WO2023001125A1 - 货物处理方法、装置、机器人、分拣装置及仓储系统 - Google Patents

货物处理方法、装置、机器人、分拣装置及仓储系统 Download PDF

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Publication number
WO2023001125A1
WO2023001125A1 PCT/CN2022/106371 CN2022106371W WO2023001125A1 WO 2023001125 A1 WO2023001125 A1 WO 2023001125A1 CN 2022106371 W CN2022106371 W CN 2022106371W WO 2023001125 A1 WO2023001125 A1 WO 2023001125A1
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WIPO (PCT)
Prior art keywords
goods
conveying
target
shelf
sorting device
Prior art date
Application number
PCT/CN2022/106371
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English (en)
French (fr)
Inventor
周红霞
单奕达
任子佳
张翠峰
Original Assignee
深圳市库宝软件有限公司
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority claimed from CN202121697587.8U external-priority patent/CN215477503U/zh
Priority claimed from CN202110838422.6A external-priority patent/CN115676194A/zh
Application filed by 深圳市库宝软件有限公司, 深圳市海柔创新科技有限公司 filed Critical 深圳市库宝软件有限公司
Publication of WO2023001125A1 publication Critical patent/WO2023001125A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • the present disclosure relates to the technical field of intelligent warehousing, and in particular to a cargo processing method, device, robot, sorting device, and warehousing system.
  • the robot-based warehousing system uses an intelligent operating system to automatically take out and store goods through system instructions. At the same time, it can run 24 hours a day, replacing manual management and operation, improving the efficiency of warehousing, and has been widely used and favored.
  • the goods in the storage rack are often transported to the conveyor line by one robot, and the goods on the conveyor line are transported to the storage rack by another robot.
  • the robot needs to wait for a long time at the goods outlet of the conveyor line, or the robot needs to travel frequently between the conveyor line and the storage shelf, and the walking distance is long, resulting in low working efficiency of the robot and low efficiency of cargo handling.
  • Cargo handling costs are high.
  • the disclosure provides a cargo processing method, device, robot, sorting device, and storage system.
  • a sorting device with a relatively small size is installed in the storage system instead of a traditional conveying line, which improves the space utilization rate of the storage system, and is based on The same handling robot picks up and stores the goods on the sorting device, which speeds up the speed of goods handling and improves the efficiency of goods handling.
  • an embodiment of the present disclosure provides a cargo processing method, the cargo processing method is applied to a handling robot, and the handling robot is used for handling goods in a storage system, and the storage system includes a storage shelf, a handling robot, and A sorting device, the sorting device includes a conveying shelf and a manipulator, the conveying shelf has at least two conveying layers, and at least two conveying layers shrink from bottom to top in a direction away from the manipulator at one end close to the manipulator and form a step shape; the conveying layer is provided with a conveying mechanism, and the conveying mechanism makes the goods move along the conveying direction on the conveying layer, and the method includes: when receiving a processing instruction, via a handling robot, The target cargo corresponding to the processing instruction placed on the storage shelf is transported to the position corresponding to the sorting device, wherein the temporary storage shelf of the handling robot includes at least one idle layer; when the sorting device When there are processed first goods on the first preset layer of the delivery shelf, the first goods are transported to the free
  • transporting the target goods corresponding to the processing instruction placed on the storage shelf to a position corresponding to the sorting device via the handling robot includes: determining the storage location according to the processing instruction.
  • the shelf places the target location of the target goods; after the handling robot moves to the position corresponding to the target location, the target goods are transported from the target location to the temporary storage shelf of the handling robot;
  • the target cargo is transported to a position corresponding to the sorting device via the transport robot.
  • the method further includes:
  • acquiring the location detection information of the target location includes: collecting the location detection image of the target location based on the image sensor of the handling robot, so as to judge the location detection image based on the location detection image. Whether the goods placed in the target location are the target goods.
  • judging whether the goods placed in the target location are the target goods includes: determining the goods identification of the goods placed in the target location based on the location detection information ; Judging whether the cargo identifier is a preset identifier; if the cargo identifier is a preset identifier, then determining that the cargo placed in the target location is the target cargo.
  • the method further includes: determining each related goods associated with the target goods; Import and export of goods in the storage system to determine abnormal goods from each of the associated goods; place each second goods in the original storage location corresponding to each second goods through a handling robot, wherein the second goods are Other related goods except the abnormal goods in the related goods; and/or, if the target goods are included in the abnormal goods, placing the target goods in the target warehouse location via the handling robot, so as to pass The transport robot transports the target goods to the corresponding position of the sorting device.
  • the method further includes: determining each associated goods associated with the target goods; judging whether the target goods exist in the associated goods , wherein, the target goods are placed in the first location of the storage shelf, and the goods corresponding to the first location are the goods placed in the target location; placing the goods placed in the target warehouse location and placing the goods placed in the target warehouse location in the first warehouse location, so as to transport the target goods to the corresponding position of the sorting device via a handling robot.
  • the method further includes: judging the location status of the target location according to the location detection information; if the location of the target location If the state is an occupied state, it is determined whether the goods placed in the target location are the target goods based on the goods detection information in the location detection information.
  • the method further includes: determining whether each recycled goods includes the target goods, wherein the recycled goods are transported to the production line by the manipulator empty container; if so, generate a recycling prompt message.
  • the method further includes: acquiring shelf detection information of each layer of the delivery shelf of the sorting device; based on the shelf detection information, judging that the Whether the target goods are stranded on the conveying shelf; if yes, the target goods stranded on the conveying shelf are transported to the goods import and export via the handling robot, so as to detect whether the target goods are damaged.
  • the method further includes: patrolling each location of the storage shelf; judging whether the target goods are stored in the storage shelf according to the inspection result; The second storage location; if so, then determine each related goods associated with the target goods; perform an abnormal check based on the historical processing flow of the target goods and each related goods, to determine the abnormal processing node; according to the abnormal processing node, Generate the first abnormal prompt information.
  • the method further includes: based on the handling robot, according to the storage instruction, storing each of the goods to be put into storage at the goods import and export of the storage system in each preset location of the storage shelf , wherein the storage instruction includes a preset storage location corresponding to each item to be stored.
  • storing each of the goods to be warehousing located at the import and export of the goods of the storage system in each preset location of the storage shelf including: when receiving the warehousing instruction, The handling robot moves to the position corresponding to the import and export of the goods, and sequentially transports each of the goods to be put into storage corresponding to each pick-up point of the goods import and export in the storage order to the temporary position of the handling robot.
  • each item to be stored is stored in a preset location corresponding to each item to be stored.
  • the method further includes: determining the storage situation of each pick-up point of the goods import and export; judging according to the storage situation of each pick-up point Whether there are redundant goods or abnormal pick-up points, wherein, the abnormal pick-up point is an idle pick-up point, and in the storage instruction, the abnormal pick-up point corresponds to one of the goods to be put into storage; if there are redundant Goods, then determine each second associated goods associated with the excess goods, wherein the second associated goods include the goods placed on the storage shelf associated with the excess goods, the placed goods associated with the excess goods One or more of the goods on the delivery shelf and the goods associated with the excess goods placed on the temporary storage shelf of the handling robot; each of the second associated goods is transported to the goods import and export; based on An abnormality check is performed on the historical processing flow of each of the second associated goods to determine an abnormality processing node; according to the abnormality processing node, second abnormality prompt information is generated.
  • the method further includes: generating third abnormal prompt information according to the abnormal pick-up point and the goods to be put into storage corresponding to the abnormal pick-up point in the storage instruction .
  • the method further includes: receiving first abnormality information sent by the sorting device, wherein, The first abnormality information includes excess goods on the second preset layer of the conveying rack of the sorting device; according to the first abnormality information, the excess goods on the second preset layer are moved to Transport to the production line, and generate the fourth abnormality prompt information.
  • the method further includes: receiving second abnormality information sent by the sorting device, wherein, The second abnormality information includes a second target cargo, and the second target cargo is the target cargo corresponding to the processing instruction that has not been transported to the second preset layer of the conveying shelf of the sorting device; according to the second Two abnormal information, place the second target goods on the second preset layer of the conveying shelf of the sorting device through the handling robot, so as to transfer the second target goods through the second preset layer of the conveying shelf The goods are transported to the working range of the manipulator, so as to process the second target goods based on the manipulator.
