RU2804161C1 - Temporary storage rack shelf, goods rack, control method and device, design, and system - Google Patents

Abstract

FIELD: cargo storage.

SUBSTANCE: control device with a processor and a storage device and a rack with a plurality of racks, at least one each of a temporary storage shelf and a storage shelf. The temporary storage shelf contains a double slot for interaction with the bifurcated manipulator on the first robot, and a passage is formed under the shelf for its access. Commands are stored on the device, and when loaded and executed, they implement the control method. The method involves determining the location of the temporary storage, commanding the first robot to move the cargo to the temporary storage and, upon receipt of a signal on completion of the movement, commanding the second robot to move the cargo from the temporary storage to the storage location. The shipping control method provides for a command to the second robot to remove cargo from the current location, to determine a temporary storage location, a command to move the cargo to the temporary storage, and, upon receipt of a signal on completion of the movement, a command to the first robot to move the cargo from the temporary storage location.

EFFECT: improved efficiency of storage and retrieval of goods.

16 cl, 22 dwg

Description

Cross reference to related applications

According to the present disclosure, priority is claimed to the People's Republic of China Patent Application No. 202010231552.9, filed with the Patent Office of the People's Republic of China on March 27, 2020, entitled "RAKING AND STORAGE DEVICE", the contents of which are incorporated herein by reference in their entirety. This application claims priority under the Patent Application of the People's Republic of China No. 202021892576.0, filed with the Patent Office of the People's Republic of China on September 2, 2020, under the utility model title "RAKING AND STORAGE DEVICE", the contents of which are incorporated herein by reference in their entirety. This application claims priority to People's Republic of China Patent Application No. 202010231545.9 filed with the Patent Office of the People's Republic of China on March 27, 2020, entitled "STORAGE DEVICE, CONTROL SYSTEM AND METHOD", the contents of which are incorporated herein by reference in their entirety. This application claims priority under the Patent Application of the People's Republic of China No. 202010232310.1, filed with the Patent Office of the People's Republic of China on March 27, 2020, entitled "WAREHOUSE OPERATIONS MANAGEMENT METHODS AND DEVICES, DEVICE AND MACHINE READABLE DATA MEDIA", the entire contents of which are incorporated in real document by reference. In addition, this application claims priority under the patent application of the People's Republic of China No. 202022292766.5, filed with the Patent Office of the People's Republic of China on October 15, 2020, with the title of utility model "LOADING AND UNLOADING AREA AND WORKING STATION", the contents of which are fully incorporated herein document by reference.

Field of technology to which the present invention relates

The present invention relates to the field of warehouse technology and, in particular, to a temporary storage shelf, rack, control method and device, device and system.

BACKGROUND OF THE INVENTION

A rack is a device for bulk storage of goods; it can be used to increase the efficiency of warehouse use.

In the current warehouse industry, a robot with automatic lifting and moving functions is typically used to access and move cargo. However, the robot needs to stop and extend the robot arm towards the shelf of the rack to access the loads, this takes some time and reduces the efficiency of accessing the loads.

Brief Disclosure of the Present Invention

Embodiments of the present invention provide a temporary storage shelf, rack, control method and apparatus, apparatus and system for solving or alleviating one or more technical problems in the related art.

To achieve the above goal, the present invention adopts the following technical solutions:

As a first aspect of embodiments of the present invention, an embodiment of the present invention provides a temporary storage shelf that is used to provide a number of temporary storage locations, wherein a dual slot is provided in the temporary storage shelf, and the dual slot is used to interact with a bifurcated arm of the first robot; a passage for access of the first robot to the cargo is formed under the temporary storage shelf; in case of access to the cargo, the first robot is located in the passage for accessing the cargo, and the double slot interacts with the bifurcated manipulator on the first robot in order to access the cargo.

According to a second aspect of embodiments of the present invention, in one embodiment of the present invention, a rack is provided that includes:

a number of racks located at a certain distance from each other horizontally;

at least one temporary storage shelf according to any of the above embodiments; And

at least one storage shelf spaced vertically along the racks from the temporary storage shelf, wherein the storage shelf is used to provide a number of storage locations.

According to a third aspect of embodiments of the present invention, one embodiment of the present invention provides a method for managing warehouse receipts, the method comprising:

determining a given temporary storage location according to a given storage location of a given cargo;

commanding the first robot to move a given load to a given temporary storage location; And

in case of receiving a signal from the first robot about the completion of the movement, a command to the second robot to move the specified load from the specified temporary storage location to the specified storage location.

According to a fourth aspect of embodiments of the present invention, in one embodiment of the present invention, a method for managing shipment from a warehouse is provided, the method comprising:

command the second robot to move a specified load from the current storage location;

determining a predetermined temporary storage location according to the location of the second robot;

a command to the second robot to move a given load to a given temporary storage location; And

in case of receiving a signal from the second robot about the completion of the movement, a command to the first robot to move the specified load from the specified temporary storage location.

According to a fifth aspect of embodiments of the present invention, in one embodiment of the present invention, a warehouse receipt control device is provided, the method comprising:

a first determination module designed to determine a given temporary storage location according to a given storage location of a given cargo;

a first command module configured to issue a command to the first robot to move a given load to a given temporary storage location; And

a second command module designed to issue a command to the second robot to move a given load from a given temporary storage location to a given storage location after receiving a signal from the first robot to complete the movement.

According to a sixth aspect of embodiments of the present invention, in one embodiment of the present invention, a warehouse shipping control device is provided, the method comprising:

a first command module configured to issue a command to the second robot to move a specified load from the current storage location;

a first determination module configured to determine a predetermined temporary storage location according to the location of the second robot;

a second command module designed to issue a command to the second robot to move a given load to a given temporary storage location; And

a third command module designed to issue a command to the first robot to move a given load from a given temporary storage location if it receives a signal from the second robot to complete the movement.

According to a seventh aspect of embodiments of the present invention, in one embodiment of the present invention, a control device is provided, which is provided with a processor and a memory, wherein instructions are stored in the memory, and when the instruction is loaded and executed by the processor, the device implements a method according to any of the above embodiments ;

According to an eighth aspect of embodiments of the present invention, in one embodiment of the present invention, a warehouse system is provided that includes:

a temporary storage shelf according to any of the above embodiments; And

a control device according to any of the above embodiments.

According to a ninth aspect of embodiments of the present invention, in one embodiment of the present invention, a computer-readable storage medium is provided. A computer program is stored on a computer-readable storage medium, and when the program is executed by a computer, the method according to any of the above-mentioned embodiments is implemented.

One of the above-mentioned technical solutions has the following advantages or beneficial effects: a double slot is provided in the temporary storage shelf for cooperation with the bifurcated arm of the first robot, so that the bifurcated arm can be directly inserted into the double slot of the temporary storage shelf, and

the first robot has direct access to cargo on the temporary storage shelf, which eliminates the need to extend the robot arm to the rack and increases the efficiency of access to cargo; In addition, the temporary storage shelf can store goods temporarily, and the storage location provided by the storage shelf can store goods for a long time, which is convenient for using the temporary storage shelf and the storage shelf together to improve the efficiency of cargo warehouse operations.

Brief description of the figures

To more clearly describe the technical solutions in the embodiments of the present invention or the prior art, the following is a brief description of the accompanying figures, which are necessary to describe the embodiments or the prior art. It will be appreciated that in the following description, the accompanying figures represent some of the embodiments described among the embodiments of the present invention, and those skilled in the art may convert these accompanying figures to others.

In fig. 1 is a first schematic diagram of a rack structure according to Embodiment 1 of the present invention.

In fig. 2 is a second schematic diagram of a rack structure according to Embodiment 1 of the present invention.

In fig. 3 is a schematic diagram of the structure of the first robot according to Embodiment 1 of the present invention.

In fig. 4 is a diagram of the interaction between the double slot of the temporary storage shelf and the bifurcated arm of the first robot according to Embodiment 1 of the present invention.

In fig. 5 is a first schematic diagram of the structure of a storage device according to Embodiment 1 of the present invention.

In fig. 6 is a schematic side view of FIG. 5.

In fig. 7 is a second schematic diagram of the structure of a storage device according to Embodiment 1 of the present invention.

In fig. 8 is a schematic diagram of the structure of the second robot according to Embodiment 1 of the present invention.

In fig. 9 is a schematic diagram of the projection onto a storage device of boxes with cargo placed on a temporary storage shelf, according to embodiment 1 of the present invention.

In fig. 10A is a first schematic diagram of a rack structure according to Embodiment 2 of the present invention.

In fig. 10B is a schematic diagram of the structure of the temporary storage shelf according to FIG. 10A.

In fig. 10C is a schematic diagram of the crossbar according to FIG. 10A.

In fig. 11 is a second schematic diagram of a rack structure according to Embodiment 2 of the present invention.

In fig. 12A is a third schematic diagram of a rack structure according to Embodiment 2 of the present invention.

In fig. 12B is a schematic diagram of the structure of the temporary storage shelf according to FIG. 12A.

In fig. 12C is a schematic diagram of the interaction between the first robot and the rack according to FIG. 12A.

In fig. 13A is a first schematic diagram of the structure of a storage device according to Embodiment 2 of the present invention.

In fig. 13B is a second schematic diagram of the structure of a storage device according to Embodiment 2 of the present invention.

In fig. 14 is a flowchart of a warehouse receipt control method according to Embodiment 3 of the present invention.

In fig. 15 is a flowchart of step S1001 shown in FIG. 14.

In fig. 16 is a schematic diagram of a warehouse operation management application scenario according to Embodiment 3 of the present invention.

In fig. 17 is a schematic diagram of a warehouse shipping method according to Embodiment 3 of the present invention.

In fig. 18 is a flowchart of step S1302 shown in FIG. 17.

