. 1, the plurality of carriers 10 may include a carrier 11 and a carrier 12, and the plurality of robots 20 may include a robot 21, a robot 22, and a robot 23. Wherein robot 21, robot 22 and robot 23 may all be cargo box robots. It should be noted that the number of the carriers 10 and the robots 20 is not limited in the embodiment of the present application, for example, the plurality of carriers 10 may further include a greater number of carriers, and the plurality of robots 20 may further include a greater number of robots.

It should be noted that the arrangement of the carriers 10 in the warehouse system 100 is not limited in this embodiment. In order to increase the storage density of the warehouse system 100, the carrier 10 may be a multi-deep carrier, and the number of deep bits of the carrier 10 may be greater than that of the robot for picking and placing goods.

Illustratively, two channels are respectively disposed on two sides of the carrier, and one channel may be shared between two adjacent rows of carriers. As shown in fig. 1, a channel 111 is provided on one side of the carrier 11, the robot 21 is located in the channel 111, a channel 112 is provided on the other side of the carrier 11, and the robot 22 is located in the channel 112. One side of the carrier 12 is provided with a channel 112, the other side of the carrier 12 is provided with a channel 113, and the robot 23 is located in the channel 113.

Illustratively, the container robot in robot 20 may run in a aisle between carriers to pick and place containers on carriers 10 on either side of the aisle. As shown in fig. 1, robot 21, robot 22, and robot 23 operate in path 111, path 112, and path 113, respectively, robot 21 may pick and place containers on carrier 11, robot 22 may pick and place containers on carrier 11 and/or carrier 12, and robot 23 may pick and place containers on carrier 12.

Illustratively, the carrier 10 includes a multi-layered cross beam with a plurality of storage columns disposed between adjacent two layers of cross beams. The storage columns may be provided with a partition, or may not be provided with a partition, which is not limited in the embodiment of the present application.

In some examples, multiple cargo spaces are provided in each storage column, each for storing one container. For example, the number of storage columns of different carriers 10 may be the same or different, and the number of cargo spaces on each storage column of the same carrier 10 may be the same.

It should be noted that the number of storage columns on the carrier 10 and the number of cargo positions in each storage column may be set according to the requirement, which is not limited in the embodiment of the present application. The following embodiments will be described by taking as an example that the number of storage columns on each carrier 10 is the same and the number of cargo space in each storage column is the same.

As shown in fig. 1, the carrier 11 is provided with 5-layer beams, each of which is provided with a plurality of storage columns, each of which is provided with 4 cargo spaces, namely, cargo space 1 to cargo space 4. The deep level of the carrier 10 is related to the number of cargo levels in each storage column of the carrier 10. For example, 4 cargo spaces are provided in each storage row of the carrier 10, and the deep position of the carrier 10 is 4.

In some examples, the deep bits of the cargo space may be determined based on the locations of the cargo space in the storage columns. The depth of the cargo space can be determined by taking one side of the carrier 10 as a reference position.

For example, taking the robot 21 as an example of taking a container on the carrier 11, the left side of the carrier 11 may be taken as a reference position, and since the cargo space 1 is the first cargo space on the left side, the deep position of the cargo space 1 is 1, the cargo space 2 is the second cargo space on the left side, the deep position of the cargo space 2 is 2, and so on, the deep position of the cargo space 4 may be 4. Taking the robot 22 as an example to take and place a container on the carrier 11, the right side of the carrier 11 may be taken as a reference position, and since the cargo space 4 is the first cargo space on the right side, the deep position of the cargo space 4 is 1, the second cargo space on the right side of the cargo space 3 is 2, and so on, the deep position of the cargo space 1 may be obtained as 4. That is, the depth of the container placed on the storage column is related to which side the robot takes the container, and the depth of each container in the storage column can be determined from the side from which the robot takes the container as a starting point.

In some examples, the depth of the container may be determined according to the depth of the cargo space in which the container is located, i.e., the depth of the container. For example, with the left side of the carrier 11 as a reference position, when the container is placed in the cargo space 3, the depth of the container is 3.

Illustratively, the deep position at which the container robot takes a put is the deep position at which the container robot's take-in mechanism can reach the cargo space on the carrier 10. For example, the maximum depth that the pick-up mechanism of the cargo box robot can reach is the depth that the cargo box robot picks up the goods. The deep position of the container robot for picking and placing the goods may also be referred to as a deep position of the container robot.

For example, as shown in fig. 1, if the box taking mechanism 211 of the robot 21 can move to the position of the cargo space 1 on the carrier 11 to take the container placed on the cargo space 1, the depth of the robot 21 is 1, that is, the robot 21 is a single-depth robot. If the box taking mechanism 211 of the robot 21 can move to the position of the cargo space 2 to take the container placed on the cargo space 2, the depth of the robot 21 is 2, that is, the robot 21 is a double-depth robot.

Illustratively, it may be determined whether the container robot is capable of picking and placing a container on the carrier 10 based on a size relationship between the deep level of the container robot and the deep level of the container on the carrier 10.

In some examples, when the depth of the robot 21 is greater than or equal to the depth of the carrier 11, for example, the depth of the robot 21 is 4 and the depth of the carrier 11 is also 4, the robot 21 may pick up the containers placed on the storage columns 1 to 4 of the carrier 11 by moving the box picking mechanism 211.

In some examples, when the depth of the robot 21 is smaller than the depth of the carrier 11, for example, the depth of the robot 21 is 2 and the depth of the carrier 11 is 4, the robot 21 may pick up the containers placed on the storage columns of the carrier 11 from the cargo space 1 to the cargo space 2 by moving the box picking mechanism 211, but cannot pick up the containers placed on the cargo space 3 and the cargo space 4.

Illustratively, if the sum of the deep positions of the cargo box robots distributed on both sides of the carrier 10 is greater than or equal to the deep position of the carrier 10, the picking and placing of the container at any cargo space on the carrier 10 may be achieved by the mutual cooperation between the two cargo box robots distributed on both sides of the carrier 10.

In some examples, the depths of different cargo box robots may be the same or different, and the application is not limited in this regard. The following embodiments will be described by taking the same deep position of each robot 20 as an example. For example, the deep positions of robot 21, robot 22, and robot 23 are the same.

For example, as shown in fig. 1, if the depth of each of the robots 21 and 22 is 2 and the depth of the carrier 11 is 4, the robot 21 can pick up the containers placed on the cargo space 1 and the cargo space 2, and the robot 22 can pick up the containers placed on the cargo space 3 and the cargo space 4, thereby realizing picking up and placing of the containers on any cargo space on the carrier 11.

In some examples, when the sum of the depths of the container robots distributed across the lanes of the carrier 10 is less than the depth of the carrier 10, the two container robots cooperate to not perform a pick and place operation on the containers on all of the cargo sites on the carrier 10.

For example, as shown in fig. 1, if the depth of each of the robots 21 and 22 is 1 and the depth of the carrier 11 is 4, the robot 21 can pick up the container placed on the cargo space 1 and the robot 22 can pick up the container placed on the cargo space 4. However, neither robot 21 nor robot 22 can access the containers placed on cargo space 2 and cargo space 3.

According to the warehousing system provided by the embodiment of the application, when the container robots in the channels on two sides of the carrier 10 cannot take the hit container on the carrier 10, the container robot in the channel on one side of the carrier 10 can push the hit container to the target cargo space of the carrier 10 in a container pushing mode, and the target cargo space is the cargo space which can be reached by the container robot in the channel on the other side of the carrier, so that the container robot can take out the hit container on the target cargo space.

In some embodiments, the control device is configured to: determining a hit container of the task to be processed according to the task to be processed, and a hit carrier for storing the hit container; if the depth of the hit container on the hit carrier is larger than the depth of the first robot for taking the goods for executing the task to be processed, generating a box taking assisting instruction according to the current depth of the hit container on the hit carrier, the depth of the first robot for taking the goods and the depth of the second robot for taking the goods.

In some examples, the first robot and the second robot are each container robots in the plurality of robots 20, wherein the first robot is located in a lane on one side of the hit carrier and the second robot is located in a lane on the other side of the hit carrier.

In some embodiments, the second robot is configured to push the first container in the target storage column corresponding to the hit container according to the fetching assistance instruction to move the hit container to the target cargo space; the depth of the target cargo space is smaller than or equal to that of the first robot for picking and placing the cargo.

In some embodiments, the control device is further configured to generate the bin instruction according to the target cargo space. The first robot is configured to retrieve the hit container at the target cargo space according to the bin fetch instruction.

According to the warehousing system provided by the embodiment of the application, when the depth of the hit container on the hit carrier is larger than the depth of the first robot for executing the task of taking out the hit container, the second robot located on the channel on the other side of the hit carrier can be controlled to push the hit container to the target cargo space with the depth smaller than that of the first robot by pushing the first container located on the same target storage column with the hit container. Since the depth of the target cargo space is smaller than the depth of the first robot for picking and placing the cargo, the first robot can pick and hit the container on the target cargo space. Therefore, the container taking and placing method provided by the embodiment of the application can also realize taking and placing of the container on the carrier with a larger depth by adopting the robot with a smaller depth without modifying and customizing the robot and the container. And the realization complexity and the realization cost are reduced while the high storage of the warehousing system is realized.

The method for taking and placing the container provided by the embodiment of the application is described below with reference to the accompanying drawings.

Fig. 2 is a schematic diagram of a container picking and placing method according to some embodiments of the present application. In some examples, the container picking and placing method shown in fig. 2 may be implemented by the control device in the warehouse system 100 of the above embodiment, and as shown in fig. 2, the method includes the following steps 210 to 230.

Step 210, determining a container hit by the task to be processed according to the task to be processed, and storing the hit carrier hit by the container.

In some examples, the control devices in the warehousing system 100 may generate the pending tasks based on the order information. The task to be processed is used for indicating the container robot to pick and place the hit container on the hit carrier. The control device may determine a container hit for the task to be processed among the plurality of containers in the warehousing system 100 based on the task to be processed.

For example, the number of hit containers may be 1 or more, which is not limited in the embodiment of the present application. It should be noted that, since the fetching and placing processes of the hit containers are similar, the embodiment of the present application will be described by taking and placing one hit container as an example.

In some examples, after determining the hit container, the control device may determine the hit vehicle among the plurality of vehicles 10 based on the hit container. Wherein, the hit carrier is a carrier with hit containers placed in the plurality of carriers 10 of the warehouse system 100.

In some examples, after determining that the container and the carrier are hit, the control device may send the task to be processed to a cargo box robot, such as a first robot, that performs the task to be processed. The first robot may be the closest robot to the hit carrier, for example, the first robot may be a container robot distributed in a channel on one side of the hit carrier. The first robot can take and place the hit container on the hit carrier according to the task to be processed.

Step 220, if the depth of the hit container on the hit carrier is greater than the depth of the first robot for performing the task to be processed, the second robot is controlled to move the hit container to the target cargo space by pushing the first container in the target storage column corresponding to the hit container according to the current depth of the hit container on the hit carrier, the depth of the first robot for picking and placing the cargo, and the depth of the second robot for picking and placing the cargo.

Illustratively, the depth of the target cargo space is less than or equal to the depth of the first robot for picking and placing the cargo (hereinafter referred to as the depth of the first robot), and the first robot and the second robot are respectively located at the channels on two sides of the hit carrier.