  • the embodiment of the present disclosure also provides a cargo processing method, the cargo processing method is applied to a sorting device, the sorting device includes a conveying shelf and a manipulator, the conveying shelf has at least two conveying layers, at least The two layers of conveying layers indent from the bottom to the direction away from the manipulator at the end close to the manipulator and form a step shape; the conveying layer is provided with a transmission mechanism, and the conveying mechanism makes the goods on the conveying layer Moving along the conveying direction, the method includes: when there is a processed first cargo on the first preset layer of the conveying shelf of the sorting device, transporting the first cargo through the conveying mechanism of the first preset layer the first goods, so as to transport the first goods to the idle layer of the temporary storage shelf of the handling robot via the handling robot; and place the target goods on the delivery shelf of the sorting device in the second preliminary stage of the handling robot After the layer is set, the target cargo is transported to the working range of the manipulator through the transmission mechanism of the second preset
  • the method further includes: if the processed goods are empty containers, then determining that the goods are recycled goods; transporting the recycled goods to the production line via the manipulator, and recording the recovered goods cargo information.
  • the method further includes: when there are redundant goods on the second preset layer of the conveying rack of the sorting device, generating first abnormality information according to the redundant goods, and storing the first abnormality information Send to the handling robot.
  • the method further includes: when there is no second target item on the second preset layer of the conveying shelf of the sorting device, generating second abnormality information according to the second target item, and storing the The second abnormality information is sent to the handling robot, wherein the second target goods are target goods not transported to the second preset layer of the delivery rack of the sorting device corresponding to the processing instruction.
  • the embodiment of the present disclosure also provides a cargo handling device, the cargo handling device is applied to a handling robot, and the handling robot is used for handling goods in a storage system, and the storage system includes a storage shelf, a handling A robot and a sorting device, the sorting device includes a conveying shelf and a manipulator, the conveying shelf has at least two layers of conveying layers, and at least two layers of conveying layers are at the end close to the manipulator from bottom to top and towards the side far away from the manipulator.
  • the direction is indented and formed into a step shape;
  • the conveying layer is provided with a conveying mechanism, and the conveying mechanism makes the goods move along the conveying direction on the conveying layer
  • the cargo handling device includes:
  • the cargo transportation module is configured to transport the target cargo corresponding to the processing instruction placed on the storage shelf to the position corresponding to the sorting device via the handling robot when receiving the handling instruction, wherein the handling The temporary storage shelf of the robot includes at least one idle layer; the first handling module is used to, when there is a processed first cargo on the first preset layer of the delivery shelf of the sorting device, via the handling robot, transporting the first goods to an idle layer of the temporary storage shelf; a first placing module, after the first goods are placed on an idle layer of the temporary storage shelf, via the handling robot, place the The target goods are placed on the second preset layer of the conveying shelf of the sorting device, so that the target goods are transported to the working range of the manipulator through the transmission mechanism of the second preset layer of the conveying shelf, based on The manipulator handles the target goods.
  • an embodiment of the present disclosure further provides a cargo processing device, the cargo processing device is applied to a sorting device, the sorting device includes a conveying shelf and a robot arm, and the conveying shelf has at least two conveying layers, At least two layers of conveying layers are indented from bottom to top in the direction away from the manipulator at one end close to the manipulator and form a step shape; the conveying layer is provided with a transmission mechanism, and the conveying mechanism makes the goods in the conveying Moving along the conveying direction on the layer, the cargo handling device includes:
  • the second transportation module is used to transport the first goods through the transmission mechanism of the first preset layer when there are processed first goods on the first preset layer of the conveying shelf of the sorting device, to transport the first goods to the idle layer of the temporary storage shelf of the handling robot via the handling robot;
  • the third transport module is used to place the target goods on the delivery shelf of the sorting device when the handling robot After the second preset layer, the target cargo is transported to the working range of the manipulator through the transmission mechanism of the second preset layer, wherein the target cargo is the cargo corresponding to the processing instruction;
  • the cargo processing module uses The target cargo is processed based on the manipulator;
  • the cargo return module is configured to transfer the target cargo to the first preset layer of the delivery shelf if the processed target cargo is not an empty container.
  • an embodiment of the present disclosure further provides a handling robot, including a robot body, a temporary storage shelf, a handling device, and at least one processor; wherein, the temporary storage shelf is used for storing goods; the handling device is used for Moving goods to the temporary storage shelf, or extracting goods stored in the temporary storage shelf; the at least one processor is configured to execute the goods processing method provided in any embodiment corresponding to the first aspect of the present disclosure.
  • an embodiment of the present disclosure also provides a sorting device, including a conveying shelf, a manipulator, and at least one processor; wherein, the conveying shelf has at least two conveying layers, and at least two conveying layers are adjacent to the One end of the manipulator retracts from bottom to top in a direction away from the manipulator and forms a step shape; a transmission mechanism is provided on the conveying layer, and the conveying mechanism makes the goods move along the conveying direction on the conveying layer; At least one processor is configured to execute the goods processing method provided in any embodiment corresponding to the second aspect of the present disclosure.
  • the embodiment of the present disclosure further provides a storage system, a storage shelf, the handling robot provided in the embodiment corresponding to the fifth aspect of the present disclosure, and the sorting device provided in the embodiment corresponding to the sixth aspect of the present disclosure.
  • the embodiments of the present disclosure also provide a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, any implementation of the present disclosure can be implemented. Examples of cargo handling methods provided.
  • an embodiment of the present disclosure further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the goods processing method provided in any embodiment of the present disclosure is implemented.
  • the goods processing method is aimed at the storage system including storage shelves, handling robots, and sorting devices, and the handling robot divides the storage
  • the target goods on the shelf are transported to the corresponding position of the sorting device, and the handling robot reserves a free layer.
  • the first goods When there is a processed first goods on the first preset layer of the sorting device, the first goods will be processed by the handling robot Transport to the reserved free layer, and then place a target product on the second preset layer of the sorting device, so that the target product is transported to the working range of the manipulator through the transmission mechanism of the second preset layer, and the manipulator completes it
  • the processing of the target goods, and if the processed target goods need to be returned to the storage shelf, the target goods are transported to the first preset layer, so that they can be transported back to the storage shelf through the idle layer of the temporary storage shelf of the handling robot.
  • the picking device has the function of two-way transportation.
  • the handling robot can pick and place goods alternately at the same position, which reduces the walking distance and waiting time of the handling robot, improves the efficiency of goods handling, and thus improves the efficiency of goods handling.
  • Fig. 1 is a schematic structural diagram of a sorting device provided by an embodiment of the present disclosure
  • FIG. 2 is a second structural schematic diagram of a sorting device provided by an embodiment of the present disclosure
  • Fig. 3 is a schematic structural diagram III of a sorting device provided by an embodiment of the present disclosure.
  • Fig. 4 is a first structural schematic diagram of another sorting device provided by an embodiment of the present disclosure.
  • Fig. 5 is a second structural schematic diagram of another sorting device provided by an embodiment of the present disclosure.
  • Fig. 6 is a schematic structural diagram III of another sorting device provided by an embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure.
  • Fig. 8 is a top view of the docking of the handling robot and the delivery shelf in the storage system provided by the embodiment of the present disclosure
  • FIG. 9 is a side view of the docking of the handling robot and the delivery shelf in the storage system provided by the embodiment of the present disclosure.
  • FIG. 10 is an application scenario diagram of the cargo handling method provided by the embodiment of the present disclosure.
  • FIG. 11 is a flow chart of a cargo handling method provided by an embodiment of the present disclosure.
  • Fig. 12 is a flowchart of a cargo handling method provided by another embodiment of the present disclosure.
  • Fig. 13 is a flow chart of a cargo handling method provided by another embodiment of the present disclosure.
  • Fig. 14 is a flowchart of a cargo handling method provided by another embodiment of the present disclosure.
  • Fig. 15 is a flowchart of a cargo handling method provided by another embodiment of the present disclosure.
  • Fig. 16 is a flowchart of a cargo handling method provided by another embodiment of the present disclosure.
  • Fig. 17 is a flow chart of a cargo handling method provided by another embodiment of the present disclosure.
  • Fig. 18 is a flowchart of a cargo handling method provided by another embodiment of the present disclosure.