In fig. 19 is a schematic diagram of a warehouse system according to Embodiment 3 of the present invention.

In fig. 20 is a circuit diagram of a control device according to Embodiment 3 of the present invention.

In fig. 21 is a schematic diagram of a warehouse receipt control device according to Embodiment 4 of the present invention.

In fig. 22 is a schematic diagram of a warehouse shipping control device according to Embodiment 4 of the present invention.

Detailed Disclosure of the Present Invention

Some examples of the invention are briefly described below. One skilled in the art will appreciate that the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and do not impose restrictions.

Embodiment 1

In fig. 1 is a first schematic diagram of a rack structure according to Embodiment 1 of the present invention. As can be seen from Fig. 1, fig. 3 and fig. 4, the rack 100 may include: a number of racks 110 spaced horizontally apart; at least one temporary storage shelf 120, wherein a double slot 121 is provided in the temporary storage shelf 120, and the double slot 121 is used to cooperate with a bifurcated arm 210 of the first robot 200; at least one storage shelf 130, wherein the storage shelf 130 is positioned along the posts 110 at a vertical distance from the temporary storage shelf 120, and the storage shelf 130 is used to provide a number of storage locations.

The rack 100 may be a single-row rack, a double-row rack, or a multi-row rack, and the number of rows of the rack 100 is not limited in the present specification.

According to one example, a number of racks 110 may define a rectangular area within which a temporary storage shelf 120 and a storage shelf 130 are installed, with the temporary storage shelf 120 and a storage shelf 130 spaced vertically apart along the racks 110. However, according to this embodiment, the locations of the racks 110 in the arrangement are not limited, provided that the temporary storage shelf 120 and the storage shelf 130 can be spaced vertically apart. Thus, the posts 110 may also extend vertically through the middle of the storage shelf 120 and storage shelf 130 rather than along the edge of the storage shelf 120 and storage shelf 130.

For ease of description, in the following embodiments, the two long sides of the temporary storage shelf 120 are respectively called the first side and the second side of the temporary storage shelf 120, the outer sides of the two long sides of the temporary storage shelf 120 are respectively called the first outer side and the second outer side of the temporary storage shelf 120, two the short sides of the temporary storage shelf 120 are respectively referred to as the third side and the fourth side of the temporary storage shelf 120 (the two short sides of the temporary storage shelf 120 may also be respectively referred to as the first end and the second end of the temporary storage shelf 120), and the outer sides of the two short sides of the temporary storage shelf 120 are referred to as the third outer side and the fourth outer side of the temporary storage shelf 120, respectively. Herein, the first outer side of the temporary storage shelf 120 may also be referred to as the first outer side of the temporary storage shelf 120.

A number of temporary storage locations may be provided on the temporary storage shelf 120, and a number of temporary storage locations comprise two or more temporary storage locations; double slots 121 are located below each temporary storage location, and the double slot 121 may be U-shaped, C-shaped, I-shaped, V-shaped, or the like. The shape of the dual slot 121 is not limited herein as long as the dual slot 121 can be interacted with the bifurcated arm 210 of the first robot 200.

The temporary storage shelf 120 may be located at any level of the rack 100, but is not limited to this in this embodiment of the present invention. Moreover, in the case where the temporary storage shelf 120 is located at the middle level of the rack 100, the storage shelf 130 is located above and below the temporary storage shelf 120, this can shorten the distance between the temporary storage shelf 120 and the storage shelf 130 and improve the efficiency of moving goods between the shelf 120 temporary storage and 130 shelf storage. Shipments can be boxes of goods, such as materials, products, etc. The boxes may be cardboard boxes or boxes of other materials, and the type of boxes and the items contained therein are not limited herein.

The first robot 200 may be an Automated Guided Vehicle (AGV) with a bifurcated arm 210, and the bifurcated arm 210 of the first robot 200 may be located on the top of the first robot 200 and may also be located on the side of the first robot 200. In an embodiment, In carrying out the present invention, the method of arranging the bifurcated arm 210 of the first robot 200 is not limited.

According to this embodiment, the temporary storage shelf 120 provides a double slot 121 for interaction with the bifurcated arm 210 of the first robot 200, so that the bifurcated arm 210 of the first robot 200 can be directly inserted into the double slot 121 of the temporary storage shelf 120, and then the first robot 200 receives direct access to cargo on the temporary storage shelf 120, which eliminates the need to extend the robot arm to the rack 100 and increases the efficiency of access to cargo; In addition, the temporary storage shelf 120 can store goods temporarily, and in the storage location provided by the storage shelf 130, goods can be stored for a long time, which is convenient for using the temporary storage shelf 120 and the storage shelf 130 together to improve storage efficiency. cargo operations.

For example, a passage 140 for accessing cargo to accommodate the first robot 200 is formed under the temporary storage shelf 120. In the case of cargo access and when the first robot 200 is in the cargo access passage 140, the dual slot 121 cooperates with the dual arm 210 of the first robot 200 to access the cargo.

According to one example, in the case of cargo storage, the first robot 200 aligns the bifurcated arm 210 with the double slot 121 on the first outer side of the temporary storage shelf 120 and moves along the cargo access aisle 140, such that the bifurcated arm 210 fits directly into the dual slot 121 and the loads are placed on the temporary storage shelf 120, and then the forked manipulator 210 is lowered down so that the box with the load remains on the temporary storage shelf 120; and in the event that cargo is picked up, the first robot 200 moves to the underside of the cargo access aisle 140, aligns the bifurcated arm 210 with the double slot 121 under the temporary storage shelf 120 and lifts the bifurcated arm 210 to lift the cargo box, and then moves in a direction from the first outer side of the temporary storage shelf 120 so as to leave the cargo access aisle 140 and pick up the cargo box. In this way, the first robot 200 can directly place and pick up loads without stopping movement or stopping movement for a short time, while eliminating the actions of controlling the extension of the robot arm to the shelf, which can improve the efficiency of access to the load box, while access and removal are carried out under shelf 120 for temporary storage, which allows efficient use of the space of the rack 100.

For example, the cargo access passage may be used to move the first robot when the first robot is not loaded. Thus, in the case where the first robot 200 is not loaded (namely, the first robot 200 is not loaded with cargo), the first robot 200 can move directly in the cargo access channel 140, which can improve the efficiency of moving cargo.

According to one embodiment, posts 110 are positioned on the outer edge of the storage shelf 130, and a first passage 141 for movement of the first robot 200 is formed between the temporary storage shelf 120 and the posts 110 located on the first outer side of the temporary storage shelf 120.

According to one example, in the case where the temporary storage shelf 120 is located at the lower level of the racks 110, the temporary storage shelf 120, the racks 110 located on the first outer side of the temporary storage shelf 120, and the floor may form a first passage 141 for the movement of the first robot 200. In addition, in the case where the temporary storage shelf 120 is not located on the lower level of the racks 110, but on other levels, the temporary storage shelf 120, the racks 110 located on the first outer side of the temporary storage shelf 120 and the storage shelf 130 located on the next level below the level at which the temporary storage shelf 120 is located, a first passage 141 may be formed for the movement of the first robot 200.

According to this embodiment, the first passage 141 for moving the first robot 200 is formed between the temporary storage shelf 120 and the racks 110 located on the first outer side of the temporary storage shelf 120, so that the first robot 200 can move at any level of the shelf 100, which is convenient for interaction the first robot 200 with a temporary storage shelf 120 and avoids occupying the aisle outside the rack 100.

For example, as shown in FIG. 1, the rack 100 may further include: crossbars 150, with each of the crossbars 150 positioned horizontally and used to secure the short sides of the temporary storage shelf 120 and storage shelf 130 to the racks 110.

In fig. 2 is a schematic diagram of a rack structure according to Embodiment 1 of the present invention. The design of the rack is similar to that of the rack shown in FIG. 1, the difference is that, as shown in FIG. 2, a second passage 142 for moving the first robot 200 is formed between the temporary storage shelf 120 and the posts 110 located on the third outer side of the temporary storage shelf 120. Thus, the first robot 200 can move along the rack 100 along the second aisle 142, thereby reducing the travel distance of the first robot 200 and increasing the efficiency of moving the cargo boxes.

According to one example, the rack 100 may further include: a support post 160 located on the third outer side of the temporary storage shelf 120 for support.

According to one embodiment, as shown in FIG. 1 to 4, a number of temporary storage shelf parts 122 are provided in the temporary storage shelf 120, each of the temporary storage shelf parts 122 is provided with a double slot 121, and a third passage is formed between at least the two temporary storage shelf parts 122 for the movement of the first robot 200 (this may be the third passage 143 in Fig. 9). Thus, the first robot 200 can move along the rack 100 between any two parts 122 of the temporary storage shelf 122 of the temporary storage shelf 120, thereby the moving distance of the first robot 200 can be shortened, and the efficiency of moving the cargo boxes can be improved.

According to one example, each storage shelf portion 122 corresponds to one temporary storage location such that cargo may be placed on each storage shelf portion 122.

According to one embodiment, the width of the temporary storage shelf 120 is less than half the width of the storage shelf 130. For example, as shown in FIG. 1 to 4, the rack 100 may be a two-row rack, the temporary storage shelf 120 may be located in one row of the two-row rack, the horizontal storage shelf 130 may be located from one row of the two-row rack to another row of the two-row rack, and the width of the temporary storage shelf 120 is set less than half the width of the storage shelf 130.

According to this embodiment, since the width of the cargo aisle is larger than the width of the first robot 200, the width of the temporary storage shelf 120 is set to be less than half the width of the storage shelf 130, the width of the first aisle 141 may be larger than the width of the storage shelf 130 to provide a passage, sufficient for the first robot 200 to move loads; and since the width of the storage shelf 130 is twice the width of the temporary storage shelf 120, the storage shelf 130 can store a load slightly larger in size than the dimensions of the temporary storage location.