For example, the control device may generate the box-taking assisting instruction and transmit the box-taking assisting instruction to the second robot 33 when determining that the depth of the hit container on the hit carrier is greater than the depth of the first robot performing the task to be processed. The second robot 33 pushes the first container in the target storage column corresponding to the hit container according to the box taking assisting instruction, and moves the hit container to the target cargo space. The target storage column is a storage column where the hit container is located, and comprises a plurality of goods positions on the hit carrier, which are located in the same storage column as the hit container.

Fig. 3 is a schematic diagram of another warehousing system according to some embodiments of the application. As shown in fig. 3, the stocker system 100 includes a hit carrier 31, a first robot 32, and a second robot 33. The hit carrier 31 is provided with a plurality of cross beams, each cross beam is provided with a plurality of storage columns, and each storage column is provided with 6 goods shelves, namely, goods shelf 1 to goods shelf 6. Hit container 34 is placed on cargo space 3 on the target storage column.

In some examples, the first robot 32 and the second robot 33 are distributed on both side channels of the hit carrier 31. As shown in fig. 3, the first robot 32 is located in one side channel of the hit carrier 31, and the second robot 33 is located in the other side channel of the hit carrier 31. Wherein the first robot 32 and the second robot 33 can pick and place containers on the hit carrier 31.

Illustratively, taking the task to be performed as the first robot 32 taking the hit container 34 on the hit carrier 31, the first robot 32 cannot take the hit container 34 on the hit carrier 31 because the hit container 34 has a depth of 2, and the depth of 3 is larger than that of the first robot 32. In order to take out the hit container 34, the control device may control the second robot 33 to move the hit container 34 to the target cargo space by pushing the first container in the target storage column corresponding to the hit container 34, based on the current deep position of the hit container 34 on the hit carrier 31, the deep position of the first robot 32, and the deep position of the second robot 33.

In some examples, the first robot is closer to the hit container than the second robot, that is, the control means assigns the task to be processed to the first robot closer to the hit container when assigning the task to be processed. In the case where the depth of the hit container is the same as that of the first robot and the second robot, the first robot cannot directly take out the hit container from the hit carrier, and the second robot further from the hit container cannot directly take out the hit container from the hit carrier, because the depth of the hit container is larger than that of the first robot closer to the hit container, so that the hit container can be taken out from the hit carrier by the first robot and the second robot in cooperation with each other.

Fig. 4 is a schematic diagram of another method for picking and placing containers according to some embodiments of the present application, as shown in fig. 4, the step 220 includes steps 410 to 430 shown below.

Step 410 determines if a blocking container exists for the target storage column.

For example, if it is determined that the target storage column has a blocking container, step 420 is performed, and if it is determined that the target storage column does not have a blocking container, step 430 is performed.

Illustratively, the blocking container is a container in the target storage column having a depth bit that is less than the current depth bit of the hit container. That is, the blocking container is a container that blocks the first robot 32 from taking out the hit container 34.

In some examples, the target storage column may or may not have a blocking container. When the target storage column has the barrier containers, the number of the barrier containers may be 1 or more.

For example, with continued reference to FIG. 3, there are two external cargo areas, cargo area 1 and cargo area 2, respectively, outboard of cargo area 3 where hit container 34 is located. Wherein, container A is placed on goods space 1, and container B is placed on goods space 2. When the first robot 32 needs to take out the hit container 34, it needs to take out the container a and the container B first, so the container a and the container B are the blocking containers hit the container 34. When no container is placed on both cargo space 1 and cargo space 2, then no blocking container is present.

Step 420, controlling the first robot to convey the blocking container to the target storage position according to the deep position of the blocking container and the deep position of the first robot for picking and placing goods.

Illustratively, if the target storage column has a blocking container, the first robot 32 cannot directly retrieve the hit container 34, and needs to remove the blocking container and then retrieve the hit container 34. The depth of the barrier container may be greater than the depth of the first robot 32 or may be less than the depth of the first robot 32.

In some embodiments, if the depth of the barrier container is less than or equal to the depth of the first robot 32, the first robot 32 is controlled to transfer the barrier container to the target storage location based on the depth of the barrier container and the depth of the first robot 32.

For example, with continued reference to FIG. 3, there are two blocking containers on the outer cargo space hitting container 34, container A and container B, respectively, container A being placed on cargo space 1, container A being placed at a depth of 1, container B being placed on cargo space 2, and container B being placed at a depth of 2. If the depth of the first robot 32 is 2, the first robot 32 can carry out the container a and the container B because the depth of the container a and the container B is smaller than or equal to the depth of the first robot 32. In this case, the control device may generate the first transfer instruction and generate the first transfer instruction to the first robot 32, and the first robot 32 sequentially takes out the container a and the container B from the hit carrier 31 and places them on the target storage location according to the first transfer instruction.

In some examples, the box-taking mechanism of the first robot 32 may first move to the position of the cargo space 1, take out the container a placed on the cargo space 1, and place the container a on one target storage location; after the barrier container a is removed, the cargo space 1 is in an idle state, and the box removing mechanism of the first robot 32 can move to the position of the cargo space 2, remove the container B placed in the cargo space 2, and place the container B on another target storage location.

When the barrier containers are included in the target storage column, the first robot 32 may take out each barrier container in sequence regardless of the number of barrier containers, as long as the depth of the barrier container is less than or equal to the depth of the first robot 32. When the depth of the barrier container is greater than that of the first robot 32, the first robot 32 cannot directly take out the barrier container, and the second robot 33 is required to cooperate to take out the barrier container.

In some embodiments, if the depth of the blocking container is greater than the depth of the first robot 32 and there is a first empty cargo space in the target storage column that is less than the depth of the blocking container, then the second robot 33 is controlled to push the container to be pushed in the target storage column to move the blocking container to the first empty cargo space; the first robot 32 is controlled to transfer the barrier container from the first free cargo space to the target storage location based on the depth of the first free cargo space and the depth of the first robot 32.

For example, when it is determined that the barrier container exists in the target storage column, the depth of the barrier container is greater than the depth of the first robot 32, and the first empty cargo space whose depth is less than the depth of the barrier container exists in the target storage column, the control device may generate a first box pushing instruction and transmit the first box pushing instruction to the second robot 33. The second robot 33 pushes the containers to be pushed in the target storage column according to the first box pushing instruction to move the barrier containers to the first empty cargo space. The collaborative box fetching instruction comprises a first box pushing instruction.

After the blocking container reaches the first empty cargo space, the control device may generate a second transfer task and send the second transfer task to the first robot 32, and the first robot 32 transfers the blocking container located on the first empty cargo space to the target storage location according to the second transfer task.

Fig. 5 is a schematic diagram of yet another warehousing system according to some embodiments of the application. As shown in fig. 5, the target storage column has a blocking container B placed on the cargo space 2, and the depth of the container B is 2; if the depth of the first robot 32 is 1, the first robot 32 cannot directly take out the container B because the depth of the container B is greater than the depth of the first robot 32.

In some examples, there is a first free cargo space outside the container B, i.e. cargo space 1, in which case the control means may generate a first push box instruction and send it to the second robot 33, the second robot 33 pushing the container to be pushed according to the first push box instruction to move the container B to cargo space 1, since the deep level of the first free cargo space (i.e. cargo space 1) is equal to the deep level of the first robot 32. When the container B moves to the cargo space 1, the first robot 32 may take out the container B from the cargo space 1 and place it in the target storage location according to the second transfer instruction.

In some examples, the first free space may be the original free space in the target storage column, or may be a free space after the first robot 32 retrieves the barrier container located on the first free space. As shown in fig. 5, the container is not initially placed on the cargo space 1; alternatively, after the first robot 32 takes out the container a on the cargo space 1, the cargo space 1 becomes the first empty cargo space. The embodiments of the present application are not limited in this regard.

The container to be pushed by the second robot 33 may be a container in the target storage column, or may be a new container, for example.

In some examples, when the container to be pushed is a container in the target storage column, the position of the container to be pushed in the target storage column is closer to the second robot 33 than the hit container 34, and the pick box mechanism of the second robot 33 is able to reach the cargo space where the container to be pushed is located.

As shown in fig. 5, in the target storage column, the containers deeper than the hit container 34 include a container C located on the cargo space 4, a container D located on the cargo space 5, and a container E located on the cargo space 6. Taking the first robot 32 and the second robot 33 as examples, the second robot 33 pushes the container E according to the first box pushing command, when the second robot 33 pushes the container E to move leftwards, each container located at the left side of the container E sequentially moves leftwards, when the container E arrives at the goods space 5 from the goods space 6, the container B moves from the goods space 2 to the goods space 1, and the hit container 34 moves from the goods space 3 to the goods space 2. When the container B reaches the cargo space 1, the first robot 32 may take out the container B by the box-taking mechanism and place it in the target storage location.

In some examples, as shown in fig. 3, if there are two blocking containers on the external cargo space hitting the container 34, container a and container B, respectively, the first robot 32 has a depth of 2, and since the depth of container a is smaller than the depth of the first robot 32, the first robot 32 can directly take out the container a and place it on one target storage location. After the container a is taken out, as shown in fig. 5, the second robot 33 may push the container E to move to the left, or push the container F that needs to be replaced by the hit carrier 31 after the previous task is finished, so that the container B moves from the cargo space 2 to the cargo space 1, and the hit container 34 moves from the cargo space 3 to the cargo space 2. When the container B reaches the cargo space 1, the hit container 34 reaches the cargo space 2, since the depth of the container B and the depth of the hit container 34 are smaller than or equal to the depth of the first robot 32, the first robot 32 can take out the container B and the hit container 34 in order.

That is, when the depth of the barrier container is less than or equal to the depth of the first robot 32, the first robot 32 may directly take out all the barrier containers, and push the container to be pushed by the second robot 33 to take out the hit container 34; alternatively, the first robot may take out the blocking container on the external cargo space first, and since the empty cargo space exists outside the hit container 34 after the blocking container is taken out, the container to be pushed may be pushed by the second robot 33 to take out the blocking container on the internal cargo space and hit the container 34.

In some examples, when the container to be pushed is a new container, the second robot 33 may place the new container taken in the box-taking mechanism and then move to the position of the target storage column, pushing the blocking container to the first free cargo space by pushing the new container.

For example, a new container may be one that needs to be replaced by the hit carrier after the last task is completed. For example, the new container may be a container to be warehoused. The second robot 33 can push the container to be stocked, thereby placing the container to be stocked in the cargo space of the target storage column, and pushing the barrier container to the first empty cargo space. By overlapping the warehouse-in and the box-pushing, the box-pushing can be completed while the warehouse-in is realized, so that the additional box-pushing actions are reduced, and the container taking and placing efficiency is improved.

As shown in fig. 5, a new container F is placed in the box taking mechanism of the second robot 33, the second robot 33 pushes the container E by the new container F according to the first box pushing instruction to place the new container F on the cargo space 6, and when the new container F is placed on the cargo space 6, each container in the target storage column is moved one cargo space in turn to the left, the container E is moved from the cargo space 6 to the cargo space 5, the container B is moved from the cargo space 2 to the cargo space 1, and the hit container 34 is moved from the cargo space 3 to the cargo space 2. When the container B moves to the cargo space 1, the first robot 32 may take out the container B from the cargo space 1 and place it in the target storage location. The container F may be a container to be put in storage that needs to be put back to the hit carrier after the previous task is finished.