  • Fig. 19 is a schematic structural diagram of a cargo handling device provided by an embodiment of the present disclosure.
  • Fig. 20 is a schematic structural diagram of a cargo handling device provided by another embodiment of the present disclosure.
  • Fig. 21 is a schematic structural diagram of a handling robot provided by an embodiment of the present disclosure.
  • Fig. 22 is a schematic structural diagram of a sorting device provided by another embodiment of the present disclosure.
  • the storage system is usually composed of management equipment, robots, storage shelves, conveying lines and operating tables.
  • the conveying line is often set up as one layer, so that the goods on the storage shelves in various places can be transported to the corresponding operating tables by robots, or the operating tables
  • the goods on the shelf are transported to the corresponding positions of each storage shelf, and then the goods are transported to the storage shelf by the robot. Due to the long length of the conveyor line, it occupies a relatively large area, thereby reducing the storage density of the storage system.
  • an embodiment of the present disclosure provides a sorting device.
  • the conveying shelf of the sorting device has at least two conveying layers, and the ends of the at least two conveying layers close to the manipulator shrink from bottom to top in a direction away from the manipulator. advance and form steps.
  • at least two conveying layers can not only increase the storage space of the conveying shelf, but also reduce the floor area of the conveying shelf, thereby helping to reduce the space occupied by the sorting device, increase storage density, and reduce storage costs.
  • the end of the conveying layer close to the manipulator is set in a stepped shape to facilitate the manipulator to take the goods from the end of each conveying layer close to the manipulator, or place the goods to the end of each conveying layer close to the manipulator, thereby avoiding the manipulator from picking and placing.
  • Figure 1 is a schematic structural diagram of a sorting device provided by an embodiment of the present disclosure
  • Figure 2 is a schematic structural diagram of a sorting device provided by an embodiment of the present disclosure
  • Figure 3 is a schematic diagram of a sorting device provided by an embodiment of the present disclosure
  • Structural schematic diagram three of the sorting device
  • FIG. 4 is a structural schematic diagram I of another sorting device provided by an embodiment of the present disclosure
  • FIG. 5 is a structural schematic diagram II of another sorting device provided by an embodiment of the present disclosure
  • FIG. 6 is Structural schematic diagram III of another sorting device provided by an embodiment of the present disclosure.
  • an embodiment of the present disclosure provides a sorting device.
  • the sorting device includes a conveying shelf 1 and a manipulator 2, and the manipulator 2 is arranged at the first end of the conveying shelf 1 along the conveying direction.
  • the conveying shelf 1 is used to convey goods
  • the manipulator 2 is used to take goods from the conveying shelf 1
  • the manipulator 2 is used to place the taken goods on the conveying shelf 1 .
  • the conveying rack 1 has at least two conveying layers 12 , and the ends of the at least two conveying layers 12 close to the manipulator 2 are indented from bottom to top in a direction away from the manipulator 2 and form steps.
  • the conveying layer 12 can be provided with two, three, four or more layers according to actual needs.
  • the conveying rack 1 comprises supporting legs and conveying layers 12 installed on the supporting legs, and at least two conveying layers 12 can share one group (for example, four) supporting legs; or, at least two conveying layers 12 can each have A set (for example four) of supporting legs; or, at least two conveying layers 12 may share part of the supporting legs at the end far away from the manipulator 2 , and each have supporting legs at the end close to the manipulator 2 .
  • a conveying mechanism 1211 is provided on the conveying layer 12, and the conveying mechanism 1211 makes the goods move along the conveying direction on the conveying layer 12.
  • the conveying mechanism 1211 can convey the goods from the end far away from the manipulator 2 to the end close to the manipulator 2, so that The manipulator 2 picks up the goods from the delivery shelf 1; or, the transmission mechanism 1211 can transport the goods placed by the manipulator 2 on the delivery shelf 1 near the end of the manipulator 2 to the end far away from the manipulator 2, so as to facilitate the handling of robots and workers. or other equipment to take away the goods from the end of the delivery rack 1 away from the manipulator 2.
  • the conveying shelf 1 has at least two conveying layers 12, and the ends of the at least two conveying layers 12 close to the manipulator 2 indent from bottom to top in a direction away from the manipulator 2 and form a step shape.
  • the at least two conveying layers 12 can not only increase the storage space of the conveying rack 1, but also reduce the occupied area of the conveying rack 1, thereby helping to reduce the space occupied by the sorting device.
  • the end of the conveying layer 12 near the manipulator is set to a step shape to facilitate the manipulator 2 to take the goods from the end of each conveying layer 12 near the manipulator 2, or to place the goods near the end of the manipulator 2 of each conveying layer 12, thereby Collision and interference between the manipulator 2 and the conveying layer 12 during the process of picking and placing goods can be avoided.
  • the conveying layer 12 includes at least two conveying lines 121, and at least two conveying lines 121 are arranged side by side along a direction perpendicular to the conveying direction.
  • two, three or four conveying lines 121 can be arranged according to actual needs one or more.
  • the conveying mechanism 1211 is arranged on the conveying line 121, so that the conveying layer 12 can convey the goods through at least two conveying lines 121 at the same time, so as to improve the conveying efficiency of the conveying shelf 1, and further help to improve the sorting efficiency of the sorting device.
  • a conveying material box 5 is placed on the conveying line 121, and the conveying material box 5 is used for accommodating the goods so as to facilitate the conveying of the goods, thereby helping to avoid the occurrence of small pieces of goods or irregularly shaped goods during the conveying process. Stuck.
  • the width of the conveying line 121 perpendicular to the conveying direction is greater than or equal to the width of the conveying material box 5 perpendicular to the conveying direction, so as to avoid the conveying material box 5 protruding from both sides of the conveying line 121 and interfering with other structures, thereby helping to ensure that the conveying material
  • the whole box 5 is located on the conveying line 121 , which is beneficial to ensure the smooth conveying of the conveying material box 5 .
  • the end near the manipulator 2 of the conveying layer 12 located on the upper floor is compared with the end near the manipulator 2 of the conveying layer 12 located on the lower floor.
  • One end of 2 is indented toward the direction away from the manipulator 2 by a first length, and the first length is greater than or equal to the width of the delivery box 5 along the delivery direction.
  • the manipulator 2 ensure that the end of the upper conveying layer close to the manipulator 2 does not block the conveying material box 5 placed at the end of the lower conveying layer close to the manipulator 2, thereby facilitating the manipulator 2 to take goods from the conveying material box 5, or, to convey Place goods in the feeding box 5.
  • the transmission mechanism 1211 is provided with a rolling transmission member 1212, and the rolling transmission member 1212 has an outer contour surface that is in rolling contact with the conveyed object placed on the rolling transmission member 1212; The axis of rotation is rotated toward the conveying direction to convey the conveyed material along the conveying direction.
  • the rolling conveying member 1212 may be a rotating roller, and the outer peripheral surface of the rotating roller is in rolling contact with the conveyed object and conveys the conveyed object along the conveying direction.
  • multiple rolling conveying elements 1212 there may be multiple rolling conveying elements 1212, and the multiple rolling conveying elements 1212 are arranged side by side along the conveying direction, and the rotation axes of the multiple rolling conveying elements 1212 are parallel to each other, so that they can be placed on the conveying layer 12 more flexibly and smoothly. of goods.
  • the conveying mechanism 1211 is provided with a reciprocating conveyor belt, and the reciprocating conveyor belt reciprocates along the conveying direction, so as to convey the conveyed objects placed on the reciprocating conveying belt along the conveying direction.
  • At least two layers of conveying layers 12 are flush with one end away from the manipulator 2, so that the handling robot is docked with at least two layers of conveying layers 12 away from the end of the manipulator 2, thereby helping to ensure that the handling robot smoothly puts the handling robot on the The goods on the conveying layer 12 are transferred, or the goods on the conveying layer 12 are transferred to the handling robot.
  • the manipulator 2 includes a support base 23, a first connecting arm 21 and a pick-up assembly 24, the first end of the first connecting arm 21 is rotatably connected to the top end of the supporting base 23, for example, the first connecting arm 21
  • the first end and the top end of the support base 23 may be connected by rotation through a cardan shaft, or may be connected through a ball hinge, so as to improve the flexibility of the rotation of the first connecting arm 21 relative to the support base 23 .