In fig. 5 is a first schematic diagram of the structure of a storage device according to Embodiment 1 of the present invention. In fig. 6 is a schematic side view according to FIG. 5. As can be seen from Fig. 5 and fig. 6, the storage device 1000 is provided with: a number of racks 100 according to any of the above embodiments; wherein the temporary storage shelves 120 of the racks 100 are used to provide a number of temporary storage locations; a second passage 310 for moving a second robot 300 is formed between adjacent racks 100, and a second robot 300 is used to move cargo between the temporary storage shelf 120 and the storage shelves 130.

Here, the number of racks 100 in the storage device 1000 is provided to be two or more, which is not limited in this embodiment of the present invention.

The second robot 300 may be a robotic cart with a lifting mechanism 320 and an access mechanism 330, or may also be a stacking machine or the like. In an embodiment of the present invention, the type of the second robot 300 is not limited as long as the second robot 300 has the functions of accessing and moving loads.

As can be seen from Fig. 5 to 9, a number of racks 100 may be arranged in vertical rows, horizontal rows, or a matrix. In an embodiment of the present invention, the method for arranging a number of shelves 100 is not limited.

According to this embodiment, a second robot aisle 310 is formed between adjacent racks 100 so that a second robot 300 can move in the second robot aisle 310 to move loads between the temporary storage shelf 120 and the storage shelf 130. For storage in a warehouse, goods that are temporarily stored on the temporary storage shelf 120 are moved to the storage shelf 130, or goods that are stored on the storage shelf 130 are moved to the temporary storage shelf 120 for temporary storage before shipping from the warehouse, which can improve access efficiency. to cargo and the efficiency of warehouse operations with cargo. In addition, the second robot aisle 310 is not the same as the first robot 200, which helps avoid sharing the same aisle between the first robot 200 and the second robot 300, improves the efficiency of interaction between the first robot 200 and the second robot 300, and thereby increase the efficiency of warehouse operations.

According to one embodiment, the storage device 1000 may include: a first robot passage for movement of the first robot 200, wherein the first robot 200 is used to interact with the dual slot 121 via a bifurcated arm 210 of the first robot 200 to access loads on the shelf 120 temporary storage. The first robot aisle may depend on the design of the rack 100 or may be located on the side of the rack 100. The second robot aisle may be located on the other side outside the rack 100 in order to separate the first robot aisle from the second robot aisle to avoid occupation. passage by another robot.

According to this embodiment, forming the first robot aisle and the second robot aisle, respectively, further helps to avoid sharing the same aisle between the first robot 200 and the second robot 300, which can improve the movement efficiency of the first robot 200 and the second robot 300, and thereby increase the efficiency of warehouse operations.

It should be noted that the warehouse device 1000 typically uses a second robot 300 with a lifting mechanism 320 and an access mechanism 330 to move and access loads. However, because the cost of the second robot 300 is relatively high, and the distances between the cargo loading dock 400 and each temporary storage location and each storage location on the rack 100 are relatively large, the cost of cargo warehousing operations per unit time is relatively high. and the efficiency is relatively low.

By forming a second aisle 310 between adjacent racks 100, the storage device 1000 according to this embodiment of the present invention may provide a second robot 300 for moving goods between the temporary storage shelf and the storage shelf, and may be configured to interact with and move the goods on a temporary storage shelf, while the first robot 200 may not have a lifting mechanism, and the cost of the first robot 200 is significantly lower than the cost of the second robot 300. Thus, per one second robot 300, a number of the first robots 200 can be used to interact with access to cargo, this can reduce the cost of warehouse operations with cargo per unit of time and can increase the efficiency of warehouse operations with cargo.

According to one embodiment, as shown in FIG. 9, the temporary storage shelf includes a number of temporary storage shelf parts, and between at least two temporary storage shelf parts, a third passage 143 is formed for the movement of the first robot 200. The width of the third passage 143 may be greater than the width of the temporary storage shelf portion by one, two, or more. three or more times, which is not limited in the present invention. Thus, to form the third passage 143, parts of the temporary storage shelf may be removed from the temporary storage shelves. Thus, in order to improve the efficiency of movement, the first robot 200 can pass through the rack along the third aisle 143.

According to one embodiment, as shown in FIG. 9, a fourth aisle 144 for moving the first robot 200 is formed between two adjacent racks 100, connecting two third aisles 143 or two second aisles 142. Thus, the second robot 200 can move along rack 100 along the third aisle 143 and then move along the fourth aisle 144 to the adjacent rack 100, thereby reducing the movement distance of the first robot 200 and increasing the efficiency of moving goods.

According to one embodiment, the storage device 1000 further includes a loading dock 400 (the loading dock 400 may also be referred to as a loading dock). A second passage 142 for moving the first robot 200 is formed between the temporary storage shelf and racks located on the third outer side of the temporary storage shelf, and a fifth passage 145 for moving the first robot 200 is formed between the loading and unloading platform 400 and the rack 100. Thus, the fifth passage 145 to move the first robot 200 is formed between the loading and unloading platform 400 and the racks located on the fourth outer side of the temporary storage shelf. Thus, the first robot 200 can directly move from the loading and unloading area 400 along the fifth aisle 145 to the first aisle 141 for the first robot 200 in the rack 100, and can quickly reach the temporary storage shelf, thereby increasing the efficiency of interaction.

According to one example, the fifth aisle 145, the first aisle 141, and the second aisle 142/fourth aisle 144 form a first path path for the first robot 200 to travel (the dotted path with arrows in FIG. 9).

According to one example, the cargo access passage 140 under the temporary storage shelf may form a second circuit of aisles (dash-dotted line with arrows in FIG. 9) for the movement of the first robot, along which the first robot 200 travels when not loaded.

According to one example, the first passage for the robot includes a passage 140 for accessing loads and a first passage 141, a second passage 142, a third passage 143, a fourth passage 144 and a fifth passage 145 for the first robot.

According to one example, a second robot passage 310 for a second robot 300 may form a path (dotted line with arrows in FIG. 9) for the movement of the second robot 300.

In the above examples, by organizing the first aisle loop, the second aisle loop, and the second robot 300's walking loop, the first robot 200 and the second robot 300 can prevent the first robot 200 and the second robot 300 from occupying each other's walking aisles, and thereby increase the efficiency of interaction between these robots. . Thus, a number of first robots 200 and a number of second robots 300 can be organized to carry out warehouse operations with goods and thereby increase the efficiency of warehouse operations.

Option 2

In fig. 10A is a first schematic diagram of a rack structure according to Embodiment 2 of the present invention. In fig. 10B is a schematic diagram of the structure of the temporary storage shelf according to FIG. 10A. As can be seen from Fig. 10A and FIG. 10B, the difference between the rack 500 and the rack 100 described above is that the temporary storage shelf 520 includes a crossbar 521 positioned horizontally, and a number of temporary storage elements 522 are spaced apart on the inside of the crossbar 521.

For example, each of the two ends of the crossbar 521 may be attached to a post 510. Thus, the temporary storage elements 522 may be screwed and secured to the inside of the crossbar 521 using bolts and nuts, and the two ends of the crossbar 521 may be screwed and attached to the posts 510 using bolts and nuts. The temporary storage shelf member 522 includes two brackets 522A and a double slot 522B formed between the two brackets 522A. In this case, the temporary storage location 523 can be formed using the temporary storage shelf elements 522. Thus, the two brackets 522A temporary storage elements 522 and the area surrounded by the two brackets 522A temporary storage elements 522 can form a temporary storage location 523, and a double slot 522B is located in the middle of the temporary storage location 523, which can be convenient for interaction with a single bifurcated arm. A number of temporary storage elements 522 may provide a number of temporary storage locations 523. When cargo is temporarily stored on the temporary storage members 522, the two brackets 522A of the temporary storage members 522 jointly support the cargo, such that the cargo is temporarily stored in the temporary storage location 523.

It is preferable that the bracket 522A of the temporary storage elements 522 be made of steel products of rectangular section, so that the strength of the temporary storage elements 522 is sufficient to bear the load and contains fewer consumables, which can reduce manufacturing costs. The double slot 522B between the two brackets 522A can be aligned with a bifurcated arm carrying loads, and to access the load, the bifurcated arm can be directly inserted into the double slot 522B, which helps reduce the number of insertion and lifting operations of the bifurcated arm and improves the speed and efficiency of access cargo.

The storage shelf 530 is positioned at a distance from the temporary storage shelf 520 in a vertical direction along the posts 510, and the storage shelf 530 is used to provide a number of storage locations 533 so as to store cargo for an extended period of time. In this case, the temporary storage shelf 520 can be located at any level of the rack 500. Thus, the temporary storage shelf 520 can be located at the lower level of the rack 500, and the storage shelf 530 is located above the temporary storage shelf 520, which is convenient for temporarily storing cargo at the lower level of the rack 500 A temporary storage shelf 520 may be located at the top level of the rack 500, and a storage shelf 530 is located below the temporary storage shelf 520, which is convenient for temporarily storing cargo at the top level of the rack 500. A temporary storage shelf 520 may be located at the middle level of the rack 500, and the shelves The storage units 530 are located above and below the temporary storage shelf 520, which can improve the efficiency of moving cargo between the temporary storage shelf 520 and the storage shelves 530.

For example, as shown in FIG. 10A and FIG. 10B, storage shelf 530 includes crossbars 531 positioned horizontally and a number of support bars 532 spaced apart on the bars 531, with bars 531 positioned around the outer edge of a number of support bars 532, two short sides of each support bar. 532 is suitably connected to the inner side of the crossbar 531, and each support bar 532 is positioned parallel to adjacent brackets 522A of adjacent temporary storage members 522, and the edges of opposite sides of adjacent support bars 532 and the area formed by them may form a storage location 533. Thus, the middle portion of the storage location 533 is hollow, which helps reduce the weight of the storage shelf 530 and reduce its manufacturing costs.