For example, when the second robot 33 pushes the container B with a new container F, the container E may be placed on the cargo space 6, or may be an empty cargo space. When the cargo space 6 is an empty cargo space, the second robot 33 may place a new container F on the cargo space 6 and push the container B to the first empty cargo space (i.e., cargo space 1) through the new container F.

In some examples, after the first robot 32 retrieves the blocked containers, step 410 may continue to further determine whether all of the blocked containers in the target storage column are retrieved by the first robot 32, and when it is determined that no blocked containers are present in the target storage column, step 430 may continue to be performed.

If the current depth of the hit container is greater than the depth of the first robot for picking and placing the goods, the second robot is controlled to move the hit container to the target goods location by pushing the first container in the target storage column corresponding to the hit container according to the current depth of the hit container, the depth of the first robot for picking and placing the goods, and the depth of the second robot for picking and placing the goods, step 430.

Illustratively, when the control device determines that there is no blocking container in the target storage column and the current depth of the hit container 34 is greater than the depth of the first robot 32, a second tote instruction is generated and sent to the second robot 33, and the second robot 33 pushes the first container in the target storage column according to the second tote instruction to move the hit container to the target cargo space.

Illustratively, when the target storage column does not have a blocking container, and the hit container 34 is deeper than the first robot 32, the first robot 32 cannot directly take out the hit container 34, and the hit container 34 needs to be taken out by cooperation of the second robot 33.

Illustratively, the target storage column absence blocking container comprises: the target storage columns initially do not have blocking containers or the blocking containers in the target storage columns have been completely fetched by the first robot 32 so that the target storage columns do not have blocking containers.

In some examples, if the target storage column does not initially have a blocking container, then the current deep bit of hit container 34 is the same as the original deep bit of hit container 34. If there is a blocking container in the target storage column and the blocking container is fetched by the first robot 32, the current depth of the hit container 34 may be different from the original depth.

For example, when the depth of the barrier container is greater than that of the first robot 32, the second robot 33 needs to push the container to be pushed so that the first robot 32 takes out the barrier container, the cargo level hitting the container 34 may be changed, and the current depth of the hit container 34 may be different from the original depth. When the depth of the barrier containers is smaller than or equal to the depth of the first robot 32, the second robot 33 may not need to push the container to be pushed, in which case the position of the hit container 34 may not be changed, and the current depth of the hit container 34 is the same as the original depth.

For example, when the second robot 33 takes out the barrier container by pushing the container to be pushed so that the first robot 32 takes out the barrier container, since the position of the hit container 34 is changed, in this case, it is necessary to further determine the relationship between the current depth of the hit container 34 and the depth of the first robot 32. If the current depth of the hit container 34 is less than or equal to the depth of the first robot 32, the first robot 32 may directly take out the hit container 34; if the current depth of the hit container 34 is greater than the depth of the first robot 32, the first robot 32 cannot directly take out the hit container 34.

With continued reference to fig. 5, when the second robot 33 moves the container B to the cargo space 1 by pushing the container E, the hit container 34 moves from the cargo space 3 to the cargo space 2, and the original depth of the hit container is 3, and the current depth is 2. When the depth of the first robot 32 is 1, the first robot 32 still cannot take out the hit container 34, and after the first robot 32 takes out the container B, the second robot 33 pushes the hit container 34 to the cargo space 1 again, and the first robot 32 can take out the hit container 34.

In some embodiments, the step 430 may include: if the target storage column does not have the blocking container and the current depth of the hit container 34 is greater than the depth of the first robot 32, the second robot 33 is controlled to push the first container located in the target storage column according to the current depth of the hit container 34, the depth of the first robot 32 and the depth of the second robot 33 to move the hit container 34 to the target cargo space, or the second robot 33 is controlled to place the first container on the pickup mechanism of the second robot and push the first container to move the hit container to the target cargo space.

Illustratively, the first container may be a container located in the target storage column, or a new container that is fetched by the second robot 33 (e.g., a container that needs to be replaced by the hit carrier after the last task is completed).

It should be noted that, the second robot 33 pushes the first container in the target storage column to move the hit container 34 to the target cargo space, similar to the process that the second robot 33 pushes the container to be pushed in the target storage column to move the blocking container to the first empty cargo space, and the description thereof is omitted herein to avoid repetition.

Fig. 6 is a schematic diagram of yet another warehousing system according to some embodiments of the application. As shown in fig. 6, the first robot 32 and the second robot 33 are each 2 deep, the hit container 34 is located at the cargo space 3, and the current deep position is 3; the target storage column does not have a blocking container, i.e., no container is placed on both outer cargo space 1 and cargo space 2 of hit container 34; in this case, the second robot 33 may push the container E (i.e., the first container) to move the hit container 34 to the target cargo space.

In some examples, the target cargo space is a cargo space having a depth less than or equal to the depth of the first robot 32. For example, the target cargo space may be cargo space 1 or cargo space 2. That is, the second robot 33 may push the hit container 34 to the cargo space 1 by pushing the first container, and may also push to the cargo space 2. When the hit container 34 reaches the target cargo space, the first robot 32 may retrieve the hit container 34 on the target cargo space.

In some examples, when the first robot 32 and the second robot 33 are deep N (e.g., N is an integer greater than or equal to 1), the second robot 33 may push the container to move any one of the 1 to N deep positions. For example, when the second robot 33 pushes the container sequence of the containers in the target storage column to 1 to N deep positions toward the first robot 32, the first robot 32 can take out the hit container 34 when the hit container 34 is pushed to a cargo space having a deep position of N or less.

For example, when the second robot is a single deep robot, the container may be pushed to move 1 deep, and when the second robot 33 is a double deep robot, the container may be pushed to move 1 deep or 2 deep.

Referring to fig. 6, when the depth of the first robot 32 and the second robot 33 is 2, if the second robot 33 pushes the container E to move one cargo space to the left, i.e., the container E moves from the cargo space 6 to the cargo space 5, the hit container 34 moves from the cargo space 3 to the cargo space 2, and since the depth of the cargo space 2 is equal to the depth of the first robot 32, the pickup mechanism of the first robot 32 can move to the cargo space 2 to pick up the hit container 34; if the second robot 33 pushes the container E to move two cargo places to the left, i.e., the container E moves from the cargo place 6 to the cargo place 4, the hit container 34 moves from the cargo place 3 to the cargo place 1, and since the depth of the cargo place 1 is smaller than that of the first robot 32, the first robot 32 can take out the hit container 34 at the cargo place 1.

In some embodiments, the number of cargo spaces that hit the container 34 as the second robot 33 pushes the first container is less than or equal to the number of empty cargo spaces in the target storage column.

In some examples, ensuring that the number of cargo spaces moved by hit container 34 is less than or equal to the number of empty cargo spaces in the target storage column includes: during the pushing of the second robot 33, it is ensured that the number of free positions of the hit carrier 31 that can be pushed on the first robot 32 side is greater than or equal to the number of positions of the hit container 34 that the second robot 33 pushes the first container, otherwise the hit container 34 is pushed to the ground.

For example, when it cannot be satisfied that the number of empty positions in which the hit carrier 31 can be pushed on the first robot 32 side is greater than or equal to the number of positions in which the hit container 34 moves, the hit carrier 31 may be taken out of the container on the first robot 32 side by the first robot 32 so that the number of empty positions is greater than or equal to the number of positions in which the hit container 34 moves, and then the box pushing operation is performed by the second robot 33.

As shown in fig. 6, in the target storage column, the number of free spaces where the hit carrier 31 can be pushed on the first robot 32 side is 2 (i.e., space 1 and space 2), when the depth of the second robot 33 is 2, the second robot 33 pushes the container E, and the hit container 34 can be moved to the left by 2 spaces at maximum, i.e., from space 3 to space 1, so that the hit container 34 is not pushed out of the hit carrier 31. When the depth of the second robot 33 is 3, the second robot 33 pushes the container E, and the hit container 34 can move 3 cargo positions to the left at most; if the second robot 33 pushes the container E to move 3 cargo positions, the hit container 34 drops down the hit carrier 31, and if the second robot 33 pushes the container E to move 1 or 2 cargo positions, the hit container 34 is not pushed out of the hit carrier 31.

It should be noted that, when the second robot 33 performs the box pushing operation, it is necessary to ensure that any container will not fall down the hit carrier 31. For example, the second robot 33 also needs to ensure that the blocking container does not drop down the hit carrier 31 when pushing the container to be pushed.

In some examples, the second robot 33 may be provided with a support structure, which can ensure that the hit carrier 31 does not move or topple during pushing of the container by the second robot 33, thereby ensuring stability of the hit carrier 31.

In some examples, the support structure may include an electromagnet and a hooking device. Before the second robot 33 pushes the container, the support structure on the second robot 33 may be flexibly connected to the hit carrier 31, for example, the hook device on the second robot 33 may hook the hit carrier 31, so as to ensure the stability of the hit carrier 31.

Step 230, controlling the first robot to take out the hit container from the target cargo space according to the target cargo space.

In some examples, when the hit container 34 moves to the target cargo space, the control device may send the task to be processed to the first robot 32 after the hit container 34 reaches the target cargo space, since the depth of the target cargo space is less than or equal to the depth of the first robot 32, and the first robot 32 retrieves the hit container 34 on the target cargo space according to the task to be processed.

In the container picking and placing method provided in the embodiment of the present application, when the depth of the hit container 34 on the hit carrier 31 is greater than the depth of the first robot 32 located on one side of the hit carrier and performs the task of picking up the hit container, the second robot 33 located on the other side of the hit carrier 31 can be controlled to push the hit container 34 to a target cargo space with depth less than the depth of the first robot 32 by pushing the first container located in the same target storage column as the hit container 34. Since the depth of the target cargo space is smaller than that of the first robot 32, the first robot 32 can take out the hit container 34 on the target cargo space. Therefore, the container taking and placing method provided by the embodiment of the application can also realize taking and placing of the container on the carrier with a larger depth by adopting the robot with a smaller depth without modifying and customizing the robot and the container; and the realization complexity and the realization cost are reduced while the high storage of the warehousing system is realized.

In step 420 in the above embodiment, with reference to the accompanying drawings, the following is: the control device controls the first robot 32 to transfer the barrier container to the target storage position based on the deep position of the barrier container and the deep position of the first robot 32.

Fig. 7 is a schematic diagram of another method for picking and placing containers according to some embodiments of the present application. As shown in fig. 7, step 420 in the above embodiment includes steps 710 to 720 as follows.

At step 710, heat information for the barrier container is determined.

For example, the control means may determine the heat information of the barrier container before the first robot 32 places the barrier container in the target storage location.

In some examples, the container heat information may be characterized by the heat of the cargo in the container. The heat of the goods is related to indexes such as the shipment rate, the inventory quantity and the like of the goods. For example, the higher the probability of shipment of the good, the higher the heat of the good; the lower the probability of shipment of the goods, the lower the heat of the goods.