  • the fetching assembly 24 is installed on the second end of the first connecting arm 21, and the fetching assembly 24 is used to fetch the goods from the end near the manipulator 2 of at least two conveying layers 12.
  • the first connecting arm 21 rotates and adjusts the positional relationship between the picking component 24 relative to the goods to be picked up, so that the picking component 24 can smoothly dock with the goods to be picked up.
  • the manipulator 2 also includes a second connecting arm 22, the first end of the second connecting arm 22 is rotatably connected to the second end of the first connecting arm 21, for example, the first end of the second connecting arm 22 is connected to the second end of the first connecting arm 21.
  • the second ends of a connecting arm 21 may be rotatably connected by a cardan shaft, or may be rotatably connected by a ball hinge, so as to improve the flexibility of rotation of the second connecting arm 22 relative to the first connecting arm 21 .
  • the picking assembly 24 is mounted on the second end of the second connecting arm 22 .
  • both the first connecting arm 21 and the second connecting arm 22 can be flexibly rotated so as to more accurately adjust the relative positional relationship between the fetching assembly 24 and the goods to be fetched, so that the fetching assembly 24 can be smoothly And it is accurately docked with the goods to be picked up.
  • the fetching assembly 24 is a mechanical claw assembly
  • the mechanical claw assembly includes a mechanical claw connector and a mechanical claw
  • the top end of the mechanical claw connector is rotatably connected to the second end of the second connecting arm 22
  • the top end of the mechanical claw connector and the second end of the second connecting arm 22 may be connected through a cardan shaft rotation, and may also be rotationally connected through a ball hinge, so as to facilitate the lifting of the mechanical claw connector relative to the first The flexibility of the rotation of the two connecting arms 22.
  • the mechanical claw is installed at the bottom of the mechanical claw connector; the mechanical claw has at least two mechanical fingers, and the mechanical claw is used to grab the goods.
  • the mechanical claw can be set to two, three, four or more according to actual needs. With multiple mechanical fingers, the mechanical fingers can make the mechanical claws grab the goods more reliably.
  • the connecting part of the mechanical claw can be configured as a retractable structure, so as to increase the flexibility of mechanical claw adjustment.
  • the support base 23 includes a stabilization base 231 and a support column 232 , the bottom end of the support column 232 is mounted on the stabilization base 231 , and the first end of the first connecting arm 21 is rotatably connected to the top end of the support column 232 .
  • the stabilization base 231 can be laid flat on the ground, and the shape of the stabilization base 231 can be square, circular or other shapes.
  • the stabilizing base 231 is beneficial to lower the center of gravity of the manipulator 2 , thereby improving the stability and reliability of the manipulator 2 .
  • the taking component 24 is provided with a target recognition device, which is used to identify the target that the taking component needs to take.
  • the object identification device can be a code scanning device, and an identification code, such as a barcode or a two-dimensional code, can be attached to the goods to be picked up.
  • the code scanning device can identify the identification code on the goods to find out The object to be fetched.
  • the object recognition device can also be an image recognition device, which can directly find the target object from the goods to be picked up.
  • an anti-collision detection device is provided on the fetching assembly 24, and the anti-collision detection device is used to prevent the fetching assembly from colliding with the conveying shelf 1.
  • the anti-collision detection device includes a range sensor and a proximity sensor, and the distance sensor and the proximity sensor can detect the distance between the fetching assembly 24 and the delivery shelf 1. When the distance between them is less than the preset value, an alarm can be sent to remind the operator, or the distance can be sent back to the main control system of the manipulator 2, so that the main control system of the manipulator 2 can control the movement of the picking component 24 of the manipulator 2.
  • Fig. 7 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure
  • Fig. 8 is a top view of a docking robot and a delivery shelf in a storage system provided by an embodiment of the present disclosure
  • Fig. 9 is a transfer robot in a storage system provided by an embodiment of the present disclosure Side view of docking with delivery rack.
  • an embodiment of the present disclosure provides a storage system.
  • the storage system includes a storage shelf 4, a transport robot 3 and a sorting device.
  • the transport robot 3 is used to transport the goods on the storage shelf 4 to the conveying shelf 1 of the sorting device, or to transport the goods on the conveying shelf 1 to Storage shelves 4.
  • the storage shelves 4, the handling robot 3 and the sorting device are all arranged in the warehouse, and the warehouse can be divided into a storage area and a sorting area.
  • the storage shelves 4 are arranged in the storage area, and there are A roadway for the handling robot 3 to walk through; the storage area has a cargo import and export 41, so that the goods can be transported into or out of the storage area.
  • the sorting device is set between the storage area and the sorting area, so that the goods in the storage area can be transported by the sorting device and sorted and stored in the sorting area, or the goods in the sorting area can be sorted by the sorting device And transported to storage area.
  • the goods entrance and exit of the handling robot 3 is docked with the second end of the delivery shelf 1 along the delivery direction, so as to transfer the goods from the delivery robot 3 to the delivery shelf 1, or to transfer the goods from the delivery shelf 1 to On the handling robot 3.
  • the second end of the conveying shelf 1 along the conveying direction is the end of the conveying shelf away from the manipulator.
  • handling robots 3 there are at least two handling robots 3.
  • two, three, four or more handling robots 3 can be set according to the scale of the storage system, which is beneficial to improve the working efficiency of the storage system.
  • sorting devices there are at least two sorting devices.
  • two, three, four or more sorting devices can be set according to the scale of the storage system, so as to improve the working efficiency of the sorting devices.
  • At least two sorting devices are arranged at intervals on the same side of the storage shelf 4, so that a sorting conveyor line is arranged on the side of the sorting device away from the storage shelf 4, thereby helping to ensure the compactness of the sorting conveyor line and reducing the number of sorting conveyors.
  • the setting range of the picking conveyor line can save costs.
  • the storage system provided by the embodiment of the present disclosure includes the sorting device of the first embodiment. Therefore, the storage system also has the advantages of the sorting device of the first embodiment. For details, please refer to the description of the first embodiment, which will not be repeated here. .
  • the embodiment of the present disclosure also provides a cargo processing method.
  • the following explains the application scenarios of the embodiments corresponding to the cargo processing method of the present disclosure:
  • FIG. 10 is an application scene diagram of the cargo processing method provided by the embodiment of the present disclosure.
  • FIG. It consists of management equipment 110, storage shelves 120, handling robots 130, conveying lines 140, and operation desks.
  • the conveying line 140 includes a robot interface 1, after the handling robot 130 transports the goods to the robot interface 1, the conveying line 140 is used to transport the goods from the robot interface 1 to the operation platform Carry out corresponding processing, such as sorting, packing, etc. If the goods need to be returned to the storage rack 120, the goods are transported to the goods outlet through the conveying line 140, and the goods are put back to the storage rack 120 through another handling robot 130.
  • an embodiment of the present disclosure provides a method for handling goods.
  • the handling robot finishes processing the first preset layer of the sorting device.
  • the first goods that need to be returned to the storage shelf are transported to the free layer of the temporary storage shelf, and then the target goods on other layers of the temporary storage shelf are placed on the second preset layer of the sorting device to complete the target through the manipulator of the sorting device.
  • the manipulator will use the manipulator to realize the two-way transportation of the goods based on the sorting device, and the alternate picking and placing of the goods at the sorting device by the handling robot realizes Picking and placing goods is completed by the same robot, which reduces the walking distance and waiting time of the handling robot, improves the efficiency of goods handling, and thus improves the efficiency of goods handling.
  • Fig. 11 is a flowchart of a cargo processing method provided by an embodiment of the present disclosure.
  • the cargo processing method is applicable to a storage system, and the storage system may be an unmanned storage system, that is, storage and sorting of cargo , Out of the warehouse and other processing processes are unattended, and can be completed only through the storage system.
  • the goods processing method can be performed by a handling robot, the storage system includes a storage shelf, a handling robot and a sorting device, the sorting device includes a conveying shelf and a manipulator, the conveying shelf has at least two layers of conveying layers, and at least two layers of conveying The layer is indented from bottom to top in the direction away from the manipulator at the end close to the manipulator and forms a step shape; a conveying mechanism is provided on the conveying layer, and the conveying mechanism enables the goods to be conveyed along the conveying layer. direction to move.