According to this embodiment, the temporary storage shelf 520 provides a temporary storage section 522 for temporary storage of goods, wherein a double slot 522B that can cooperate with a bifurcated arm is formed between two brackets 522A by temporary storage members 522 so that the bifurcated arm can be directly inserted into a double slot 522B of the temporary storage elements 522, and then directly access the goods on the temporary storage shelf 520, while avoiding the insertion and lifting operation of the extended bifurcated arm to the rack 500 and increasing the efficiency of accessing the goods. In addition, the temporary storage shelf 520 can store goods temporarily, and the storage location provided by the storage shelf 530 can store goods for a long time, which is convenient for the interaction of the temporary storage shelf 520 and the storage shelf 530 to improve the efficiency of warehouse operations with cargo.

According to one embodiment, the racks 510 may be positioned at the top corner locations of temporary storage shelves 520 and storage shelves 530, or may be positioned at the edges of temporary storage shelves 520 and storage shelves 530. The locations of the posts 510 are not limited in the present specification. The temporary storage shelf 520 and the storage shelf 530 may be screwed and secured to the posts 510 using bolts and nuts.

According to one embodiment, as shown in FIG. 10B, the inner side of the crossbar 521 is rigidly attached to the first end of the bracket 522A; the temporary storage member 522 further provides a number of wing-shaped strips 522C, each wing-shaped strip 522C being attached to the inside of the crossbar 521 and the inside of each bracket 522A, respectively. Thus, the strength of the connection between the bracket 522A and the crossbar 521 can be increased.

In particular, as shown in FIG. 10B and 10C, the crossbar 521 has an L-shaped cross-section, the crossbar 521 includes a horizontal crossbar portion 521A and a vertical crossbar portion 521B, and the outer side of the vertical crossbar portion 521B is set as the outer side of the crossbar 521, the inner side of the vertical crossbar portion 521B is set as the inner side. crossbars 521, the horizontal crossbar portion 521A is mounted on the inner side of the vertical crossbar portion 521B, and the first end of the bracket 522A may be rigidly connected to the horizontal crossbar portion 521A. The end surface of the first end of the bracket 522A may be rigidly connected to the outer side of the vertical crossbar portion 521B, and the wing-shaped bar 522C is suitably attached between the outer side of the vertical crossbar portion 521B and the inner side of the bracket 522A.

In addition, on the top and inner side of the vertical crossbar portion 521B, a protrusion 521C is formed so that the vertical crossbar portion 521B and the horizontal crossbar portion 521A can together form a clamping groove (not shown in the drawings) of the crossbar 521, so that the first end of the bracket 522A is fixed in the clamping groove groove of the crossbar 521, which helps to increase the strength of the connection between the bracket 522A and the crossbar 521.

In one embodiment, the wing bar 522C is shaped like a right triangle, the first leg of the wing bar 522C is positioned along the inside of the crossbar 521, and the second leg of the wing bar 522C is located along the inside of the bracket 522A. Thus, the first leg of the wing bar 522C may be positioned along the inside of the vertical crossbar portion 521B, and the first leg of the wing bar 522C may also be secured in the clamp groove of the crossbar 521.

According to one example, the length of the first leg of the wing bar 522C may be less than the length of the second leg, such that the width of the wing bar 522C is smaller and the width of the wing bar 522C gradually decreases along the first end of the bracket 522A toward the middle portion of the bracket 522A, such that the wing bar 522C does not interfere with the operation of the bifurcated manipulator.

Based on this, because the wing bar 522C is a right triangle, the stability of the connection between the wing bar 522C and the crossbar 521 can be improved.

According to one embodiment, the temporary storage shelf 520 may further provide a number of fastening strips 522D, each fastening strip 522D is respectively attached between adjacent temporary storage members 522 and attached to the inside of the crossbar 521. This may not only improve the strength of the connection between the temporary storage section 522 and crossbar 521, but also increase the stability of the temporary storage elements 522, thereby increasing the stability of the temporary storage shelf 520.

Specifically, the fastening bar 522D is rectangular, the long side of the fastening bar 522D is taken to be a side portion of the fastening bar 522D, the short side of the fastening bar 522D is taken to be the end of the fastening bar 522D, and the two sides of the fastening bar 522D can be attached between the outer sides of adjacent brackets 522A of adjacent members 522. temporary storage. One end of the fastening bar 522D is attached to the inner side of the vertical beam portion 521B, the outer end of the fastening bar 522D is provided with a relief groove 524, and the groove width of the relief groove 524 is gradually increased from the base of the groove to the groove. Here, the groove base of the relief groove 524 represents the side of the relief groove 524 closest to the crossbar 521, and the groove of the relief groove 524 represents the side of the relief groove 524 farthest from the crossbar 521.

According to one embodiment, as shown in FIG. 10B and FIG. 10C, the temporary storage shelf 520 may further include a number of wedge-shaped strips 522E. Each wedge strip 522E is suitably attached between adjacent temporary storage members 522, and the wedge strip 522E is positioned near the second end of the bracket 522A. Thus, the wedge-shaped strip 522E is attached between the outer sides of adjacent brackets 522A of adjacent temporary storage members 522 so that the joint strength between adjacent brackets 522A of adjacent temporary storage members 522 can be enhanced, which is useful for increasing the load-bearing capacity of the temporary storage members 522.

According to one embodiment, as shown in FIG. from 10A to fig. 10C, the rack 500 may further include two support bars 540, each of the support bars 540 is attached to the end of the bar 521 and is located between the bracket 522A located at the end of the bar 521 and the posts 510. Thus, the strength of the bracket 522A at the end of the bar can be increased. 521 and may also increase the stability of the bracket 522A. Thus, the support bar 540 may be in the shape of a rectangular trapezoid, the right-angle side of the support bar 540 is attached to the inside of the end of the crossbar 521, the short base of the support bar 540 is attached to the outside of the bracket 522A located at the end of the crossbar 521, and the long base support bar 540 is attached to posts 510; the length of the bracket 522A may be less than the length of the long base of the support bar 540.

According to one embodiment, as shown in FIG. 10A and FIG. 10B, a cargo access passage 550 for accommodating the first robot is formed under the temporary storage shelf 520; When cargo is being accessed and the first robot is in the cargo access passage 550, the dual slot 522B cooperates with the first robot's dual arm to access the cargo. Specifically, when storing cargo (see FIG. 12C), the first robot aligns the bifurcated arm with the dual slot 522B on the first outer side of the temporary storage shelf 520 and moves along the cargo access aisle 550, such that the bifurcated arm fits directly into the dual slot. 522B and the loads are placed on the temporary storage shelf 520, and then the bifurcated arm is lowered down so that the box with the load remains on the temporary storage shelf 520; and in the case where the goods are picked up, the first robot moves to the underside of the goods access aisle 550, aligns the bifurcated arm 520 with the dual slot 522B under the temporary storage shelf 520 and lifts the forked arm to lift the cargo box, and then moves towards from the first outer side of the temporary storage shelf 520 in order to leave the cargo access aisle 550 and pick up the cargo box. In this way, the first robot can directly pick up cargo without stopping movement or stopping movement for a short time, while eliminating the actions to control the extension of the robot arm to the shelf, which can improve the efficiency of access to the box with cargo, while access and removal is carried out under the temporary shelf 520 storage, allowing efficient use of 500 rack space.

According to one embodiment, the cargo access passage 550 may be used to move the first robot when the first robot is not loaded. According to one example, in the case where the first robot is not loaded (namely, the first robot is not loaded with cargo), the first robot can move directly in the cargo access channel 550, which can improve the efficiency of moving cargo.

In fig. 11 is a second schematic diagram of a rack structure according to Embodiment 2 of the present invention. As can be seen from Fig. 11, the difference between the rack 500 and the above embodiment is that the racks 110 are located on the outer edge of the storage shelf 130, and the first passage 610 for the movement of the first robot is formed between the temporary storage shelf 520 and the racks 510 located on the first outer side of the shelf. 520 temporary storage. In this case, the first robot may be an Automated Guided Vehicle (AGV) with a bifurcated manipulator, and the bifurcated manipulator of the first robot may be located on the top of the first robot and may also be located on the side of the first robot. In the embodiment of the present invention, the method of arranging the bifurcated arm of the first robot is not limited.

According to one example, in the case where the temporary storage shelf 520 is located at the bottom level of the racks 510, the temporary storage shelf 520, the racks 510 lateral to the double slot of the temporary storage shelf 520, and the floor may form a first passage 610 for the movement of the first robot.

According to one example, in the case where the temporary storage shelf 520 is not located on the lower level of the racks 510, but on other levels, the temporary storage shelf, racks 510 located on the first outer side of the temporary storage shelf 520 and the storage shelf 530 located on the next level below the level at which the temporary storage shelf 520 is located, a first passage 610 may be formed for the movement of the first robot.

According to this embodiment, a first passage 610 for the movement of the first robot is formed between the temporary storage shelf 520 and the racks 510 located on the first outer side of the temporary storage shelf 520, so that the first robot can move at any level of the rack 500, which is convenient for the interaction of the first robot. with temporary storage shelf 520 and avoids occupying the aisle outside the rack 500.