In some examples, the higher the heat of the goods, the higher the heat of the container in which the goods are placed, the higher the probability of shipment of the container, i.e., the greater the frequency with which the container is picked and placed.

Illustratively, the container may be placed on the carrier 10 according to the heat information of the container.

In some examples, containers with high heat information may be placed on an external cargo space of carrier 10 and containers with low heat information may be placed on an internal cargo space of carrier 10. That is, the heat information of the containers placed on the outer cargo space to the inner cargo space of the carrier 10 is from high to low.

Step 720, controlling the first robot to convey the blocking container to the target storage position according to the heat information of the blocking container.

In some embodiments, the target storage bits include at least one of an underlying cache bit of the hit carrier 31, a second free cargo bit, and a scratch bit of the first robot.

In some examples, the carrier 10 may have an underlying cache bit disposed thereon, where the underlying cache bit is located at an underlying layer of the carrier 10, such as the lowest layer of the carrier 10. For example, the underlying cache bits may include a first type of cache bit and a second type of cache bit. Wherein, at least one first type of buffer bit and at least one second type of buffer bit may be set on the carrier 10, and the number of the first type of buffer bits and the number of the second type of buffer bits on each carrier 10 are not limited in this embodiment.

In some examples, the first type of buffer locations may be located outside of the bottom layer of the carrier 10, a container robot (e.g., a first robot or a second robot) may pick and place containers at the first type of buffer locations, and/or a transfer robot may pick and place containers at the first type of buffer locations. For example, the transfer robot may transfer containers to the bottom of the carrier 10 and place the containers on a first type of buffer location, and the container robot may remove containers from the first type of buffer location and place the containers on the cargo space of the carrier 10; or the container robot can take out the container on the goods space and place the container on the first type of buffer storage position, and then the container on the first type of buffer storage position is moved away by the transfer robot.

In some examples, the second type of buffer location may be located inside the bottom layer of the carrier 10, and the container robot may not be able to perform a pick and place operation on containers placed on the second type of buffer location, and the containers on the second type of buffer location may only be able to be subjected to a pick and place operation by the handling robot. For example, a transfer robot may transfer containers from a workstation to a second type of buffer location; alternatively, the transfer robot transfers the containers placed on the second type of buffer locations to the workstation.

For example, a channel may be provided between the first type of buffer bit and the second type of buffer bit, in which channel the handling robot may run.

Fig. 8 is a schematic diagram of yet another warehousing system according to some embodiments of the application.

As shown in fig. 8, the hit carrier 31 is provided with an underlying cache bit 312. The bottom layer cache bits 312 include cache bit a, cache bit b, cache bit c, and cache bit d. Wherein, the cache bit a and the cache bit d are located at the outer side of the bottom layer of the hit carrier 31, and the cache bit a and the cache bit d are the first type of cache bit; the cache bit b and the cache bit c are located at the inner side of the bottom layer of the hit carrier 31, and the cache bit b and the cache bit c are the second type of cache bits.

In some embodiments, if the heat information of the blocked container is higher than the first heat threshold, the first robot 32 is controlled to transfer the blocked container to the bottom cache bit 312 of the hit carrier 31.

In some examples, the first heat threshold may be a preset heat, and the first heat threshold may be set according to requirements, or the first heat threshold may also be determined according to heat information of each container in the warehouse system, which is not limited in this embodiment of the present application.

In some examples, when the heat information of the blocking container is above the first heat threshold, indicating that the heat of the blocking container is high, i.e., the shipment probability of the blocking container is high, then the blocking container has a high probability of being hit by other orders, so when the heat information of the blocking container is above the first preset threshold, the first robot 32 may place the blocking container fetched from the target storage column of the hit carrier 31 on the bottom cache bit 312, e.g., on the first type cache bit, so that the handling robot moves the blocking container from the bottom cache bit 312.

As shown in fig. 8, when the heat information of the container a is higher than the first heat threshold, the first robot 32 may take out and carry the container a originally placed on the cargo space 1 onto the buffer position a (buffer position of the first type). Because the heat information of the container a is high, when the container a is hit by other orders, the transfer robot can move to the channel between the buffer position a and the buffer position b and transfer the container a away.

In some embodiments, the warehousing system includes a container buffer including at least one buffer bit disposed on a bottom layer of the carrier (e.g., a buffer bit of a first layer of the shelf) and a container storage area. For example, the bottom layer of a carrier may be provided with one buffer bit, or may be provided with a plurality of buffer bits (e.g., a first type buffer bit and a second type buffer bit). The container memory region includes a plurality of memory bits, which may be high-level memory bits on the carrier.

When the workstation needs the container, transfer robot (such as RS robot) takes down the container and places in the buffer memory position and waits for transfer robot (such as P robot) to transfer, after picking, transfer robot sends the container back to the buffer memory position from the workstation, transfer robot returns the container on the buffer memory position to the storage position of high-rise.

For example, in order to fully utilize the buffer bits in the container buffer, to improve the working efficiency of the warehousing system, when the container is transported between the container buffer and the container storage area, the occupation proportion of the buffer bits in the container buffer may be determined first; under the condition that the occupation proportion of the cache bits exceeds a set proportion threshold value, determining the container score of each cache bit in the container cache region for storing the container, wherein the container score is determined based on the to-be-executed picking task and the number of target objects in the container; and then, determining a to-be-released buffer bit in the container buffer zone according to the container score, and generating a returning task for the to-be-returned container in the to-be-released buffer bit, wherein the returning task is used for indicating to return the to-be-returned container from the to-be-released buffer bit to the container storage zone.

In some examples, when the occupation ratio of the buffer bits exceeds the set ratio threshold, it is indicated that too many containers are stored in the container buffer zone, so that the buffer bits for executing the container handover may be insufficient, at this time, the buffer bits to be released in the container buffer zone may be determined based on the container scores of the containers stored in the respective buffer bits in the container buffer zone, and a corresponding returning task is generated, so that the occupation ratio of the buffer bits in the container buffer zone is dynamically controlled, and sufficient buffer bits in the container buffer zone are ensured for the container handover. Therefore, the container buffer zone can be used for storing containers besides being used for container handover, namely after the containers are picked up at a workstation, the transfer robot is not required to send the containers back to the container buffer zone from the workstation after sending the containers back to the container buffer zone, the containers can be directly stored in the buffer zone, the transfer of the containers in the buffer zone can be dynamically controlled based on the occupation proportion of the buffer position in the container buffer zone, the containers can be stored in the container buffer zone, the container reuse rate is improved, the container delivery efficiency and the target object picking efficiency are further improved, and the transport capacity resource of the robot is greatly saved.

In some embodiments, determining the occupancy of cache bits in the container cache region includes: determining the number of occupied cache bits in a container cache region; determining the number of the buffer bits to be occupied and the number of the buffer bits to be released according to the current container transfer task; and determining the occupation proportion of the buffer bits in the container buffer zone according to the number of occupied buffer bits, the number of buffer bits to be occupied and the number of buffer bits to be released.

According to the embodiment, the number of the to-be-occupied cache bits and the number of the to-be-released cache bits are determined according to the current container transfer task, and then the occupied proportion of the cache bits in the container cache region is determined by combining the number of the occupied cache bits, the number of the to-be-occupied cache bits and the number of the to-be-released cache bits. Therefore, when the occupation proportion of the buffer bits in the container buffer zone is determined, the dynamic change of the buffer bits in the container buffer zone is considered, so that the occupation proportion of the buffer bits in the container buffer zone is more accurate, the actual application scene is fitted, and the accuracy and the instantaneity of the dynamic regulation and control of the buffer bits in the container buffer zone are ensured.

In some embodiments, determining the container score for each cache bit in the container cache region to store a container comprises: determining the number of picking tasks matched with at least one object group in a first container, wherein the first container is any container stored in a container cache area and a container storage area, and objects with the same object identifier form one object group; determining a heat value of the first container according to the number of picking tasks matched with at least one target object group; determining a container type of the first container, and determining a base score of the first container according to the container type; a container score for the first container is determined based on the heat value and the base score.

In some embodiments, determining the base score for the first container based on the container type includes: determining a basic score of the first container as a first set value under the condition that the container type of the first container is a hit container, wherein the hit container is a container selected to execute a picking task, and the first set value is a lower boundary value of a first score range; determining the basic score of the first container as a second set value under the condition that the container type of the first container is a non-hit container and is a container in a container cache area, wherein the second set value is a lower boundary value of a second score range; determining the basic score of the first container as a third set value under the condition that the container type of the first container is a non-hit container and is a container in the container storage area, wherein the third set value is a lower boundary value of a third score range; the first score range, the second score range and the third score range are obtained based on container score division, wherein the first set value is higher than the second set value, and the second set value is higher than the third set value.

According to the embodiment, the container score can be divided into the container heat value and the basic score, different types of containers can be provided with different basic scores, and then the heat value matched with the picking task is increased on the basic score, so that the container score is determined, and the determination accuracy of the container score is improved.

In some embodiments, determining the cache bits to be released in the container cache region based on the container score includes: determining a difference value between the occupied proportion and a set proportion threshold value, and determining the number of cache bits to be released according to the difference value; and sequencing the container scores of the storage containers of the cache bits, and selecting a plurality of cache bits to be released according to the sequencing result.

In this embodiment, after determining the number of the to-be-released buffer bits, the container scores of the containers stored in the buffer bits may be ordered from high to low (or from low to high), and the buffer bits corresponding to the number of the container scores with the back ordering (the front ordering) are selected as the to-be-released buffer bits. Therefore, under the condition that the occupation proportion of the cache bits in the container cache area exceeds the set proportion threshold value, the container with the lower container score in the container cache area is returned to the container storage area, so that the container cache bits in the container cache area are released.

In some embodiments, generating a return task for a to-be-returned container in a to-be-released cache bit includes: determining a target storage bit; and generating a returning task based on the to-be-released cache bit and the target storage bit, wherein the returning task is used for returning the to-be-returned container stored in the to-be-released cache bit to the target storage bit.

In some examples, the target storage bit may be any storage bit of a container storage area of each lane of the warehouse storage area, i.e., a to-be-restored container in the to-be-released cache bit may be restored into any storage bit of the container storage area.

For example, when the target storage bit for placing the barrier container is the second free cargo space on the hit carrier in the container storage area, the target storage bit for placing the container to be returned and the target storage bit for placing the barrier container may be different storage bits. In order to distinguish the target storage bit for placing the to-be-returned container from the target storage bit for placing the barrier container, the target storage bit for placing the barrier container may be referred to as a first target storage bit and the target storage bit for placing the to-be-returned container may be referred to as a second target storage bit.

For example, a free storage bit may be randomly selected from the container storage areas of the respective lanes of the warehouse storage area as a target storage bit, and a storage bit in the same lane as the to-be-released buffer bit is preferentially selected, and if no free storage bit exists in the container storage area in the same lane as the to-be-released buffer bit, a storage bit in a different lane from the to-be-released buffer bit may be selected as the target storage bit.

According to the embodiment, the returning task is generated based on the to-be-released buffer bit and the target storage bit, namely, the position identifiers of the to-be-released buffer bit and the target storage bit are carried in the returning task, and the robot receives the returning task and returns the to-be-returned container stored in the to-be-released buffer bit to the target storage bit so as to release the container buffer bit in the container buffer zone, so that the occupation proportion of the buffer bit in the container buffer zone is dynamically regulated.