  • the cargo handling method provided in this embodiment includes the following steps:
  • Step S201 when a processing instruction is received, the target goods corresponding to the processing instruction placed on the storage shelf are transported to a position corresponding to the sorting device via a transport robot.
  • the temporary storage rack of the transfer robot has multiple layers, and when the transfer robot moves to the position corresponding to the sorting device, the temporary storage rack of the transfer robot includes at least one idle layer.
  • the free floor may be the lowest floor or the highest floor of the temporary storage rack.
  • the handling robot may be the handling robot 3 in the above-mentioned embodiments.
  • the quantity of the target goods may be multiple, and the quantity of the corresponding target goods should be less than the number of layers of the temporary storage shelves of the handling robot during one handling.
  • the processing instruction may be issued by a management device, a dispatching device, or an order receiving device of the storage system, and the processing instruction may include each target item, and may also include a target storage location corresponding to each target item.
  • the processing instruction may be a sorting instruction, and the sorting instruction may also include a sorting task for each target item.
  • the order receiving equipment of the storage system After receiving the order, the order receiving equipment of the storage system generates processing instructions for each handling robot based on the order, so as to complete the order based on each handling robot.
  • the handling robot decodes the processing instruction, obtains each target goods and the target storage locations corresponding to each target goods, and then moves to the positions corresponding to each target storage locations according to the set order, and puts each The target goods are transported to each layer of the temporary storage shelf of the handling robot, and a free layer is reserved. After each target goods are transported to the temporary storage shelf of the handling robot, the handling robot moves to the corresponding position of the sorting device, based on The sorting device processes each target cargo.
  • Step S202 when there is a processed first item on the first preset layer of the delivery shelf of the sorting device, the first item is transported to an idle layer of the temporary storage shelf via the transfer robot.
  • the first item is the last target item that has been processed by the sorting device and needs to be returned to the storage shelf.
  • the conveying shelf of the sorting device may include at least two layers, a first preset layer and a second preset layer, the first preset layer may be used to transport the first goods that need to be returned to the storage shelf after processing, and the second preset layer is It is used to convey the various target goods that need to be handled by the manipulator of the sorting device.
  • the first preset layer can also be used to convey the various target goods that need to be handled by the manipulator of the sorting device, the conveying direction of the first preset layer can be changed, and the conveying direction of the first preset layer can be different from that of the second The conveying directions of the two preset layers are consistent or opposite.
  • the sorting device may be the sorting device provided in any of the above embodiments.
  • the sorting device transports the first goods through the second preset layer, transports the first goods to the working range of the manipulator, and then the manipulator performs the first goods processing, such as goods sorting, packaging, etc. After the processing is completed, If the first item needs to be returned to the storage system, if there are still items in the first item or the first item is not an empty container, then the first item is transported to the first preset layer to be picked up by the handling robot , and store the first item in the storage shelf.
  • the first goods processing such as goods sorting, packaging, etc.
  • the first goods may be transported to the first preset layer of the delivery shelf of the sorting device by the manipulator of the sorting device.
  • the handling robot can place the first goods on an idle layer of its temporary storage shelf through its pick-and-place device.
  • Step S203 after the first goods are placed on the free layer of the temporary storage shelf, place the target goods on the second preset layer of the conveying shelf of the sorting device via the handling robot, The target goods are transported to the working range of the manipulator by the conveying mechanism passing through the second preset layer of the delivery rack, so as to process the target goods based on the manipulator.
  • a target goods can be placed by the pick-and-place device.
  • a new free layer appears on the temporary storage shelf of the handling robot, that is, the layer where the target goods were originally placed, and the handling robot then places a first goods on this The new free layer, and so on, the handling robot uses an alternate method to extract a first item from the first preset layer and place a target item on the temporary storage shelf on the second preset layer, thus satisfying the requirements for the delivery of goods at the same time.
  • the handling of goods in the two transport directions of return flow greatly shortens the time for handling goods and improves the efficiency of goods handling.
  • the target goods are transported through the transmission mechanism of the second preset layer.
  • the manipulator processes the target goods based on the processing instructions corresponding to the target goods, such as sorting the target goods based on the sorting task in the sorting instruction.
  • the target goods are transported to the first preset layer of the conveying shelf of the sorting device by the manipulator, so that the target goods can be put back to the storage shelf by the handling robot, and can be put back to the original storage location of the target goods or the reassigned storage location.
  • the goods processing method is aimed at the storage system including storage shelves, handling robots, and sorting devices, and the handling robot divides the storage
  • the target goods on the shelf are transported to the corresponding position of the sorting device, and the handling robot reserves a free layer.
  • the first goods When there is a processed first goods on the first preset layer of the sorting device, the first goods will be processed by the handling robot Transport to the reserved free layer, and then place a target product on the second preset layer of the sorting device, so that the target product is transported to the working range of the manipulator through the transmission mechanism of the second preset layer, and the manipulator completes it
  • the processing of the target goods, and if the processed target goods need to be returned to the storage shelf, the target goods are transported to the first preset layer, so that they can be transported back to the storage shelf through the idle layer of the temporary storage shelf of the handling robot.
  • the picking device has the function of two-way transportation.
  • the handling robot can pick and place goods alternately at the same position, which reduces the walking distance and waiting time of the handling robot, improves the efficiency of goods handling, and thus improves the efficiency of goods handling.
  • Fig. 12 is a flowchart of a cargo processing method provided by another embodiment of the present disclosure.
  • the cargo processing method provided in this embodiment is based on the embodiment shown in Fig. 11, further refines step S201, and adds target cargo Determine the relevant steps, as shown in Figure 12, the cargo handling method provided in this embodiment may include the following steps:
  • the processing instruction may be decoded, and then based on the decoded processing instruction, each target goods and the target warehouse location corresponding to each target goods are determined.
  • each target item may be determined according to the processing instruction, for example, the item ID of each target item is obtained, and then based on the stored first correspondence, the target storage location corresponding to each target item is determined according to the item ID of each target item.
  • the first corresponding relationship is used to describe the corresponding relationship between each storage location of the storage shelf in the storage system and the goods identification.
  • Step S302 after the transfer robot moves to a position corresponding to the target warehouse location, acquire location detection information of the target warehouse location.
  • the location detection information may be the identification result of the goods identification of the goods stored in the target location.
  • the location detection information may be cargo identification, cargo size information, cargo type, etc., and may also be the type and quantity of items stored in the cargo.
  • the travel path is obtained, and based on the travel path, the current location is moved to a location corresponding to the target storage location.
  • the handling robot can perform path planning based on the pre-established map of the storage system, the current location of the handling robot, and the target storage location, so as to determine the walking path.
  • the sensors provided on the handling robot such as infrared sensors, ultrasonic sensors, image sensors, etc., are turned on to collect the storage location detection information of the target storage location.
  • position calibration can also be performed. After the calibration is completed or during the process, the sensor set on the handling robot is turned on to collect the storage location detection information of the target storage location. .
  • Step S303 based on the location detection information, it is judged whether the goods placed in the target location are the target goods.
  • the location detection information may be determined whether the location detection information satisfies the preset information corresponding to the target goods, and if so, it is determined that the goods placed in the target location are the target goods. If the goods type in the location detection information is inconsistent with the preset goods type of the target goods, it is determined that the goods placed in the target location are not the target goods.
  • the size information corresponding to different types of storage locations is different, then the above storage location detection information can be the size information of the goods placed in the target storage location, such as width, length, etc., so as to determine the target storage location based on the size information Whether the placed cargo is the target cargo.
  • the storage location detection information may be a product identification of the goods placed in the target storage location, and based on the product identification, it is determined whether the goods placed in the target storage location are target goods.
  • the set area of the target goods can be pasted with a goods identification code, which can be in the form of a two-dimensional code, a bar code, a code, etc., and the set area can be identified by the sensor set on the handling robot, so as to obtain the goods placed in the target warehouse.
  • a goods identification code which can be in the form of a two-dimensional code, a bar code, a code, etc.
  • the goods identification of the goods can be pasted with a goods identification code, which can be in the form of a two-dimensional code, a bar code, a code, etc.
  • acquiring the location detection information of the target location includes:
  • the location detection image of the target location is collected, so as to determine whether the goods placed in the target location are the target goods based on the location detection image.
  • the image sensor may be a 2D or 3D image sensor.