According to one embodiment, the width of the temporary storage shelf 520 is less than half the width of the storage shelf 530. Thus, the rack 500 may be a two-row rack 500, the temporary storage shelf 520 may be located on one row of the two-row rack 500, the horizontal storage shelf 530 may be located from one row of the two-row rack 500 to another row of the two-row rack 500, and the width of the temporary shelf 520 storage is set to less than half the width of the storage shelf 530. The temporary storage shelf 520 may be used to temporarily store goods for a short time, and the storage shelf 530 may be used to store goods for a long time. The width of the temporary storage shelf 520 is set to be less than half the length of the storage shelf 530, and therefore the temporary storage shelf 520 can store one row of cargo, and the storage shelf 530 can store two rows of cargo, which is suitable for temporary storage and storage of cargo. In addition, since the width of the storage shelf 530 is greater than twice the width of the temporary storage shelf 520, the storage shelf 530 can store cargo that is slightly larger than the dimensions of the temporary storage location 523. In addition, the width of the temporary storage shelf 520 is set to be less than half the width of the storage shelf 530, which is also convenient for forming the first aisle 610 for moving the first robot between the first outer side of the temporary storage shelf 520 and the racks 510, so that the width of the first aisle 610 is greater than the width temporary storage shelves 520 to provide a passage width sufficient for the first robot to move loads.

In fig. 12A is a third schematic diagram of a rack structure according to Embodiment 2 of the present invention. As can be seen from Fig. 12A and FIG. 12B, the difference between the rack 500 and the embodiment above is that the temporary storage location 523 on the temporary storage shelf 520 is formed by the adjacent brackets 522A of the adjacent temporary storage members 522 and the area enclosed by them. Dual slots 522 B of temporary storage shelves 520 are positioned on either side of the temporary storage location 523 may be convenient for interacting with the first robot, which is equipped with two bifurcated arms. In particular, as shown in FIG. from 12A to fig. 12C, in the case of temporary storage of goods, the first robot 700 aligns the two bifurcated arms 701 with respect to the dual slots 522B on both sides of the temporary storage location 523 on the first outer side of the temporary storage shelf 520 such that the two bifurcated arms 701 are directly inserted into the two to access the cargo. double slots 522V.

According to one embodiment, to support the crossbar 521, a support post 710 is further provided in the middle of the crossbar 521 of the temporary storage shelf 520.

According to one embodiment, as shown in FIG. 12B, at the top and bottom of both ends of the crossbar 521, the temporary storage shelves 520 may further provide mounting plates 720 so that the crossbar 521 can be secured to the post 510 by the mounting plates 720 to improve the strength of the attachment of the crossbar 521 to the post 510. At this time, the mounting plate 720 may be shaped like a right triangle, the first leg of the mounting plate 720 is attached to the side of the crossbar 521 and the edge of the second leg of the mounting plate 720 is screwed and secured to the post 510 using bolts and nuts.

As can be seen from Fig. 13A and FIG. 13B, the present specification further provides a storage device 800, which may include: a number of racks 500 according to any of the above embodiments; and a second passage 810 for moving a second robot that is formed between adjacent racks 500. The second robot is used to move goods between the temporary storage shelf 520 and the storage shelf 530.

Here, the number of racks 500 in the storage device 800 is provided to be two or more, and the number of racks 500 in the storage device 800 is not limited in this embodiment of the present invention.

The second robot may be an automated control cart with a lifting and access mechanism, or may also be a stacking machine or the like. In an embodiment of the present invention, the type of the second robot is not limited as long as the second robot has the functions of accessing and moving loads.

A number of racks 500 may be arranged in vertical rows (as shown in FIG. 13A), arranged in horizontal rows (as shown in FIG. 13B, a second robot aisle may be located on the side of the rung of temporary storage shelves 520 on racks 500), or can be arranged in a matrix. In an embodiment of the present invention, the method for arranging a number of racks 500 is not limited.

According to this embodiment, a second robot aisle 810 is formed between adjacent racks 500 such that a second robot can move in the second robot aisle 810 to move loads between the temporary storage shelf 520 and the storage shelf 530. Cargoes that are temporarily stored on the temporary storage shelf 520 are moved to the storage shelf 530 for the purpose of storage in the warehouse after receipt, or cargo that is stored on the storage shelf 530 are moved to the temporary storage shelf 520 for the purpose of temporary storage before shipping from the warehouse, which can improve access efficiency and efficiency of warehouse operations; In addition, the second robot aisle 810 does not coincide with the first robot's travel aisle, which avoids sharing the same aisle between the first robot and the second robot, improves the efficiency of interaction between the first robot and the second robot, and thereby improves the efficiency of warehouse operations.

Option 3

This embodiment of the present invention further provides a method for managing warehouse receipts, which device may be applied to the temporary storage shelf 120, rack 100, and storage device 1000 according to any implementation of the above embodiment 1 or the storage device 800 according to any implementation of embodiment 2. According to Embodiment 3, the storage device 1000 is used as an example for description.

In fig. 14 is a flowchart of a warehouse receipt control method according to Embodiment 3 of the present invention. As can be seen from Fig. 14, the warehouse receipt control method may include steps S1001 to S1003.

In step S1001, a predetermined temporary storage location is determined according to a predetermined storage location of a predetermined cargo.

At step S1002, the first robot is commanded to move a predetermined load to a predetermined location for temporary storage.

In step S1003, in case of receiving a signal from the first robot to complete the movement, the second robot is commanded to move a predetermined load from a predetermined temporary storage location to a predetermined storage location, wherein the predetermined storage location and the predetermined temporary storage location are at different levels. .

In this case, as can be seen from Fig. 1 of embodiment 1, as shown in FIG. 1, the temporary storage location may be located on a temporary storage shelf 120 of the rack 100. The storage location may be located on the storage shelf 130 of the rack. The temporary storage location and the storage location may be located at different levels of the same rack 100, or may also be located at different levels of adjacent racks. The temporary storage location and the storage location can be adjusted and selected according to actual needs, and in embodiments of the present invention, the arrangement method of the temporary storage location and the storage location is not limited.

The predetermined storage location of the predetermined cargo may be determined according to the type of the predetermined cargo. Thus, in the case where the type of a given cargo is the type of cargo in greatest demand, the storage location with the shortest travel time may be designated as the target storage location for that given cargo. Thus, in the case where the temporary storage location is organized at the bottom level of the rack, the storage location with the shortest travel time is the storage location closest to the loading and unloading area, at a level located above and adjacent to the level on which the temporary storage location is located . Thus, the corresponding storage location with the shortest access time can be determined as a predetermined storage location according to the level of demand for a given cargo.

According to one example, since a given temporary storage location may temporarily store a given load, a second robot may be immediately commanded to move a given load from a given temporary storage location to a given storage location when a signal is received from the first robot that the movement is complete. , or the second robot may be commanded to move a given load from a given temporary storage location to a given storage location after the second robot has completed other actions. In this way, the first robot and the second robot can use the temporary storage location to independently move a given load, and the first robot and the second robot can move highly efficiently without the need for direct interaction to move the given load, which improves the efficiency of goods entering the warehouse.

In one example, according to a method for managing warehouse operations, predetermined storage locations may be respectively determined for predetermined storage locations of a number of predetermined loads, and a number of first robots are commanded to accordingly move the number of predetermined loads to the respective predetermined storage locations. Upon receipt of movement completion signals sent by a number of the first robots, the second robot is commanded to move a number of predetermined loads from respective predetermined temporary storage locations to respectively predetermined respective storage locations.

According to a warehouse operation management method according to an embodiment of the present invention, a predetermined temporary storage location is determined based on a predetermined storage location of a given cargo, and the first robot is commanded to move the predetermined cargo for temporary storage to the predetermined temporary storage location, and the second robot is commanded to move the specified cargo from the temporary storage location, respectively, to the given storage location, so as to divide the ground movement of the given cargo between the temporary storage location and the storage location, so that the first robot can independently perform ground movement of the given cargo, and the second robot can independently perform the ground movement of the given cargo between the temporary storage location storage and storage location. For a given load, the first robot does not need to directly interact with the second robot, which avoids the situation where the first robot and the second robot wait for each other, and this helps to improve the efficiency of goods receipt into the warehouse.

According to one embodiment, the speed of movement of the first robot may exceed the speed of movement of the second robot.

In warehouse inventory management, because the first robot typically moves given loads from a loading dock to a given location for temporary storage on a rack, the second robot typically moves given loads from a given storage location to a given storage location on one side of the rack, and the distance between the loading and unloading platform and the rack is significantly greater than the length of the rack, then by providing the speed of movement of the first robot, which is greater than the speed of movement of the second robot, the number of specified loads moved by the first robot to a given temporary storage location can be coordinated with the number of specified loads moved by the second robot from a predetermined temporary storage location, thereby matching the moving efficiency of the first robot with the moving efficiency of the second robot, thereby increasing the efficiency of receipt of specified goods into the warehouse.

According to one example, in order to improve the efficiency of the arrival of given goods into a warehouse, this method of controlling the arrival of a warehouse may further include a number of first robots interacting with a second robot, such that the movement efficiency of the number of first robots matches the movement efficiency of the second robot; or provide a number of second robots such that the movement efficiency of the number of first robots matches the movement efficiency of the number of second robots. The number of the first robots and the number of the second robots can be adjusted and selected according to actual needs, which is not limited in this embodiment of the present invention.

For example, as shown in FIG. 15, step S1001 of determining a predetermined temporary storage location according to the predetermined storage location may include steps S1101 to S1105.

At step S1101, the first free location closest to the specified storage location is determined.

At step S1102, the first robot is commanded to move to the first free temporary storage location.

In step S1103, the occupancy status of each temporary storage location during the movement of the first robot is updated based on a predetermined time interval.

At step S1104, in the case where the travel time of the first robot to the first free temporary storage location is longer than the first predetermined time threshold, the presence of a second free temporary storage location closest to the predetermined storage location is determined according to the updated occupancy status of each temporary storage location.

In step S1105, if there is a second free temporary storage location, the second free temporary storage location is determined as a predetermined second free temporary storage location.