In some embodiments, before determining that each cache bit in the container cache region stores the container score of the container, further comprising: determining containers to be transferred to a container cache area in a container storage area at intervals of a first preset time length; determining a first buffer position corresponding to a container to be transferred in a container buffer area; and generating a container transfer task of the container to be transferred based on the first storage bit and the first cache bit, wherein the first storage bit is a storage position of the container to be transferred in the container storage area, and the container transfer task is used for indicating to transfer the container to be transferred from the first storage bit to the first cache bit.

In addition to returning the low-score containers in the container buffer area to the container buffer area, the embodiment can also determine the containers to be transferred in the container buffer area to be transferred in a timing manner, wherein the containers to be transferred are high-score containers in the current container buffer area, so that the high-score containers in the container buffer area can be transferred to the container buffer area in a timing manner, the occupied number of the buffer bits in the container buffer area is ensured, and meanwhile, the quality of the containers occupying the buffer bits is also ensured.

In some embodiments, the warehousing system includes at least two lanes, each lane being provided with a container storage area and a container cache area; determining a first buffer position corresponding to a container to be transferred in a container buffer area, comprising: determining whether available cache bits exist in a first container cache region, wherein the first container cache region and a container storage region where a container to be transferred is located belong to the same tunnel; if the available cache bit exists, determining a first cache bit from the available cache bits; if the available cache bit does not exist, determining a first cache bit from a second container cache region, wherein the second container cache region and a container storage region where a container to be transferred is located do not belong to the same roadway.

According to the embodiment, the containers to be transferred can be transferred to the buffer positions of the same tunnel, the containers to be transferred can also be transferred to the buffer positions of other tunnels, when the high-fraction containers in the container storage area are transferred to the container buffer area, the containers can be transferred to the same tunnel, and the containers can be transferred across the tunnels, so that the container scores of the containers stored in the container buffer areas of different tunnels are balanced, and the high-fraction containers are prevented from being accumulated in a certain tunnel.

In some embodiments, the first cache bit and the first storage bit belong to the same lane; generating a container transfer task for a container to be transferred based on the first storage bit and the first cache bit, comprising: determining whether the first cache bit currently stores a container; if the container is stored, generating a replacement task for storing the container in the first cache bit, wherein the replacement task is used for instructing a transfer robot to return the storage container in the first cache bit to a container storage area and transfer the container to be transferred from the first storage bit to the first cache bit; and if the container is not stored, generating a first container handling task for the container to be transferred based on the first storage position and the first cache position, wherein the first container handling task is used for indicating the handling robot to handle the container to be transferred from the first storage position to the first cache position.

According to the embodiment, the container carrying task or the container replacing task can be executed in the same tunnel, so that the high-resolution containers in the container storage area of the tunnel are transferred to the container buffer area of the same tunnel, the occupied number of the buffer positions of the container buffer area is ensured, and meanwhile, the quality of the containers occupying the buffer positions is also ensured.

In some embodiments, the first cache bit and the first storage bit belong to different lanes; generating a container transfer task for a container to be transferred based on the first storage bit and the first cache bit, comprising: generating a second container handling task for the container to be transferred based on the first storage bit, wherein the second container handling task is used for indicating the handling robot to handle the container to be transferred from the first storage bit to a second buffer memory bit, and the second buffer memory bit and the first storage bit belong to the same roadway; under the condition that the container to be transferred is carried to the second buffer position, a transfer task is generated for the container to be transferred based on the second buffer position and the first buffer position, wherein the transfer task is used for indicating the transfer robot to transfer the container to be transferred from the second buffer position to the first buffer position.

The transferring task across lanes may be divided into two stages, the first stage is to transfer the container to be transferred to the container buffer area of the same lane, and the second stage is to transfer the container to be transferred from the container buffer area of the same lane to the first buffer position of the container buffer area across lanes.

In some embodiments, generating a diversion task for a container to be diverted based on the second cache bit and the first cache bit includes: determining whether the first cache bit currently stores a container; if the container is stored, generating a third container handling task for the container stored in the first buffer position, wherein the third container handling task is used for indicating the handling robot to move the container stored in the first buffer position from the first buffer position to the second storage position, and the first buffer position and the second storage position are in the same roadway or different roadways; and generating a transfer task for the container to be transferred based on the second buffer bit and the first buffer bit under the condition that the container stored in the first buffer bit is carried out of the first buffer bit.

According to the embodiment, the container to be transferred can be transferred to the cache position of other roadways, the container scores of the containers stored in the container cache regions of different roadways are balanced, and the high-score containers are prevented from being piled up in a certain roadway.

In some embodiments, if the heat information of the blocked container is below the first heat threshold, the first robot 32 is controlled to handle the blocked container to the second empty cargo space on the hit carrier 31 and/or to temporarily store the first robot 32.

In some examples, when the heat information of the blocking container is below the first heat threshold, indicating that the heat of the blocking container is low, i.e., the shipment probability of the blocking container is low, the blocking container is not hit by other orders with a high probability, and therefore, when the heat information of the blocking container is below the first preset threshold, the first robot 32 may place the blocking container taken out of the target storage column of the hit carrier 31 and on the second empty cargo space on the hit carrier 31, and/or the temporary storage position of the first robot 32.

Illustratively, a plurality of staging positions may be provided on the container robots (e.g., first robot 32 and second robot 33). The staging station may be used to temporarily store containers that are removed from the carrier 10 by the container removal mechanism of the container robot.

As shown in fig. 8, the first robot 32 is provided with a plurality of temporary storage locations 321. When the heat information of the container B placed on the hit carrier 31 is lower than the first heat threshold, the first robot 32 takes out the container B originally placed on the cargo space 2 and places it on the temporary storage location 321.

For example, after the first robot 32 takes out the hit container 34, the barrier container placed on the temporary storage location 321 may be put back to the home position of the barrier container. For example, the first robot 32 may return the container B on the temporary storage location to the cargo space 2 of the target storage column after taking out the hit container 34.

In some embodiments, the second free space includes a free space on hit carrier 31 closest to the blocking container and/or a free space on hit carrier 31 at a different level of the same column as the target storage column in which the blocking container is located.

In some examples, the free cargo space is a cargo space where no containers are placed. The second free space is a free space in a different storage column (e.g., the first storage column) than the target storage column on hit carrier 31. Since a plurality of idle spaces may be included in the hit carrier 31, in order to improve the picking and placing efficiency of the container, one idle space closest to the blocking container may be determined as the second idle space.

In some examples, to improve the handling efficiency of the first robot 32, one free cargo space of the first storage column located in the same column as the target storage column but at a different level may also be determined as a second free cargo space, so that the first robot 23 may implement the handling of the barrier container onto the second free cargo space on the hit carrier 31 without moving in the aisle. For example, a storage rank that is in the same rank as the target storage rank but at a different level, and one free cargo space that is closest to the blocking container, may be determined as the second free cargo space.

In some embodiments, controlling the first robot 32 to handle the blocking container to a second free cargo space on the hit carrier 31 includes: if a third empty cargo space exists in the first storage column located in the same column and different layers from the target storage column on the hit carrier 31, and a placed container exists in the outer cargo space of the third empty cargo space, the first robot 32 is controlled to transfer the blocking container to the third empty cargo space or to transfer the blocking container to the original cargo space of the placed container according to the heat information of the placed container and the heat information of the blocking container.

The second free cargo space may be, for example, a third free cargo space or an original cargo space in which the container has been placed.

In some embodiments, based on the heat information of the placed container and the heat information of the blocked container, if the heat information of the placed container is lower than the heat information of the blocked container, the first robot 32 is controlled to push the placed container to move the placed container to the third empty cargo space and to transfer the blocked container to the original cargo space of the placed container.

Fig. 9 is a schematic diagram of yet another warehousing system according to some embodiments of the application.

As shown in fig. 9, the first storage column is a storage column located in a different layer from the target storage column and closest to the blocking container, and the cargo space 2 in the first storage column is in an idle state, then the cargo space 2 in the first storage column may be determined as a third idle cargo space, and the container G is placed on the outer cargo space of the third idle cargo space, that is, the cargo space 1 in the first storage column, and the container G is a placed container.

For example, when the heat information of the container G (placed container) is lower than that of the container B (blocked container), it is necessary to place the container B having higher heat information in the outer cargo space and place the container G having lower heat information in the inner cargo space. Thus, the first robot 32 may push the container G first to push the container G to the third empty position (i.e., the first storage column position 2) so that the original position (i.e., the first storage column position 1) of the container G is empty, and the first robot 32 then takes the container B out of the target storage column position 2 and places it on the original position (i.e., the first storage column position 1) of the container G. In this case, the second free cargo space is the original cargo space of the container G.

In some embodiments, based on the heat information of the placed container and the heat information of the blocked container, if the heat information of the placed container is higher than the heat information of the blocked container, the first robot 32 is controlled to transfer the placed container to the temporary storage location of the first robot 32, and transfer the blocked container to the third free cargo space, and transfer the placed container on the temporary storage location to the original cargo space of the placed container.

As shown in fig. 9, when the heat information of the container G (placed container) is higher than that of the container B (blocked container), it is necessary to place the container G having higher heat information in the outer cargo space and the blocked container B having lower heat information in the inner cargo space. Therefore, the first robot 32 may first take the container G from the original cargo space (i.e., the first storage column cargo space 1) and place the container G on the temporary storage location 321 of the first robot 32, and when the first storage column cargo space 1 is empty, the first robot 32 takes the container B from the target storage column cargo space 2 and places the container B on the third empty cargo space (i.e., the first storage column cargo space 2); finally, the first robot 32 transfers the container G placed on the temporary storage location 321 to the original location (i.e., the first storage column location 1) of the container G. In this case, the second free cargo space is the third free cargo space.

According to the container taking and placing method, the blocking container is placed on the corresponding target storage position through the heat information of the blocking container. When the heat information of the blocking container is higher, the blocking container can be placed at the bottom layer buffer storage position, and when the heat information of the blocking container is lower, the blocking container can be placed at the temporary storage position of the first robot 32 or the second idle goods position of the hit carrier 31, so that the taking and placing efficiency of the container and the working efficiency of the warehousing system are improved.

Fig. 10 is a schematic diagram of another method for picking and placing containers according to some embodiments of the present application, as shown in fig. 10, where the method further includes steps 1010 to 1030 as follows. The process of warehousing the containers in the warehousing system 100 is described below with reference to fig. 10.

Step 1010, controlling a first robot to carry the first container to be stored to the goods to be stored based on the goods information of the first container to be stored.

Illustratively, the cargo space to be warehoused is an external cargo space on the target carrier, the external cargo space having a depth less than the depth threshold. The goods to be put in storage are placed on the target carrier and used for placing goods of the container to be put in storage.

In some examples, the container to be stocked is a container waiting to be placed on the carrier 10. The number of the containers to be put in storage can be one or a plurality of containers. The container to be stored comprises a first container to be stored.

In some examples, the target carrier may be a carrier of the plurality of carriers 10 that is required to store the container to be stocked. For example, the target carrier may be the hit carrier 31, which is not limited in the embodiment of the present application. The following embodiments will be described by taking the target carrier as the hit carrier 31 as an example.