  • identifying the location detection image of the target location it may be determined based on the recognition result whether the goods placed in the target location are target goods.
  • image segmentation can also be performed on the location detection image, so as to obtain a segmented image including the set area of the goods placed in the target location, and the segmented image Identify the cargo identification code to obtain the cargo identification of the goods placed in the target warehouse location, and judge whether the goods placed in the target warehouse location are target goods based on the cargo identifier.
  • judging whether the goods placed in the target location are the target goods includes:
  • the cargo identification of the goods placed in the target storage location Based on the storage location detection information, determine the cargo identification of the goods placed in the target storage location; determine whether the cargo identification is a preset identification; if the cargo identification is a preset identification, determine the placement of the target storage location
  • the goods of are the target goods.
  • Step S304 if yes, transport the target goods from the target storage location to the temporary storage shelf of the transport robot.
  • the target goods are transported from the target warehouse location to the first floor of the temporary storage shelf of the handling robot through the pick-and-place device.
  • Step S306 when there is a processed first item on the first preset layer of the delivery shelf of the sorting device, the first item is transported to an idle layer of the temporary storage shelf via the transfer robot.
  • Step S307 after the first goods are placed on the free layer of the temporary storage shelf, place the target goods on the second preset layer of the conveying shelf of the sorting device via the handling robot, The target goods are transported to the working range of the manipulator by the conveying mechanism passing through the second preset layer of the delivery rack, so as to process the target goods based on the manipulator.
  • the manipulator of the sorting device After the manipulator of the sorting device completes the sorting task of the target goods in the historical time, it can judge whether the items in the target goods have been taken out, or judge whether the target goods are empty containers, and if so, pass the suction cup of the manipulator of the sorting device
  • the component recycles the target goods, such as transferring the empty container to the production line through the robot, so that the empty container can be recycled through the production line.
  • the manipulator can pick up the target goods by itself through its suction cup assembly, and place the target goods on the production line.
  • the suction of the target goods that need to be transferred to the production line will fail, thus causing the target goods to become redundant goods and stay on the first delivery shelf of the sorting device.
  • Two default layers For example, when the recovery of the empty container fails, that is, when the suction cup assembly fails to absorb the empty container, the empty container is held in the second preset layer of the conveying shelf of the sorting device.
  • the sorting device generates first abnormality information based on the redundant goods.
  • the method further includes:
  • the first abnormality information includes the redundant goods on the second preset layer of the conveying shelf of the sorting device, such as the goods identification and location of the redundant goods.
  • the excess cargo can be an empty container that has not been recovered by the manipulator, or can be the first cargo that has not been removed by the previous handling robot.
  • the fourth abnormal prompt information is used to remind the operator to check the sorting device for the abnormal situation of excess goods, so as to determine the cause of the abnormality.
  • the fourth abnormality prompt information may include information corresponding to the redundant goods, such as the goods identification, and may also include a time stamp, so as to facilitate retrospective determination of the cause of the abnormality.
  • the manipulator of the sorting device can detect whether there are redundant goods on the second preset layer of the delivery rack, and if so, generate first abnormality information based on the redundant goods, and send the first abnormality information to the handling robot. After receiving the first abnormal information, the handling robot transports the redundant goods in the second preset layer to the production line based on the identification or location of the redundant goods in the first abnormal information, thereby completing the abnormal handling of the redundant goods.
  • the method further includes:
  • the second abnormality information includes a second target cargo
  • the second target cargo is a target cargo corresponding to the processing instruction that has not been transported to the second preset layer of the conveying shelf of the sorting device. That is, the second target cargo is the target cargo that needs to be transported to the second preset layer of the sorting device corresponding to the processing instruction, but the sorting device does not detect the second target cargo in its second preset layer, that is, the handling When the robot responds to the processing instruction, the second target cargo is not transported to the second preset layer of the sorting device.
  • the manipulator of the sorting device processes the target goods placed on the second preset layer corresponding to the processing instruction.
  • second abnormal information is generated based on the second target cargo, and the second abnormal information is sent to the handling robot.
  • the handling robot may be any robot, such as a robot corresponding to a processing instruction corresponding to the second target cargo or other robots.
  • the handling robot After receiving the second abnormal information, the handling robot determines the second target warehouse location of the second target goods based on the second target goods in the second abnormal information, such as the goods identification of the second target goods, and places them in the second target goods.
  • the second target location of the two target storage locations is transported to the second preset layer of the conveying shelf of the sorting device, so that the second target goods can be processed by the manipulator of the sorting device, thereby ensuring the smooth completion of each order.
  • the location detection information of the target location is obtained, so as to determine whether the goods placed on the target location are preset targets based on the location detection information.
  • Storage location that is, to verify the target goods.
  • the target goods are transported to the corresponding position of the sorting device through the handling robot, which improves the accuracy of goods handling and avoids processing wrong goods, which leads to order errors;
  • the handling robot picks up each target item, its temporary storage shelf still reserves at least one free layer, so as to support the handling robot to pick up a first item and place a target item in an alternate manner, so as to realize the sorting by a handling robot
  • the two tasks of loading and unloading of the device greatly shorten the time required for cargo handling and improve the efficiency of cargo handling and processing.
  • FIG. 13 is a flow chart of a method for handling goods provided by another embodiment of the present disclosure. This embodiment is based on the previous embodiment, that is, the embodiment corresponding to FIG. In the case that the goods are not the target goods, as shown in Figure 13, when the goods placed in the target storage location are not the target goods, the goods processing method may also include the following steps:
  • Step S401 determining each associated goods associated with the target goods.
  • the associated goods may be goods that are put into storage or processed in the same batch as the target goods, or goods that are put into storage within a preset time period before the time when the target goods are put into storage, such as 10 minutes.
  • the goods identification of each associated goods associated with the target goods may be determined according to the goods identification of the target goods.
  • Step S402 transporting each of the associated goods to the goods import and export of the storage system via a handling robot, so as to determine abnormal goods from each of the associated goods.
  • Abnormal goods can include each associated goods whose location does not match, such as goods placed in the target location.
  • each related goods can be transported to the goods import and export of the storage system through the handling robot and the location where each related goods are stored.
  • the location where the associated goods are stored can be determined based on the operation record of the warehousing system, which records the process of each goods being processed, including the corresponding original location when entering the warehouse, and the corresponding new warehouse after the subsequent goods are processed. bit.
  • the processing flow of each associated goods can be restored, so as to determine one or more abnormal goods.
  • the handling robot transports each related goods to the goods import and export, the operator can determine the abnormal goods from each related goods.
  • Step S403 placing each second goods in the original storage location corresponding to each second goods via the handling robot.
  • the second goods are other related goods except the abnormal goods among the related goods.
  • Step S404 if the abnormal goods include the target goods, place the target goods in the target storage location via the handling robot, so as to transport the target goods to the corresponding sorting device through the handling robot Location.
  • the target goods corresponding to the target storage location in the processing instruction are included, the target goods are placed in the target storage location by the handling robot, and then the target goods are placed by the robot.
  • the target cargo space placed on the warehouse location is transported to the corresponding position of the sorting device, and the target goods are transported to the working range of the manipulator through the second preset layer of the conveying shelf of the sorting device, and the target goods are processed by the manipulator .
  • the robot will transport the target storage location placed on the target storage location to the corresponding position of the sorting device.
  • the fifth abnormality prompt information can be generated based on each abnormal goods and the location where each abnormal goods are stored, so as to check the abnormality screen of the storage system based on the abnormality information and determine the cause of the abnormality.
  • FIG. 14 is a flow chart of a cargo processing method provided by another embodiment of the present disclosure. This embodiment is based on the embodiment corresponding to FIG. , as shown in Figure 14, when the goods placed in the target location are not the target goods, the goods processing method may also include the following steps:
  • Step S501 determining each associated goods associated with the target goods.
  • the associated goods may be goods that are put into storage or processed in the same batch as the target goods, or goods that are put into storage within a preset time period before the time when the target goods are put into storage, such as 10 minutes.
  • the goods identification of each associated goods associated with the target goods may be determined according to the goods identification of the target goods.
  • Step S502 judging whether the target goods exist in the associated goods.
  • the target goods are placed in the first location of the storage shelf, and the goods corresponding to the first location are the goods placed in the target location.