For example, as shown in FIG. 1, in the case where the temporary storage location provided by the temporary storage shelf portion 122 below a given temporary storage location provided by the storage shelf portion 131 is occupied, the temporary storage location provided by the temporary storage shelf portion 123, or the temporary storage location provided by the shelf portion 124 temporary storage in a rack adjacent to a given storage shelf portion 131 may be determined to be a first free temporary storage location, and the first robot is commanded to move toward the first free temporary storage location. If, during the movement of the first robot, the status of the temporary storage location provided by the temporary storage shelf portion 122 is updated as free, and the time required for the first robot to move to the first free temporary storage location is greater than the first predetermined time threshold, the temporary storage location, provided by the temporary storage shelf portion 122 is determined as a second free temporary storage location and set as a predetermined temporary storage location. In this manner, the predetermined temporary storage location can be dynamically adjusted during the movement of the first robot, so that the moving distance between the predetermined temporary storage location and the predetermined storage location is less than the moving distance between the first free temporary storage location and the predetermined temporary storage location, which can shorten the moving distance specified cargo and increase the efficiency of cargo receipt at the warehouse.

It should be noted that storage locations on either side of an aisle between adjacent racks may be shared among a number of temporary storage locations, that is, a given storage location and a given temporary storage location may be respectively located on two adjacent racks. For example, as shown in FIG. 16, in the case where a predetermined storage location is located above or below a fifth temporary storage location 415 on the first rack 410, the first free temporary storage location may be a fifth temporary storage location 415 on the first rack 410, and may also be a fifth temporary storage location 425. storage on the second rack 420. Thus, storage locations located on either side of the second robot aisle 440 can share a temporary storage location on the first rack 410.

Here, updating the state of the temporary storage location below the specified storage location as free may be caused by the second robot picking up the goods that were temporarily stored in this temporary storage location.

According to one embodiment, if there is no second free temporary storage location, the first free temporary storage location is determined as a predetermined temporary storage location. Thus, the predetermined temporary storage location can be determined directly according to the predetermined storage location.

According to one embodiment, the command to the first robot to move a given load to a given temporary storage location includes:

determining a first travel path along a given first robot aisle according to location information between the first robot and a predetermined temporary storage location, wherein the first robot aisle includes a first passage located on a first outer side of the temporary storage level on which the predetermined temporary storage location is located, and the first passage is located in the vertical projection area of the storage shelf on which the predetermined storage location is located; And

instructing the first robot to move to the bottom of the predetermined temporary storage location along the first movement route.

For example, as shown in FIG. 16, FIG. 16 contains a schematic diagram of a scenario for warehouse operations management methods according to embodiments of the present invention, wherein the arrow line segment denotes a first aisle 430 located on a first outer side of a temporary storage shelf on which a predetermined location is located. temporary storage (see first passage 141 in Fig. 4). In the case where the predetermined temporary storage location is a fifth temporary storage location 415 on the first shelf 410, a first travel path 431 is determined in the first passage 430, and the first robot 200 is commanded to move to the bottom of the fifth temporary storage location 415 along the first travel path 431 . Thus, the first robot 200 may move in a given first aisle 430 so that the first robot 200 does not occupy the aisle of the second robot 300, in order to increase the efficiency of movement of the first robot 200 and the second robot 300 relative to each other, and thereby increase the efficiency of receipt of the warehouse.

According to one embodiment, a command to the second robot to move a given load from a given temporary temporary storage location to a given temporary storage location includes:

determining a second travel route along a given second aisle for the robot according to information about the location of the second robot relative to a predetermined temporary storage location, where the second aisle for the robots is located outside the elevation region; And

command the second robot to move to the side of the specified temporary storage location along the second movement route.

For example, as shown in FIG. 16, the second robot passage 440 (dotted line with arrows) can be located outside the vertical projection of the rack. In the case where the second robot 300 is located at the side of the second temporary storage location 412 on the first rack 410, the second moving path 441 between the side of the second temporary storage location 412 and the side of the fifth temporary storage location 415 is determined according to the location information of the second robot 300 relative to the predetermined temporary storage location. storage (namely, the fifth temporary storage location 415), and the second robot 300 is commanded to move along the second travel path 441 to the side of the fifth temporary storage location 415 so as to pick up a given load from the fifth temporary storage location 415.

According to one embodiment, the second passage is formed on the third outer side or fourth outer side of the temporary storage shelf. The temporary storage shelf includes a number of temporary storage shelf portions to provide temporary storage locations, a third aisle is formed between at least two portions of the temporary storage shelf, and a first robot aisle includes a second aisle and a third aisle.

For example, as shown in FIG. 16, there is a third passage (not marked in the figure) between the fifth temporary storage location 415 and the sixth pregnant storage location 41 on the first rack 410, and also between the eighth temporary storage location 418 and the ninth temporary storage location 419 on the first rack 410, and then the first the robot 200 may determine a travel route along the third passage and plan a shorter travel route for the first robot 200, increasing the efficiency of the first robot 200's movement.

According to one embodiment, the first robot aisle includes a cargo access aisle located below the temporary storage shelf, and the method further includes: determining an unloaded travel route from the first robot aisle when the first robot is not loaded; and command the first robot to move along the movement route without load.

For example, as shown in FIG. 23, the passage for the first robot includes a cargo access passage 450 located below the temporary storage shelf (which may be the cargo access passage 140 on the rack 100 in FIG. 1), namely, the dotted line with the arrow in FIG. 1. In the case where the first robot 430 is not loaded (namely, the first robot is not moving loads), the first robot can move along the first aisle 430, the second aisle and the aisle 450 to access loads.

An embodiment of the present invention further provides a warehouse shipping control method that can be applied to a warehouse device 1000 according to any implementation in the above-mentioned Embodiment 1 or a warehouse device 800 according to any implementation in the above-mentioned Embodiment 2. According to Embodiment 3, the storage device 1000 is used as an example for description.

In fig. 17 is a schematic diagram of a warehouse shipping method according to Embodiment 3 of the present invention. As can be seen from Fig. 17, the method for managing warehouse shipping operations may include steps S1301 to S1304:

At step S1301, the second robot is commanded to move a predetermined load from the current storage location.

In step S1302, a predetermined temporary storage location is determined according to the location of the second robot, wherein the current storage location and the predetermined temporary storage location are located at different levels.

At step S1303, the second robot is commanded to move a predetermined load to a predetermined temporary storage location.

At step S1304, in case of receiving a signal from the second robot to complete the movement, the first robot is commanded to move a predetermined load from a predetermined temporary storage location.

Here, the method for specifying the temporary storage location and storage location in the warehouse shipping control method may be the same as the method for specifying the temporary storage location and storage location in the warehouse receipt control method, and the method for specifying the temporary storage location and storage location hereinafter does not repeat.

The current storage location of a given cargo may be determined according to the identification data of the given cargo in the list of shipments from the warehouse. For example, a table of mutual correspondence between the current storage location of a given cargo and the identification data of the given cargo can be stored in advance. In the case where the identification of a given cargo is obtained from a warehouse shipment list, the current storage location of the given cargo may be queried from the cross-match table. The current storage location of a given cargo may also be determined by other methods, and in this embodiment of the present invention, the method for determining the current storage location of a given cargo is not limited.

According to one example, since a given cargo may be temporarily stored at a given temporary storage location, when a signal is received from the second robot to complete the move, the first robot may be immediately commanded to move the given cargo from the given temporary storage location, or the first robot may also command the movement of a specified load from a specified temporary storage location after the first robot has completed other operations. Thus, the first robot and the second robot can use the temporary storage location to independently move a given load, and the first robot and the second robot can move highly efficiently without the need for direct interaction to move the given load, which improves the efficiency of shipping goods from the warehouse.

In one example, according to a method for controlling shipment from a warehouse, a second robot may be commanded to move a number of predetermined loads, respectively, from current storage locations of a number of predetermined items, and according to the location of the second robot, corresponding predetermined temporary storage locations are correspondingly determined and the second robot is commanded to move specified cargo to the corresponding specified temporary storage location. In this manner, a number of predetermined loads may be moved to appropriate predetermined temporary storage locations.

According to the warehouse shipping control method of an embodiment of the present invention, a predetermined temporary storage location is determined based on the location of the second robot, and the second robot is commanded to move a predetermined cargo to a predetermined temporary storage location, and the first robot is correspondingly commanded to move a predetermined cargo from a predetermined storage location. temporary storage location to separate the movement of a given load between the temporary storage location and the storage location from the ground movement of the given load, so that the second robot can independently complete the movement of the given load between the storage location and the temporary storage location, and the first robot can independently complete the movement of the specified load from temporary storage locations. For a given load, the first robot does not need to directly interact with the second robot, which avoids the situation where the first robot and the second robot wait for each other, and this helps to improve the efficiency of loading goods from the warehouse.

It should be noted that a robot with a lifting mechanism and access mechanism is typically used in warehouse management methods for the purpose of moving goods and accessing goods; however, due to the high cost of such a robot and the relatively large distances between the cargo loading area and each temporary storage location and each rack storage location, the cost of cargo warehousing operations per unit time is relatively high and the efficiency is relatively low.

According to methods for managing warehouse operations of embodiments of the present invention, the ground movement of specified loads is separated from the movement of specified loads between a temporary storage location and a storage location so that the first robot can focus on completing the ground movement of specified loads and the second robot can focus on completing the movement of specified loads between the temporary storage location and the storage location, wherein the first robot may not have a lifting mechanism and the cost of the first robot is significantly lower than the cost of the second robot. Thus, one second robot can be used to directly interact with a number of first robots to manage warehouse operations for given loads, this can reduce the cost of warehouse operations for given loads per unit time and can increase the efficiency of warehouse operations and the capacity of warehouses for shipping and cargo receipts.

According to one embodiment, the speed of movement of the first robot is higher than the speed of movement of the second robot.