In some embodiments, prior to step 1010, the method further comprises: and if the heat information of the first container to be stored is lower than the second heat threshold value, or the first container to be stored is not hit again by the order to be processed within the preset time, controlling the third robot to convey the first container to be stored to the first bottom layer buffer memory position of the target carrier. The first robot 32 is controlled to transfer the first container to be stocked from the first bottom level buffer location to the to-be-stocked location.

The first underlying cache bit is located at the bottom of the target carrier and near the outside of the target carrier, i.e., the first underlying cache bit is a first type of cache bit, and the first underlying cache bit may be, for example, cache bit a in fig. 8.

The plurality of robots 20 include a third robot, which is a transfer robot, and the transfer robot is used for picking and placing containers on the bottom layer buffer storage position of the carrier 10.

In some examples, if the heat information of the first to-be-stocked container is lower than the second heat threshold, or the first to-be-stocked container is not hit again by the to-be-processed order within the preset time, the probability that the first to-be-stocked container is hit in the future is smaller. In this case, the third robot may carry the first container to be stored to the bottom layer of the hit carrier 31, place the first container to be stored on the first bottom layer buffer position (e.g. buffer position a) of the hit carrier 31, and then carry the first container to be stored placed on the first bottom layer buffer position to the position to be stored on the hit carrier 31 by the first robot 32.

For example, the second heat threshold and the preset time may be set according to requirements, which is not limited in comparison in the embodiment of the present application.

In some embodiments, prior to step 1010, the method further comprises: and if the heat information of the first container to be stored is higher than the second heat threshold value or the first container to be stored is hit again by the order to be processed within the preset time, controlling the third robot to convey the first container to be stored to the second bottom layer buffer memory of the target carrier.

The second bottom layer buffer bit is located at the bottom layer of the target carrier and near the inner side of the target carrier, i.e. the second bottom layer buffer bit is a second type buffer bit, and the second bottom layer buffer bit may be, for example, buffer bit b and buffer bit c in fig. 8.

In some examples, if the heat information of the first container to be stored is higher than the second heat threshold, or the first container to be stored is hit again by the order to be processed within the preset time, the probability that the first container to be stored is hit in the future is larger, that is, the probability that the first container to be stored may still need to be taken out is larger. In this case, the third robot may carry the first container to be stocked to the bottom layer of the hit carrier 31, and place the first container to be stocked on the second bottom layer buffer position of the hit carrier 31. When the first container to be put in storage is hit again by the order to be processed, the third robot can directly move to the bottom layer of the hit carrier 31 to move the first container to be put in storage on the second bottom layer buffer memory position.

Illustratively, the first container may comprise a first container to be warehoused. That is, the second robot 33 may push the first container to be stocked, which is required to be stocked, to push the hit container to the target cargo space.

For example, when the first robot 32 pushes the hit container 34 through the first container, if the first container is a first container to be stocked, the first robot 32 may take the first container to be stocked through the box taking mechanism and push the hit container 34 to the target cargo space by pushing the first container to be stocked. When the first container to be stored is pushed, the first container to be stored can be placed in the goods space of the target storage column, and meanwhile, the hit container 34 can be pushed to the target goods space, so that the taking and placing efficiency of the container can be improved.

In step 1020, if there is an empty cargo space on the inner side of the first to-be-stocked container, based on the cargo information of at least one second to-be-stocked container and the deep position of the first robot for picking and placing the cargo, the first robot is controlled to push the first to-be-stocked container through the second to-be-stocked container so as to transport the second to-be-stocked container to the target carrier.

For example, when a first container to be stocked is placed in the to-be-stocked cargo space, if there is at least one second container to be stocked, the first robot 32 may sequentially pass through the at least one second container to be stocked, push the first container to be stocked to move to the inside free cargo space, thereby also placing the at least one second container to be stocked on the target carrier (i.e., hit carrier 31).

Step 1030, if there is an empty cargo space inside the first container to be stored, and the storage column where the first container to be stored is located has a container to be fetched corresponding to the second robot, and the depth of the container to be fetched is greater than the depth of the second robot to fetch the cargo, the first robot is controlled to push the first container to be stored, so as to move the container to be fetched to the cargo space to be fetched.

Illustratively, the depth of the cargo space to be fetched is less than or equal to the depth of the second robot 33.

For example, if the internal cargo space of the first to-be-stored container is an idle cargo space, and the storage column where the first to-be-stored container is located has the to-be-fetched container corresponding to the second robot 33, and the depth of the to-be-fetched container is greater than that of the second robot 33, the first robot 32 may move the to-be-fetched container to the to-be-fetched cargo space by pushing the first to-be-stored container, and the second robot 33 fetches the to-be-fetched container from the to-be-fetched cargo space. Wherein the depth of the first container to be stocked is smaller than or equal to the depth of the first robot 32.

Illustratively, the cargo space to be warehoused may be an interior cargo space on the first carrier, the interior cargo space having a depth greater than or equal to the depth threshold. For example, the first vehicle may include a hit vehicle 31.

In some embodiments, if there is an empty cargo space outside of the to-be-stocked cargo space, the first robot 32 is controlled to place at least one second to-be-stocked container at the empty cargo space outside of the to-be-stocked cargo space based on the cargo information of the at least one second to-be-stocked container and the deep position of the first robot 32.

For example, if the external cargo space of the to-be-stocked cargo space is idle when the to-be-stocked cargo space is the internal cargo space on the hit carrier 31, the second to-be-stocked container to be stocked may be placed on the external idle cargo space. The number of the at least one second to-be-stocked container can be determined according to the number of the idle goods places outside the to-be-stocked goods places.

For example, when at least one container to be put in storage is put in storage, the container to be put in storage can be returned according to the heat information of the container to be put in storage, and the container to be put in storage with lower heat information can be placed on an inner cargo space, namely a cargo space with a larger deep position, and the container to be put in storage with lower heat information can be placed on an outer cargo space, namely a cargo space with a smaller deep position. Therefore, after the warehouse entry is completed, the heat information of the containers is lower and lower from the external cargo space to the internal cargo space on the carrier 10.

In some examples, if the container robot performs only the binning task, the binning task may be performed solely by the container robot that is partially on either side of the carrier 10.

In some embodiments, the container handling method further comprises: carrying the to-be-sorted containers with the heat information higher than a third heat threshold value to a first cargo space based on the heat information of the to-be-sorted containers on the carrier; and carrying the to-be-sorted containers with the heat information lower than the third heat threshold value to the second goods space.

Illustratively, the first cargo space is less than or equal to the first robot 32; the second cargo space is deeper than the first robot 32.

In some examples, while the first robot 32 or the second robot 3 is in an idle state, the first robot 32 and/or the second robot 33 may tally containers placed on the hit carrier 31. Note that, the process of executing the tally task by the first robot 32 and the second robot 33 is similar, and the following embodiments are schematically described by taking the example of executing the tally task by the first robot 32.

For example, the control device may send a tally instruction to the first robot 32, and the first robot 32 may tally the containers placed on the hit carrier 31 according to the tally instruction.

In some examples, the first robot 32 may handle to a first cargo space a to-be-sorted container having a heat information above a second heat threshold and to a second cargo space a to-be-sorted container having a heat information below the second heat threshold. For example, the first robot 32 may place the to-be-sorted container with higher heat information on the cargo space that the first robot 32 can reach, and place the to-be-sorted container with lower heat information on the cargo space that the first robot 32 cannot reach, so as to further improve the efficiency of picking and placing containers.

Fig. 11 is a schematic diagram of another method for picking and placing a container according to an embodiment of the present application. As shown in fig. 11, the method includes steps 1110 to 1120 as follows.

In some examples, the container picking and placing method shown in fig. 11 may be implemented by a robot, for example, may be implemented by the second robot 33 in the above-described embodiments.

Step 1110, get bin assist instruction.

For example, the second robot 33 may be instructed to take the bin via the control device cargo space.

Illustratively, the bin assist instruction is generated if the hit container of the task to be processed is deeper on the hit carrier than the first robot 32 executing the task to be processed.

Step 1120, pushing the first container in the target storage column corresponding to the hit container according to the box taking assisting instruction, and moving the hit container to the target cargo space, so that the first robot takes out the hit container at the target cargo space.

The deep position of the target cargo space is smaller than or equal to the deep position of the first robot for taking and placing the cargo, and the first robot and the second robot are respectively positioned in channels on two sides of the hit carrier.

In some embodiments, the fetch assistance instructions include a first push instruction and/or a second push instruction. The first box pushing instruction is generated under the condition that a blocking container exists in a target storage column, the depth of the blocking container is larger than the depth of the first robot for taking and placing goods, and a first idle goods position with the depth smaller than the depth of the blocking container exists in the target storage column; the second tote instruction is generated if there is no blocking container in the target storage column and the current depth of the hit container is greater than the depth of the first robot pick-and-place.

In some embodiments, the step 1120 includes: pushing the container to be pushed in the target storage column according to the first box pushing instruction so as to move the blocking container to a first idle goods space; the first container is pushed in the target storage column according to the second push box instruction to move the hit container to the target cargo space.

In some embodiments, the step 1120 includes: the first container is pushed in the target storage column in accordance with the second push box instruction to move the hit container to the target cargo space.

In some embodiments, pushing the first container in the target storage column to move the hit container to the target cargo space according to the second push box instruction includes: pushing the first container positioned in the target storage column according to the second box pushing instruction so as to move the hit container to the target goods position; or, according to the second box pushing instruction and the carrying instruction, placing the first container on a box taking mechanism of the second robot, and pushing the first container to move the hit container to the target cargo space.

In some embodiments, pushing the first container in the target storage column to move the hit container to the target cargo space according to the second push box instruction includes: according to the second box pushing instruction, when the box taking mechanism of the second robot pushes the first container, the supporting structure of the second robot is controlled to be connected with the hit carrier so as to move the hit container to the target goods space.

It should be noted that, the method for picking and placing the container shown in fig. 11 is described in detail in the above embodiment (such as the method embodiment corresponding to fig. 2), and in order to avoid repetition, a detailed description is omitted here.

Fig. 12 is a schematic view of a container picking and placing device according to some embodiments of the present application. As shown in fig. 12, the container pickup and put apparatus 1200 includes a determination module 1201, a first control module 1202, and a second control module 1203. Wherein,

a determining module 1201 is configured to determine a container hit by the task to be processed according to the task to be processed, and store a hit carrier hit to the container.

A first control module 1202 configured to control the second robot to move the hit container to the target cargo space by pushing the first container in the target storage column corresponding to the hit container according to the current deep position of the hit container on the hit carrier, the deep position of the first robot for picking and placing, and the deep position of the second robot for picking and placing if the deep position of the hit container on the hit carrier is greater than the deep position of the first robot for picking and placing the task to be processed; the deep position of the target cargo space is smaller than or equal to the deep position of the first robot for taking and placing the cargo, and the first robot and the second robot are respectively positioned in channels on two sides of the hit carrier.

The second control module 1203 is configured to control the first robot to take out the hit container at the target cargo space according to the target cargo space.