  • Step S503 if yes, place the target goods in the target warehouse location and place the goods placed in the target warehouse location in the first warehouse location via the handling robot, so that the target goods can be transported by the handling robot Transport to the corresponding position of the sorting device.
  • the handling robot will exchange the first location with the goods placed on the target location, that is, place the goods placed on the target location In the first warehouse location, and place the target goods in the target warehouse location, so that the goods placed in the target warehouse location are accurate.
  • the handling robot transports the target goods to the corresponding position of the sorting device, so that after placing the first goods on the free layer of the temporary storage shelf of the handling robot, the The target goods are placed on the second preset layer of the sorting device, so that the processing of the target goods, such as sorting and packaging, can be completed by the manipulator of the sorting device.
  • Fig. 15 is a flow chart of a cargo processing method provided by another embodiment of the present disclosure.
  • the cargo processing method provided in this embodiment is based on the embodiment shown in Fig. 12, and steps related to judging the warehouse location state are added after step S302 , as shown in Figure 15, the cargo handling method provided in this embodiment includes the following steps:
  • Step S601 when a processing instruction is received, determine a target warehouse location where the target goods are placed on the storage shelf according to the processing instruction via the handling robot.
  • Step S602 after the transfer robot moves to a position corresponding to the target warehouse location, acquire location detection information of the target warehouse location.
  • the location detection information may be the location weight of the target location, or may be a location detection image of the target location.
  • Step S603 judging the location status of the target location according to the location detection information; if the location status of the target location is occupied, execute step S604; if the location of the target location If the state is the idle state, step S608 is executed.
  • the location weight in the location detection information is greater than the reference weight, then determine that the location status of the target location is occupied; otherwise, that is, the location weight of the target location is less than or equal to the reference weight, then determine The location status of the bit is free.
  • the reference weight may be an average value of storage location weights of multiple groups of target storage locations collected in historical time when they are in an idle state.
  • the target location based on identifying the location detection image of the target location, it can be judged whether the target location has goods; if so, then determine that the location status of the target location is an occupied state; The bit state is the idle state.
  • Step S604 if the location status of the target location is occupied, then based on the item detection information in the location detection information, determine whether the item placed in the target location is the target item.
  • Step S605 if yes, transport the target goods from the target storage location to the temporary storage shelf of the handling robot; and transport the target goods to the corresponding position of the sorting device via the handling robot .
  • Step S606 when there is a processed first item on the first preset layer of the conveying shelf of the sorting device, the first item is transported to an idle layer of the temporary storage shelf via the transfer robot.
  • Step S607 after the first goods are placed on the free layer of the temporary storage shelf, place the target goods on the second preset layer of the delivery shelf of the sorting device via the handling robot, The target goods are transported to the working range of the manipulator by the conveying mechanism passing through the second preset layer of the delivery rack, so as to process the target goods based on the manipulator.
  • Step S608 if the location status of the target location is idle, then determine whether the target goods are included in each recycled goods.
  • the reclaimed goods are empty cargo boxes transported to the production line by the manipulator.
  • the recovered goods are the target goods processed by the historical time sorting device, and after the processing is completed, the recovered goods are empty containers.
  • the manipulator of the sorting device is sorting goods
  • the target goods are determined to be empty containers, and the target goods are recovered by the manipulator.
  • the target goods are empty containers.
  • the sorting device may be provided with an image acquisition device, and the images collected by the image acquisition device may be used to judge whether each target cargo is an empty container after processing, and if so, the target cargo is recycled by the manipulator.
  • the manipulator each time the manipulator reclaims an empty container or recycled goods, it will update the recycling record, and the recycling record records the information of the recycled goods recovered each time, such as the identification of the goods, and the recovery time and other information.
  • the recycled goods include the target goods based on the recycling record and the goods identification of the target goods, that is, the above-mentioned preset identification.
  • Step S609 if yes, generate recycling prompt information.
  • a recycling prompt message is generated to indicate that the target cargo has been recycled, so that the operator can determine a new target cargo based on the recycling prompt information , and issue a new processing instruction based on the new target goods to complete the corresponding order.
  • the target goods do not exist in each of the recovered goods, it is necessary to conduct a full inspection of the storage shelves and the delivery shelves to determine whether there are target goods in other locations of the storage shelves and whether there are target goods on the delivery shelves.
  • target goods in other locations on the storage shelf such as the second location
  • determine the associated goods associated with the target goods and determine the abnormal goods from the associated goods based on the operation records, and then determine the abnormal goods based on the second location , each abnormal cargo and its corresponding storage location, and generate sixth abnormal prompt information.
  • the target goods on the second warehouse location are transported to the target warehouse location by the handling robot, and each associated goods except abnormal goods among the associated goods is returned to its original warehouse location.
  • the target cargo on the target warehouse location is transported to the corresponding position of the sorting device by the handling robot to process the target cargo.
  • the handling robot for specific methods, please refer to the description of the corresponding part in FIG. 11 , which will not be repeated here.
  • a reminder message for goods retention will be generated, and the target goods stranded at the conveying shelf will be transported to the import and export of goods through the handling robot to detect whether the target goods are damaged.
  • the handling robot moves to the target location based on the processing instruction, it first judges the location status of the target location. Whether the placed goods are the target goods, and if so, the target goods are transported to the sorting device for processing, which realizes the verification of the target goods and avoids carrying the wrong goods, which will cause the order to be unable to be completed; if the target warehouse is in an idle state, Then search for the target goods from each recycled goods, and if the target goods are recycled, generate recycling reminder information, so as to replace the target goods in time, ensure the smooth completion of the order, and at the same time, improve the abnormal handling efficiency and intelligence of the unmanned storage system degree.
  • FIG. 16 is a flow chart of a cargo processing method provided by another embodiment of the present disclosure. This embodiment is based on the previous embodiment, that is, the embodiment corresponding to FIG. In the case of the target cargo, as shown in Figure 16, when the recycled cargo does not include the target cargo, the cargo processing method may further include the following steps:
  • Step S701 acquiring the shelf detection information of each layer of the delivery shelf of the sorting device.
  • the shelf detection information may be the shelf detection image of each layer of the conveying shelf, or the shelf detection information may be the identified cargo identification of the transported goods on each layer of the conveying shelf.
  • the detection information of each layer of the goods conveying shelf can be detected by the manipulator or the detection equipment provided on the conveying shelf.
  • Step S702 based on the shelf detection information, it is judged whether the target goods stay in the delivery shelf; if yes, execute step S703; if not, execute step S704.
  • the shelf detection information that is, a preset identifier. If yes, it is determined that the target cargo is stranded on the conveying shelf, and if not, it is determined that the target cargo is not stranded on the conveying shelf.
  • Step S703 if yes, transport the target goods staying on the delivery shelf to the goods import and export via the transport robot, so as to detect whether the target goods are damaged.
  • Step S704 if not, inspect each location of the storage shelf.
  • Step S705 according to the inspection result, it is judged whether the target goods are stored in the second location of the storage shelf.
  • the second storage location is any storage location except the target storage location.
  • Step S706 if yes, determine each associated goods associated with the target goods.
  • the associated goods may be various goods that have been put into storage or processed in the same batch as the target goods, or each goods that have been put into storage within a preset time period before the time when the target goods are put into storage, such as 10 minutes.
  • the target goods are stored in the second location of the storage shelf, that is, the target goods are placed in the wrong location, it is determined that there is an abnormality in the storage system, and it is necessary to determine each associated goods associated with the target goods.
  • each related goods associated with the target goods may be determined based on operation records, warehousing records, etc., such as determining the goods identification of each related goods.
  • step S707 an abnormality check is performed based on the historical processing flow of the target cargo and each associated cargo, so as to determine an abnormal processing node.
  • the historical processing flow may be stored in the above-mentioned operation record, which may include the processing flow of each cargo in the historical time.
  • the exception processing node may be determined by restoring the historical processing flow of the target cargo and each associated cargo.
  • Step S708 generating first exception prompt information according to the exception processing node.
  • the first exception prompt information may be generated to assist maintenance personnel in determining the cause of the abnormality in the storage system.
  • the handling robot is also used to store goods based on the warehousing instruction, and the goods processing method may also include:
  • each of the goods to be put into storage located at the goods import and export of the storage system is stored in each preset location of the storage shelf.
  • the goods warehousing is to move the goods located outside the storage system to the storage shelves of the storage system for storage.