Because when managing a shipment from a warehouse, the first robot typically moves a given load from a given temporary storage location on the rack side to the loading and unloading area, and the second robot usually moves a given load from the current storage location to a given temporary storage location on the side of the rack, and the distance between loading and unloading unloading platform and rack is significantly greater than the length of the rack, then by providing a speed of movement of the first robot, which is greater than the speed of movement of the second robot, the number of specified loads moved by the second robot to a given temporary storage location can be coordinated with the number of specified loads moved by the first robot from a given temporary storage location storage, thus the efficiency of movement of the second robot is coordinated with the efficiency of movement of the second robot, thereby increasing the efficiency of loading specified goods from the warehouse.

In one example, the method of managing warehouse receipts may also allow a number of first robots to interact with a second robot to coordinate the shipment flow of specified temporary storage items with the storage flow.

According to one embodiment, as shown in FIG. 18, step S1302 of determining a predetermined temporary storage location according to the location of the second robot may include steps S1401 to S1405.

In step S1401, a first free location closest to the second robot's location is determined.

At step S1402, the second robot is commanded to move to the first free temporary storage location.

In step S1403, while the second robot is moving, the occupancy status of each temporary storage location is updated based on a predetermined time interval.

At step S1404, in the case where the travel time of the second robot to the first free temporary storage location is longer than the second predetermined time threshold, the presence of a second free temporary storage location closest to the second robot is determined according to the updated occupancy status of each temporary storage location.

In step S1405, if there is a second free temporary storage location, the second free temporary storage location is determined as a predetermined second free temporary storage location.

For example, as shown in FIG. 16, in the case where the second robot 300 is located on one side of the second temporary storage location 412 on the first rack 410, the fifth temporary storage location 415 on the first rack 410 may be defined as the first free temporary storage location for the second robot 300; if the occupied state of the fourth temporary storage location 414 on the first rack 410 is updated to the free state during the movement of the second robot 300 to the first free temporary storage location, in the case where the travel time of the second robot 300 to the fifth temporary storage location 415 is greater than the second predetermined threshold time, the fourth temporary storage location 414 is defined as the second free temporary storage location closest to the second robot 300, and is defined as a predetermined temporary storage location. Thus, while specified cargo is moved by the second robot 300, the storage location may be dynamically adjusted to shorten the moving distance of the second robot 300 and improve the efficiency of shipping cargo from the warehouse.

Here, updating the state of the temporary storage location below the predetermined storage location as free may be caused by the first robot moving goods that were temporarily stored in this temporary storage location.

According to one embodiment, if there is no second free temporary storage location, the first free temporary storage location is determined as a given temporary storage location for the purpose of directly determining the given temporary storage location.

According to one embodiment, the command to the first robot to move a given load from a given temporary storage location includes:

determining a retrieval route along a predetermined first robot aisle according to location information between the first robot and a predetermined temporary storage location, wherein the first robot aisle includes a first aisle located on a first outer side of the temporary storage level on which the predetermined temporary storage location is located, and a first the passage is located in the vertical projection area of the storage shelf on which the specified storage location is located; And

instructing the first robot to move to the bottom of the predetermined temporary storage location along the retrieval route.

For example, as shown in FIG. 16, in the case where the first robot 200 is located at a location adjacent to the eighth temporary storage location 428 in the first aisle of the second rack 420, and the temporary storage location is a fifth temporary storage location 425 on the second rack 420, a retrieval route 432 between the first robot 200 and the fifth temporary storage location 425 on the second rack 420 is determined according to the location information between the first robot 200 and a predetermined temporary storage location (namely, the fifth temporary storage location 425 on the second rack), and the first robot 200 is commanded to move along the retrieval path 432 to the bottom side of the temporary storage location (namely, the fifth temporary storage location 425 on the second rack) for the purpose of moving a given load from a given temporary storage location.

In fig. 19 is a block diagram of a warehouse system according to Embodiment 3 of the present invention. As can be seen from Fig. 19 and fig. 20, the warehouse system provides: storage device 1000; a control device 1710 that includes a processor 1712 and a memory 1711, wherein the memory 1711 stores instructions, and when the instructions are loaded and executed by the processor 1712, the method according to any of the above-mentioned embodiments is carried out; a first robot 200 moving along the first robot aisle and having a bifurcated arm interacting with the dual slot; and a second robot 300 moving along the second robot aisle.

According to one embodiment, the speed of movement of the first robot 200 is higher than the speed of movement of the second robot 300.

In fig. 20 is a block diagram of a control device according to Embodiment 3 of the present invention. As can be seen from Fig. 20, the control device 1710 includes a storage device 1711 and a processor 1712, wherein a computer program executed on the processor 1712 is stored in the storage device 1711. When executing the computer program, the processor 1712 executes a warehouse receipt control method and a warehouse shipping control method according to the above-mentioned embodiments. . One or more memories 1711 and processors 1712 may be provided.

The control device further includes: a communication interface 1713, which is used to exchange information with an external device and perform interactive data transfer.

If the memory 1711, processor 1712, and communication interface 1713 are implemented independently, the memory 1711, processor 1712, and communication interface 1713 may be connected to each other, and they may communicate with each other via a bus. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may include an address bus, a data bus, a control bus, and the like. For ease of presentation of the tire in FIG. 20 shows only one thick line, but this does not mean that only one tire is provided or that only one type of tire is used.

Optionally, if memory 1711, processor 1712, and communications interface 1713 are integrated on a single chip, memory 1711, processor 1712, and communications interface 1713 can communicate with each other via an internal interface.

The above processor may be a central processing unit (CPU), and may also include other general purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, a circuit-based device discrete components or transistor logic circuits, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. It should be noted that the processor may be a processor that supports an advanced reduced instruction set computer (ARM) architecture.

Optionally, the above storage device may be provided with a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program that is required for at least one function; and in the data storage area can store data created in accordance with the use of a control device or the like. In addition, the storage may include high speed random access memory and may further include non-volatile storage, such as at least one disk storage, flash memory, or other non-volatile solid state storage devices. In some embodiments, the storage device optionally includes data storage located remotely to the processor, and these remote storage devices may be connected to the control device via a network. Examples of the network mentioned above include, but are not limited to, the Internet, an intranet, a local area network, a mobile phone network, and combinations thereof. Embodiment 4

Thus, an embodiment of the present invention further provides a warehouse receipt control device, which device can be applied to the temporary storage shelf 120, rack 100, and storage device 1000 according to any implementation of the above Embodiment 1 or the storage device 800 according to any implementation of Embodiment 2.

In fig. 21 is a schematic diagram of a warehouse receipt control device according to Embodiment 4 of the present invention. As can be seen from Fig. 21, the warehouse arrival control device 1800 may include: a first determination module 1810, which may be configured to determine a predetermined temporary storage location according to a storage location of a predetermined cargo; a first command module 1820, which may be configured to issue commands to the first robot to move a specified load to a specified temporary storage location: and a second command module 1830, which may be configured to issue a command when a move completion signal sent by the first robot is received a second robot to move a given load from a given temporary storage location to a storage location, wherein the given storage location and the given temporary storage location are located at different levels

According to one embodiment, the speed of movement of the first robot exceeds the speed of movement of the second robot.

According to one embodiment, the first determination module 1810 may include: a first determination block that may be configured to determine a first free temporary storage location closest to a given storage location; a first instruction block that may be configured to instruct the first robot to move toward the first available temporary storage location; a first update unit that may be configured to update the occupancy status of each temporary storage location during the movement of the first robot based on a predetermined time interval; a second determination unit, which may be configured to determine the presence of a second free temporary storage location closest to the predetermined storage location according to the updated occupancy status of each temporary storage location, in the case where the travel time of the first robot to the first location is greater than a predetermined time threshold; and a third determining unit, which may be configured to determine the second free temporary storage location as a predetermined temporary storage location in a case where there is a second free temporary storage location; and defining the first free temporary storage location as a predetermined temporary storage location in the case where there is no second free storage location.

According to one embodiment, the first instruction module 1820 may include: a fourth determination unit, which may be configured to determine a first travel path along a given first robot aisle according to location information between the first robot and a predetermined temporary storage location, where the first robot aisle provides a first aisle located on one side of the temporary storage level on which the predetermined temporary storage location is located, and the first aisle located in the vertical projection area of the storage shelf on which the predetermined storage location is located; and a second command block that may be configured to instruct the first robot to move to the underside of the predetermined temporary storage location along the first travel route.

According to one embodiment, the first robot passage provides a cargo access passage located below the level of the temporary storage shelf; and the device further provides: a second determination module designed to determine the route of movement without load from the first passage for the robots in the case when the first robot is not loaded; and a third command module, designed to issue a command to the first robot to move along the movement route without a load.

According to one embodiment, the second command module 1830 may include: a fifth determination unit, which may be configured to determine a second travel route from a given second robot aisle according to information about the location of the second robot and a predetermined storage location, wherein the second robot aisle is located behind outside the vertical projection area; and a third command block that may be configured to command the second robot to move to the side of the predetermined temporary storage location along the second travel route.

According to one embodiment, the second passage is formed on the third outer side or fourth outer side of the temporary storage shelf. The temporary storage shelf is formed from a number of temporary storage shelf parts that are used to provide temporary storage locations, a third aisle is formed between at least two parts of the temporary storage shelf, and the first robot aisle includes a second aisle and a third aisle.

Thus, an embodiment of the present invention further provides a warehouse shipping control device that can be applied to the warehouse device 1000 according to any implementation of the above Embodiment 1 or the warehouse device 800 according to any implementation of Embodiment 2.

In fig. 22 is a schematic diagram of a warehouse shipping control device according to Embodiment 4 of the present invention. The warehouse shipping control device may be applied to the temporary storage shelf 120, the rack 100, and the storage device 1000 according to any implementation of the above embodiment 1 or the storage device 800 according to any implementation of embodiment 2.