In some embodiments, the first control module 1202 is configured to: if the blocking container exists in the target storage column, controlling the first robot to convey the blocking container to the target storage position according to the deep position of the blocking container and the deep position of the first robot for picking and placing goods; wherein, the blocking container is a container with a depth bit smaller than the current depth bit of the hit container in the target storage column. If the blocking container does not exist in the target storage column and the current depth of the hit container is larger than the depth of the first robot for picking and placing goods, the second robot is controlled to push the first container in the target storage column corresponding to the hit container according to the current depth of the hit container, the depth of the first robot for picking and placing goods and the depth of the second robot for picking and placing goods, so that the hit container is moved to the target goods.

In some embodiments, the first control module 1202 is configured to: and if the depth of the blocking container is smaller than or equal to the depth of the first robot for picking and placing goods, controlling the first robot to carry the blocking container to the target storage position according to the depth of the blocking container and the depth of the first robot for picking and placing goods.

In some embodiments, the first control module 1202 is configured to: if the depth of the blocking container is larger than that of the first robot for picking and placing the goods, and a first idle goods space with the depth smaller than that of the blocking container exists in the target storage column, the second robot is controlled to push the container to be pushed in the target storage column so as to move the blocking container to the first idle goods space. And controlling the first robot to carry the blocking container from the first idle goods space to the target storage space according to the deep position of the first idle goods space and the deep position of the first robot for taking the goods.

In some embodiments, the first control module 1202 is configured to: and controlling the second robot to push the first container positioned in the target storage column according to the current deep position of the hit container, the deep position of the first robot for taking and placing goods and the deep position of the second robot for taking and placing goods, or controlling the second robot to place the first container on a box taking mechanism of the second robot and push the first container to move the hit container to the target goods.

In some embodiments, the first control module 1202 is configured to: when the box taking mechanism of the second robot pushes the first container, the supporting structure of the second robot is controlled to be connected with the hit carrier so as to move the hit container to the target goods space.

In some embodiments, the determining module 1201 is configured to: heat information of the barrier container is determined. A first control module 1202 configured to: and controlling the first robot to convey the blocking container to the target storage position according to the heat information of the blocking container.

In some embodiments, the first control module 1202 is configured to: if the heat information of the blocking container is higher than the first heat threshold, controlling the first robot to convey the blocking container to a bottom layer cache position of the hit carrier; if the heat information of the blocking container is lower than the first heat threshold, controlling the first robot to convey the blocking container to a second idle goods position on the hit carrier and/or temporarily storing the first robot; the target storage bit comprises at least one of a bottom layer cache bit, a second idle goods bit and a temporary storage bit of the first robot.

In some embodiments, the first control module 1202 is configured to: if a third idle goods space exists in a first storage column which is positioned on the same column and different layers from the target storage column on the hit carrier, and a placed container exists in an outer goods space of the third idle goods space, controlling the first robot to convey the blocking container to the third idle goods space or convey the blocking container to an original goods space of the placed container according to the heat information of the placed container and the heat information of the blocking container; wherein the second free cargo space comprises a third free cargo space and an original cargo space of the placed container.

In some embodiments, the first control module 1202 is configured to: if the heat information of the placed container is lower than the heat information of the blocking container, the first robot is controlled to push the placed container to move the placed container to the third idle goods position, and the blocking container is conveyed to the original goods position of the placed container. And if the heat information of the placed container is higher than the heat information of the blocking container, controlling the first robot to convey the placed container to a temporary storage position of the first robot, conveying the blocking container to a third idle goods position, and conveying the placed container on the temporary storage position to an original goods position of the placed container.

In some embodiments, the container handling apparatus further comprises a third control module configured to: controlling a first robot to carry the first container to be stored to a position to be stored based on the cargo information of the first container to be stored; the object carrier comprises a hit carrier, and the first container comprises a first container to be stored.

In some embodiments, the third control module is configured to: if the inner side of the first container to be stored has an idle goods space, controlling the first robot to push the first container to be stored through the second container to be stored on the basis of the goods information of at least one second container to be stored and the deep position of the first robot for picking and placing goods so as to convey the second container to be stored to a target carrier; or if an idle goods space exists on the inner side of the first to-be-stored container, a to-be-fetched container corresponding to the second robot exists in the storage column where the first to-be-stored container is located, and the depth of the to-be-fetched container is larger than that of the second robot to fetch goods, the first robot is controlled to push the first to-be-stored container so as to move the to-be-fetched container to the to-be-fetched goods space; the deep position of the goods to be fetched is smaller than or equal to that of the goods fetched by the second robot.

In some embodiments, the container handling apparatus further comprises a fourth control module configured to: the first robot is controlled to carry the first container to be stored to a goods position to be stored based on goods information of the first container to be stored; the goods to be put in storage are internal goods on the first carrier, and the depth of the internal goods is greater than or equal to the depth threshold. And if the idle goods space exists at the outer side of the goods space to be put in storage, controlling the first robot to place at least one second goods space to be put in storage at the idle goods space at the outer side of the goods space to be put in storage based on the goods information of at least one second goods space to be put in storage and the deep position of the goods to be put in storage taken by the first robot.

In some embodiments, the container handling apparatus further comprises a fifth control module configured to: before the first robot is controlled to carry the first container to be stored to the goods to be stored, if the heat information of the first container to be stored is lower than a second heat threshold value or the first container to be stored is not hit again by an order to be processed within a preset time, the third robot is controlled to carry the first container to be stored to a first bottom layer buffer storage position of the target carrier; the first bottom layer buffer is located at the bottom layer of the target carrier and is close to the outer side of the target carrier. The fourth control module is configured to: and controlling the first robot to carry the first container to be stored from the first bottom layer buffer storage position to the goods to be stored.

In some embodiments, the fifth control module is further configured to: before the first robot is controlled to carry the first container to be stored to the goods to be stored, if the heat information of the first container to be stored is higher than a second heat threshold value or the first container to be stored is hit again by the order to be processed in a preset time, the third robot is controlled to carry the first container to be stored to a second bottom layer buffer memory position of the target carrier; the second bottom layer buffer is located at the bottom layer of the target carrier and is close to the inner side of the target carrier.

In some embodiments, based on the heat information of the plurality of to-be-sorted containers on the carrier, transporting to the first cargo space a to-be-sorted container having a heat information higher than the third heat threshold; the deep position of the first goods is smaller than or equal to the deep position of the first robot for taking and placing goods. Carrying the to-be-sorted containers with the heat information lower than the third heat threshold value to a second goods position; the second cargo space is deeper than the first robot.

Fig. 13 is a schematic diagram of an electronic device according to an embodiment of the present application. In some embodiments, the electronic device includes one or more processors and memory. The memory is configured to store one or more programs. Wherein the one or more processors implement the container fetching method in the above embodiments when the one or more programs are executed by the one or more processors.

As shown in fig. 13, the electronic device 1000 includes: a processor 1001 and a memory 1002. Illustratively, the electronic device 1000 may further include: a communication interface (Communications Interface) 1003 and a communication bus 1004.

The processor 1001, the memory 1002, and the communication interface 1003 perform communication with each other via the communication bus 1004. Communication interface 1003 is used to communicate with network elements of other devices such as clients or other servers.

In some embodiments, the processor 1001 is configured to execute the program 1005, and may specifically perform the relevant steps in the container fetching method embodiment described above. In particular, program 1005 may include program code comprising computer-executable instructions.

The processor 1001 may be, for example, a central processing unit CPU, or a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits configured to implement embodiments of the present application. The one or more processors that the electronic device 1000 may include may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.

In some embodiments, memory 1002 is used to store program 1005. The Memory 1002 may include a high-speed RAM Memory or may further include a Non-Volatile Memory (NVM), such as at least one magnetic disk Memory.

The program 1005 may be specifically called by the processor 1001 to cause the electronic device 1000 to execute the operations of the container pickup and placement method in the above-described embodiment.

Embodiments of the present application provide a computer readable storage medium storing at least one executable instruction that, when executed on an electronic device 1000, causes the electronic device 1000 to perform the container fetching method of the foregoing embodiments.

The executable instructions may be particularly useful for causing the electronic device 1000 to perform the operations of the container pick-and-place method in the above-described embodiments.

For example, the computer readable storage medium may be Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), compact disc Read-Only Memory (CD-ROM), magnetic tape, floppy disk, optical data storage device, and the like.

The beneficial effects that can be achieved by the warehousing system, the container picking and placing device, the electronic equipment and the computer readable storage medium provided by the embodiment of the application can refer to the beneficial effects in the corresponding container picking and placing method provided above, and are not repeated here.

It is noted that in the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM).

Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory. It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof.

In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

The above-described embodiments of the present application are not intended to limit the scope of the present application.

Claims

1. A method of picking and placing a container, the method being applied to a control device, the method comprising:

Determining a container hit by a task to be processed and a hit carrier for storing the hit container according to the task to be processed;

if the depth of the hit container on the hit carrier is larger than the depth of the first robot for executing the task to be processed, controlling the second robot to move the hit container to a target cargo space by pushing the first container in a target storage column corresponding to the hit container according to the current depth of the hit container on the hit carrier, the depth of the first robot for taking the cargo and the depth of the second robot for taking the cargo; the deep position of the target cargo space is smaller than or equal to the deep position of the first robot for taking and placing the cargo, and the first robot and the second robot are respectively positioned in channels at two sides of the hit carrier;

and according to the target cargo space, controlling the first robot to take out the hit container from the target cargo space.

2. The method of claim 1, wherein controlling the second robot to move the hit container to the target cargo space by pushing the first container in the target storage column corresponding to the hit container based on the current depth of the hit container on the hit carrier, the depth of the first robot to pick and put, and the depth of the second robot to pick and put, comprises:

If the blocking container exists in the target storage column, controlling the first robot to convey the blocking container to the target storage position according to the deep position of the blocking container and the deep position of the first robot for picking and placing goods; the blocking container is a container with the depth bit in the target storage column being smaller than the current depth bit of the hit container;

and if the blocking container does not exist in the target storage column and the current depth of the hit container is larger than the depth of the first robot for picking and placing goods, controlling the second robot to move the hit container to the target goods position by pushing the first container in the target storage column according to the current depth of the hit container, the depth of the first robot for picking and placing goods and the depth of the second robot for picking and placing goods.

3. The method of claim 2, wherein controlling the first robot to handle the barrier container to a target storage location based on the depth of the barrier container and the depth of the first robot to pick up and put, comprises:

and if the depth of the blocking container is smaller than or equal to the depth of the first robot for picking and placing goods, controlling the first robot to carry the blocking container to the target storage position according to the depth of the blocking container and the depth of the first robot for picking and placing goods.

4. The method of claim 2, wherein controlling the first robot to handle the barrier container to a target storage location based on the depth of the barrier container and the depth of the first robot to pick up and put, comprises:

if the depth of the blocking container is larger than that of the first robot for picking and placing goods, and a first idle goods space with the depth smaller than that of the blocking container exists in the target storage column, controlling the second robot to push the container to be pushed in the target storage column so as to move the blocking container to the first idle goods space;

and controlling the first robot to carry the blocking container from the first idle goods space to the target storage space according to the deep position of the first idle goods space and the deep position of the first robot for taking and placing goods.

5. The method of any of claims 2-4, wherein the controlling the second robot to move the hit container to the target cargo space by pushing the first container in the target storage column based on the current depth of the hit container, the depth of the first robot to pick the cargo and the depth of the second robot to pick the cargo, comprises:

And controlling the second robot to push the first container positioned in the target storage column to move the hit container to the target cargo space according to the current deep position of the hit container, the deep position of the first robot for taking the cargo and the deep position of the second robot for taking the cargo, or controlling the second robot to place the first container on a box taking mechanism of the second robot and push the first container to move the hit container to the target cargo space.

6. The method of any of claims 1-4, wherein the number of hits container moves as the second robot pushes the first container is less than or equal to the number of empty hits in the target storage column.

7. The method of any one of claims 1-4, wherein the controlling the second robot to move the hit container to a target cargo space by pushing a first container in a target storage column corresponding to the hit container comprises:

and when the box taking mechanism of the second robot pushes the first container, controlling the supporting structure of the second robot to be connected with the hit carrier so as to move the hit container to the target cargo space.

8. The method of any of claims 2-4, wherein the controlling the first robot to handle the barrier container to a target storage location comprises:

determining heat information of the barrier container;

and controlling the first robot to carry the blocking container to the target storage position according to the heat information of the blocking container.

9. The method of claim 8, wherein controlling the first robot to handle the barrier container to the target storage location based on the thermal information of the barrier container comprises:

if the heat information of the blocking container is higher than a first heat threshold, controlling the first robot to convey the blocking container to a bottom cache position of the hit carrier;

if the heat information of the blocking container is lower than the first heat threshold, controlling the first robot to convey the blocking container to a second idle goods position on the hit carrier and/or temporarily storing the first robot;

the target storage bit comprises at least one of the bottom layer cache bit, the second idle goods bit and the temporary storage bit of the first robot.

10. The method of claim 9, wherein the second free space comprises a free space on the hit carrier closest to the blocking container and/or a free space on the hit carrier at a different tier of a same column as a target storage column in which the blocking container is located.

11. The method of claim 10, wherein the controlling the first robot to handle the blocking container to a second free cargo space on the hit carrier comprises:

if a third idle goods space exists in a first storage column which is positioned on the same column and different layers from the target storage column on the hit carrier, and a placed container exists in an outer goods space of the third idle goods space, controlling the first robot to convey the blocking container to the third idle goods space or convey the blocking container to an original goods space of the placed container according to the heat information of the placed container and the heat information of the blocking container; wherein the second free cargo space comprises the third free cargo space and the original cargo space of the placed container.

12. The method of claim 11, wherein controlling the first robot to transfer the blocking container to the third empty cargo space or to transfer the blocking container to the original cargo space of the placed container based on the heat information of the placed container and the heat information of the blocking container comprises:

If the heat information of the placed container is lower than the heat information of the blocking container, controlling the first robot to push the placed container so as to move the placed container to the third idle goods position and convey the blocking container to the original goods position of the placed container;

and if the heat information of the placed container is higher than the heat information of the blocking container, controlling the first robot to convey the placed container to a temporary storage position of the first robot, convey the blocking container to the third idle goods position, and convey the placed container on the temporary storage position to an original goods position of the placed container.

13. The method according to claim 1, wherein the method further comprises:

controlling the first robot to carry the first container to be stored to a position to be stored based on the cargo information of the first container to be stored; the object carrier comprises the hit carrier, and the first container comprises the first container to be stored.

14. The method of claim 13, wherein after the first robot conveys the first container to be stocked to a place to be stocked, the method further comprises:

if an idle goods space exists on the inner side of the first to-be-put-in container, controlling the first robot to push the first to-be-put-in container through the second to-be-put-in container based on goods information of at least one second to-be-put-in container and the deep position of the first robot for taking goods, so that the second to-be-put-in container is conveyed to the target carrier; or,

if an idle goods space exists on the inner side of the first to-be-stored container, a to-be-fetched container corresponding to the second robot exists in a storage column where the first to-be-stored container is located, and the depth of the to-be-fetched container is larger than that of the to-be-fetched container fetched by the second robot, the first robot is controlled to push the first to-be-stored container so as to move the to-be-fetched container to the to-be-fetched goods space; the deep position of the goods to be fetched is smaller than or equal to the deep position of the goods fetched and placed by the second robot.

15. The method of claim 13, wherein the method further comprises:

Controlling the first robot to carry the first container to be stored to a position to be stored based on the cargo information of the first container to be stored; the to-be-warehoused cargo space is an internal cargo space on the first carrier, and the depth of the internal cargo space is greater than or equal to a depth threshold value;

and if the idle goods space exists outside the goods space to be put in storage, controlling the first robot to place the at least one second goods space to be put in storage outside the idle goods space of the goods space to be put in storage based on the goods information of the at least one second goods space to be put in storage and the deep position of the first robot for taking the goods.

16. The method of claim 15, wherein the higher the heat information in the at least one second container to be warehoused, the smaller the depth of the container, and the lower the heat information, the greater the depth of the container.

17. The method of any one of claims 13-16, wherein prior to said controlling the first robot to carry the first container to be warehoused to a warehouse entry site, the method further comprises:

if the heat information of the first container to be stored is lower than a second heat threshold value or the first container to be stored is not hit again by the order to be processed within the preset time, a third robot is controlled to convey the first container to be stored to a first bottom layer cache position of the target carrier; the first bottom layer cache is positioned at the bottom layer of the target carrier and is close to the outer side of the target carrier;

The controlling the first robot to carry the first container to be put in storage to the position to be put in storage includes: and controlling the first robot to carry the first container to be warehoused from the first bottom layer buffer storage position to the goods to be warehoused.

18. The method of any one of claims 13-16, wherein prior to said controlling the first robot to carry the first container to be warehoused to a warehouse entry site, the method further comprises:

if the heat information of the first container to be stored is higher than a second heat threshold value or the first container to be stored is hit again by the order to be processed within the preset time, a third robot is controlled to convey the first container to be stored to a second bottom layer cache position of the target carrier; the second bottom layer buffer memory is located at the bottom layer of the target carrier and close to the inner side of the target carrier.

19. The method according to any one of claims 13-16, further comprising:

carrying the to-be-sorted containers with the heat information higher than a third heat threshold value to a first goods position based on the heat information of the to-be-sorted containers on the carrier; the deep position of the first goods is smaller than or equal to the deep position of the first robot for picking and placing goods;

Carrying the to-be-sorted containers with the heat information lower than the third heat threshold value to a second goods position; the second cargo space is deeper than the first robot.

20. A method of picking and placing a container, applied to a second robot, the method comprising:

acquiring a box taking assisting instruction; the box taking assisting instruction is generated when the depth of a hit container of a task to be processed on a hit carrier is larger than the depth of a first robot for executing the task to be processed for taking goods;

pushing a first container in a target storage column corresponding to the hit container according to the box taking assisting instruction, and moving the hit container to a target cargo space so that the first robot takes out the hit container in the target cargo space; the deep position of the target cargo space is smaller than or equal to the deep position of the first robot for taking and placing the cargo, and the first robot and the second robot are respectively located in channels on two sides of the hit carrier.

21. The method of claim 20, wherein the fetch assistance instructions comprise a first push instruction and/or a second push instruction; the first box pushing instruction is generated under the condition that a blocking container exists in the target storage column, the depth of the blocking container is larger than the depth of the first robot for taking and placing goods, and a first idle goods space with the depth smaller than the depth of the blocking container exists in the target storage column; the second box pushing instruction is generated if the blocking container is not present in the target storage column and the current depth of the hit container is greater than the depth of the first robot pick put.

22. The method of claim 21, wherein pushing a first container in a target storage column corresponding to the hit container according to the fetch assist instruction, moving the hit container to a target cargo space, so that the first robot fetches the hit container at the target cargo space, comprises:

pushing the container to be pushed in the target storage column according to the first box pushing instruction so as to move the blocking container to the first idle goods space;

pushing the first container in the target storage column according to the second push box instruction to move the hit container to the target cargo space.

23. The method of claim 21, wherein pushing a first container in a target storage column corresponding to the hit container according to the fetch assist instruction, moving the hit container to a target cargo space, so that the first robot fetches the hit container at the target cargo space, comprises:

24. The method of claim 22 or 23, wherein pushing the first container in the target storage column to move the hit container to the target cargo space according to the second push box instruction comprises:

Pushing the first container located in the target storage column according to the second box pushing instruction to move the hit container to the target cargo space; or,

and placing the first container on a box taking mechanism of the second robot according to the second box pushing instruction and the carrying instruction, and pushing the first container to move the hit container to the target goods position.

25. The method of claim 22 or 23, wherein pushing the first container in the target storage column to move the hit container to the target cargo space according to the second push box instruction comprises:

and according to the second box pushing instruction, when the box taking mechanism of the second robot pushes the first container, controlling the supporting structure of the second robot to be connected with the hit carrier so as to move the hit container to the target cargo space.

26. The method of any one of claims 20-23, wherein the number of hits container moves when the second robot pushes the first container is less than or equal to the number of empty hits in the target storage column.

27. A warehousing system, the warehousing system comprising:

a carrier comprising a plurality of cargo spaces for placing containers;

a plurality of robots configured to pick and place containers on the carriers;

the control device is configured to determine a container hit by the task to be processed according to the task to be processed and store a hit carrier hit by the container; if the depth of the hit container on the hit carrier is larger than the depth of the first robot for executing the task to be processed for picking and placing goods, generating a box picking assisting instruction according to the current depth of the hit container on the hit carrier, the depth of the first robot for picking and placing goods and the depth of the second robot for picking and placing goods; wherein the plurality of carriers includes the hit carrier, the plurality of robots includes the first robot and the second robot;

the second robot is positioned in a channel at one side of the hit carrier and is configured to push a first container in a target storage column corresponding to the hit container according to the box taking assisting instruction so as to move the hit container to a target cargo space; the depth of the target cargo space is smaller than or equal to the depth of the first robot for picking and placing the cargo;

The control device is further configured to generate a box fetching instruction according to the target cargo space;

the first robot is located in a channel on one side of the hit carrier and is configured to fetch the hit container at the target cargo space according to the box fetch instruction.

28. The warehousing system of claim 27 wherein the plurality of robots further includes a third robot;

the control device is further configured to generate a first warehousing instruction if the heat information of the first container to be warehoused is lower than a second heat threshold value or the first container to be warehoused is not hit again by the order to be processed within a preset time;

the third robot is configured to convey the first container to be warehoused to a first bottom layer buffer position of a target carrier according to the first warehouse-in instruction; the first bottom layer buffer memory is positioned at the bottom layer of the target carrier and is close to the outer side of the target carrier.

29. The warehousing system of claim 28, wherein the control device is further configured to generate a second warehousing instruction if the heat information of the first container to be warehoused is above a second heat threshold or the first container to be warehoused is hit again by the order to be processed within a preset time;

The third robot is further configured to carry the first container to be warehoused to a second bottom layer buffer position of the target carrier according to the second warehouse-in instruction; the second bottom layer buffer memory is located at the bottom layer of the target carrier and close to the inner side of the target carrier.

30. An electronic device, comprising:

one or more processors; and

a memory configured to store one or more programs;

wherein the one or more processors implement the container fetch method of any of claims 1-19 when the one or more programs are executed by the one or more processors.

31. A computer readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the container pick and place method according to any of claims 1-19.