As can be seen from Fig. 22, the warehouse shipping apparatus 1900 may include: a first command module 1910, which may be configured to issue commands to a second robot to move a given load from a current storage location; a first determination module 1920, which may be configured to determine a predetermined temporary storage location according to the location of the second robot, wherein the current storage location and the current temporary storage location are located at different levels; a second command module 1930, which may be configured to issue commands to the second robot to move a predetermined load to a predetermined temporary storage location; and a third command module 1940, which may be configured to command the first robot to move a predetermined load from a predetermined temporary storage location when a move complete signal sent by the second robot is received.

According to one embodiment, the speed of movement of the first robot is higher than the speed of movement of the second robot.

According to one embodiment, the first determination module 1920 may include: a first determination unit that may be configured to determine a first free temporary storage location closest to the second robot; a first instruction block that may be configured to instruct the second robot to move toward the first free temporary storage location; an update unit that may be configured to update the occupancy status of each temporary storage location during the movement of the second robot based on a predetermined time interval; a second determination unit, which may be configured to determine the presence of a second free temporary storage location closest to the second robot according to the updated occupancy status of each temporary storage location, in the case where the travel time of the second robot to the first location is greater than a predetermined time threshold; and a third determining unit, which may be configured to determine the second free temporary storage location as a predetermined temporary storage location in a case where there is a second free temporary storage location; and defining the first free temporary storage location as a predetermined temporary storage location in the case where there is no second free storage location.

According to one embodiment, the third instruction module 1940 may include: a fourth determination unit, which may be configured to determine a first travel path along a given first robot aisle according to location information between the first robot and a predetermined temporary storage location, where the first robot aisle provides a first aisle located on one side of the temporary storage level on which the predetermined temporary storage location is located, and the first aisle located in the vertical projection region of the storage shelf on which the predetermined storage location is located; and a second command block that may be configured to instruct the first robot to move to the underside of the predetermined temporary storage location along the first travel path.

As for the functions of each of the modules in each device in the embodiment of the present invention, reference may be made to the corresponding description in the above method, which will not be repeated here again.

It should be noted that although methods and apparatus for managing warehouse operations have been described above with examples of methods for managing warehouse shipments and receipts, those skilled in the art will appreciate that the present invention is not limited thereto. In fact, the user can flexibly set warehouse operation management methods and devices according to personal preferences and/or actual application scenarios, as long as the efficiency of warehouse operations can be improved.

One embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a computer, the method according to the embodiment of the present invention is implemented. Other configurations of the above embodiments may currently and in the future adopt various technical solutions known to those skilled in the art and not described in detail herein.

In the present description of the invention it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "anterior", "rear", " left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial" , “ring”, etc. indicate orientations or relative positions, based on the orientations and relative positions shown in the figures, which are intended only for ease of description of the present invention and to simplify the description, these terms do not indicate or imply that the specified device or element must have a particular orientation, must be configured and required to operate in a particular orientation, and therefore should not be construed as limiting the present disclosure.

In addition, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying the relative importance or indirectly indicating the number of specified technical features. Thus, features described as "first" or "second" may explicitly or implicitly contain one or more features. As used herein, “a quantity” means two or more, unless expressly stated otherwise.

In the present description of the invention, unless otherwise specifically defined or limited, the terms "installed", "connected", "connected", "attached" and the like are to be considered in a broad sense, for example, a fixed connection, a detachable connection or an entire ; possibly a mechanical connection, an electrical connection or a communication means; direct communication or indirect communication through an intermediary is possible, and internal connection between two elements or interaction between two elements is possible. Those skilled in the art will understand the specific meanings of the above terms as used herein depending on the particular circumstances.

In the present specification, unless otherwise specifically defined or limited, an indication that a first element is “above” or “below” a second element may include direct contact between the first element and the second element, and may also include contact between the first element and the second element. element by means of some other elements between them. Additionally, if the first element is stated to be "above", "above" or "at the top" of the second element, this means that the first element is directly above and diagonally above the second element, or simply means that the first element's height from the horizontal is greater, than the height of the second element. Additionally, if the first element is stated to be "below", "beneath" or "bottom" of the second element, this means that the first element is immediately below and below diagonally from the second element, or simply means that the height of the first element relative to the horizontal is less, than the height of the second element.

The above description of the invention provides many different embodiments or examples of implementation of various structures of the present invention. To simplify the description of the present invention, the components and parameters of specific examples have been described above. They are of course examples only and are not intended to limit the present invention. Additionally, throughout the present specification, repeated reference numbers and/or lettering may appear throughout the various examples in the figures, and this repetition is intended for simplicity and clarity and is not intended to indicate relationships between the various embodiments and/or parameters discussed.

The description above represents only specific embodiments of the present invention, and the scope of protection of the present invention is not limited to this description. Any person skilled in the art can easily come up with variations or substitutions within the scope of the disclosed technology of the present invention, which falls within the scope of protection of the present invention. Thus, the scope of protection of the present invention should be governed by the scope of protection of the claims.

Claims (39)

1. A temporary storage shelf used to provide a temporary storage location, wherein a double slot is provided in the temporary storage shelf, and the double slot is used to interact with a bifurcated arm of the first robot; a passage for access of the first robot to the cargo is formed under the temporary storage shelf; in case of access to the cargo, the first robot is located in the passage to access the cargo and the double slot is configured to interact with a bifurcated manipulator on the first robot in order to access the cargo. 2. The temporary storage shelf according to claim 1, wherein the first passage for the first robot is formed on the first outer side and/or the second outer side of the temporary storage shelf, and the first outer side is opposite the second outer side. 3. The temporary storage shelf according to claim 2, where the second passage for the movement of the first robot is formed on the third outer side and/or the fourth outer side of the temporary storage shelf, the second passage is connected to the first passage, and the third outer side is opposite to the fourth outer side. 4. The temporary storage shelf according to claim 1, wherein the temporary storage shelf comprises a plurality of temporary storage shelf parts, each of the temporary storage shelf parts is provided with a double slot, and a third passage for movement of the first robot is formed between at least two parts of the temporary storage shelf. 5. The temporary storage shelf according to claim 1, where the temporary storage shelf contains a crossbar located horizontally and a plurality of temporary storage elements located at a certain interval on the inside of the crossbar, each of the temporary storage elements contains two brackets, and a double wall is formed between the two brackets slot. 6. The temporary storage shelf according to claim 5, where the temporary storage location is formed by temporary storage elements or adjacent brackets of adjacent temporary storage elements. 7. The temporary storage shelf according to claim 5, where the inner side of the crossbar is rigidly attached to the first end of each of the brackets; the temporary storage members further comprise a plurality of wing-shaped slats, and each of the wing-shaped slats is respectively attached between an inner side of the crossbar and an inner side of each of the brackets. 8. Temporary storage shelf according to claim 5, additionally containing: a plurality of fastening strips, wherein the plurality of fastening strips are respectively attached between adjacent temporary storage elements and attached to the inside of the crossbar. 9. Rack containing: a plurality of racks located horizontally at intervals from each other; at least one temporary storage shelf according to any one of paragraphs. 1-8; And at least one storage shelf spaced vertically along the posts from the temporary storage shelf, wherein the storage shelf is configured to provide multiple storage locations. 10. A method of managing warehouse operations, providing: determining the target temporary storage location according to the target storage location of the target cargo; instructing the first robot to move the target cargo to the target temporary storage location; And upon receiving a signal from the first robot to complete the movement, command the second robot to move the target load from the target temporary storage location to the target storage location; wherein the command to the first robot to move the target cargo to the target temporary storage location provides: determining a first travel route along the first aisle for the robot according to information about the location of the first robot relative to the target temporary storage location; And commanding the first robot to move to the bottom of the target temporary storage location along the first movement path; And wherein the first passage for the robots includes a first passage located on the first exterior of the temporary storage level on which the target temporary storage location is located, and the first passage is located in the vertical projection area of the storage shelf on which the target storage location is located. 11. The method according to claim 10, in which the passage for the first robot includes a passage for accessing the cargo located below the temporary storage shelf; and the method further provides: in the case when the first robot is not loaded, determining the passage of the unloaded robot along the passage for the first robot; And command the first robot to move along the passage of the unloaded robot. 12. The method of claim 10, wherein the target temporary storage location and the target storage location are located at different levels. 13. The method according to claim 10, in which the second passage is formed on the third outer side and/or fourth outer side of the temporary storage shelf; the temporary storage shelf is formed from a plurality of temporary storage shelf parts that are configured to provide temporary storage locations, a third aisle is formed between at least two parts of the temporary storage shelf, and the first robot aisle includes a second aisle and a third aisle. 14. A method of managing shipment from a warehouse, providing: command the second robot to remove the target cargo from the current storage location; determining a target temporary storage location according to the location of the second robot; instructing the second robot to move the target cargo to the target temporary storage location; And in case of receiving a signal from the second robot about the completion of the movement, command the first robot to move the target cargo from the target temporary storage location; wherein the command to the first robot to remove the target cargo from the target temporary storage location provides: determining a retrieval route from the first aisle for the robot according to information about the location of the first robot relative to the target temporary storage location; And instructing the first robot to move to the bottom of the target temporary storage location along the retrieval route; And wherein the first passage for the robots includes a first passage located on the first exterior of the temporary storage level on which the target temporary storage location is located, and the first passage is located in the vertical projection area of the storage shelf on which the target storage location is located. 15. A control device comprising: a processor and a storage device, wherein commands are stored on the storage device, and when the commands are loaded and executed by the processor, the device implements the method according to any one of paragraphs. 10-14. 16. Warehouse system containing: temporary storage shelf according to any of paragraphs. 1-8; And control device according to clause 15.