  • the warehousing instruction includes each item to be warehousing and its corresponding preset storage location.
  • one or more handling robots move to the goods import and export of the storage system, and then pick up the goods to be put into the warehouse corresponding to the warehousing instructions on each window of the goods import and export or the pick-up point, And store it in the preset location corresponding to the storage shelf.
  • Fig. 17 is a flow chart of a cargo processing method provided by another embodiment of the present disclosure. This embodiment is based on any of the above-mentioned embodiments, aiming at the abnormal situation when the cargo enters the warehouse. As shown in Fig. 17, the cargo processing The method may also include the steps of:
  • Step S801 when receiving the warehousing instruction, the handling robot moves to the position corresponding to the import and export of the goods, and determines the storage situation of each pick-up point at the import and export of the goods.
  • the storage status is used to indicate whether goods are stored at the pick-up point, and the goods identification of the stored goods.
  • the storage conditions of each pick-up point can be determined by collecting detection information, such as detection images, of each pick-up point of the import and export of goods.
  • Step S802 according to the storage conditions of each pick-up point, it is judged whether there are redundant goods or abnormal pick-up points.
  • the storage order also includes the pick-up points corresponding to the goods to be loaded into the warehouse, and the excess goods are the goods stored in the pick-up points not involved in the storage order.
  • the abnormal pick-up point refers to the pick-up point corresponding to the goods to be put into the warehouse in the warehouse-in instruction, and the storage status of the pick-up point is that the goods are not stored, that is, the pick-up point is an idle pick-up point.
  • each pick-up point where goods are stored in the storage situation it can be judged whether each pick-up point is Exceptional pickup point.
  • the pick-up point is determined to be an abnormal pick-up point; If one of the corresponding goods identifiers in the library instruction is used, it is determined that the pick-up point is not an abnormal pick-up point, that is, it is a normal pick-up point.
  • the order of placement is not limited. If it is determined that the goods stored at pick-up point 7 are redundant goods, if the pick-up point If no goods are placed at point 3, pick-up point 3 is an abnormal pick-up point.
  • Step S803 if there is excess goods, determine each second associated goods associated with the excess goods.
  • the second associated goods include goods placed on the storage shelf associated with the excess goods, goods placed on the delivery shelf associated with the excess goods, and goods placed on the delivery shelf associated with the excess goods.
  • the second related goods may be each goods entered in the same batch as the redundant goods, or may be each goods within a set time range before and after the time when the redundant goods are put into the warehouse.
  • the cargo identifier of each second associated cargo may be determined according to the storage record and the cargo identifier of the excess cargo.
  • Step S804 moving each of the second associated goods to the goods import and export.
  • each second associated cargo can be transported to the cargo storage location by the handling robot based on the storage location of each second associated cargo. exit.
  • Step S805 based on the historical processing flow of each of the second associated goods, perform an abnormality check to determine an abnormality processing node.
  • the historical processing flow of each second associated cargo can be determined, and the exception checking can be performed by restoring the historical processing flow, so as to determine the abnormal processing node.
  • Step S806 generating second exception prompt information according to the exception handling node.
  • the second abnormality prompt information may be generated according to the goods, time, and execution equipment corresponding to the abnormality processing node, so as to assist maintenance personnel in locating the cause of the abnormality.
  • Step S807 if there is an abnormal pick-up point, generate third abnormal prompt information according to the abnormal pick-up point and the goods to be put into storage corresponding to the abnormal pick-up point in the storage instruction.
  • the corresponding pick-up point in the storage order is an abnormal pick-up point, that is, the pick-up point does not place the corresponding goods in the storage order and is an idle pick-up point
  • the pick-up point should store the goods to be stored, and generate the third abnormal prompt information, so as to place the missing goods to be stored at the abnormal pick-up point based on the second abnormal prompt information.
  • the handling robot will sequentially transport the goods to be put into the warehouse placed at each pick-up point to the preset location corresponding to the storage shelf, thereby realizing The smooth storage of goods.
  • Fig. 18 is a flowchart of a cargo processing method provided in another embodiment of the present disclosure.
  • the cargo processing method provided in this embodiment can be executed by a sorting device.
  • the cargo processing method includes the following steps:
  • Step S901 when there are processed first goods on the first preset layer of the conveying shelf of the sorting device, transport the first goods through the conveying mechanism of the first preset layer, so as to pass through the handling robot Transporting the first goods to an idle layer of a temporary storage shelf of the transporting robot.
  • Step S902 after the handling robot places the target goods on the second preset layer of the delivery shelf of the sorting device, transport the target goods to the manipulator through the transmission mechanism of the second preset layer scope of work.
  • the target goods are goods corresponding to the processing instruction.
  • Step S903 processing the target goods based on the manipulator.
  • Step S904 if the processed target cargo is not an empty container, then transfer the target cargo to the first preset layer of the delivery shelf.
  • the handling robot transports the target goods on the storage shelf to the corresponding position of the sorting device based on the received processing instructions, and the handling robot reserves a free layer, when the first preset layer of the sorting device There is the first product that has been processed, and the handling robot will move the first product to the reserved free layer, and then place a target product on the second preset layer of the sorting device, so as to pass through the second preset layer
  • the conveying mechanism transports the target goods to the working range of the manipulator, and the manipulator completes the processing of the target goods, and then if the processed target goods need to be returned to the storage shelf, the target goods are transported to the first preset layer to pass through the handling robot
  • the idle layer of the temporary storage shelf will be transported back to the storage shelf.
  • the sorting device has the function of two-way transportation.
  • the handling robot can pick and place the goods alternately at the same position, reducing the walking distance and waiting time of the handling robot. Time, improve the efficiency of cargo handling, thereby improving the efficiency of cargo handling
  • the method also includes:
  • the processed goods are empty containers, it is determined that the goods are recycled goods; the recycled goods are transported to the production line via the manipulator, and the goods information of the recycled goods is recorded.
  • the method also includes:
  • first abnormal information is generated according to the redundant goods, and the first abnormal information is sent to the handling robot.
  • the method also includes:
  • the second target cargo is the target cargo corresponding to the processing instruction that has not been transported to the second preset layer of the delivery shelf of the sorting device.
  • the cargo transportation module 1910 is configured to transport the target cargo corresponding to the processing instruction placed on the storage shelf to the corresponding position of the sorting device via the handling robot when receiving the processing instruction
  • the temporary storage shelf of the handling robot includes at least one free layer
  • the first handling module 1920 is configured to, when there is a processed first goods on the first preset layer of the delivery shelf of the sorting device, pass through the The handling robot transports the first goods to the free layer of the temporary storage shelf
  • the first placement module 1930 is used to pass the first goods through the handling after the first goods are placed on the free layer of the temporary storage shelf.
  • the robot places the target goods on the second preset layer of the conveying shelf of the sorting device, so as to transport the target goods to the manipulator through the transmission mechanism of the second preset layer of the conveying shelf
  • the working range is used to process the target cargo based on the manipulator.
  • the cargo transportation module 1910 includes: a target storage location determining unit, configured to, when receiving a processing instruction, determine a target storage location for placing the target cargo on the storage shelf according to the processing instruction via a handling robot
  • the first handling unit is used to transport the target goods from the target warehouse position to the temporary storage shelf of the handling robot after the handling robot moves to the position corresponding to the target warehouse position; the goods transport unit , for transporting the target goods to the corresponding position of the sorting device via the transport robot.
  • the device further includes: a detection information acquisition module, configured to acquire location detection information of the target location after the handling robot moves to a position corresponding to the target location; a cargo verification module, It is used for judging whether the goods placed in the target warehouse location are the target goods based on the warehouse location detection information.
  • a detection information acquisition module configured to acquire location detection information of the target location after the handling robot moves to a position corresponding to the target location
  • a cargo verification module It is used for judging whether the goods placed in the target warehouse location are the target goods based on the warehouse location detection information.
  • the first handling unit is specifically configured to: if the goods placed in the target warehouse location are the target goods, transport the target goods from the target warehouse location to the temporary storage shelf of the handling robot.
  • the detection information acquisition module is specifically configured to: collect a location detection image of the target location based on an image sensor of the transfer robot after the transfer robot moves to a position corresponding to the target location , to determine whether the goods placed in the target warehouse location are the target goods based on the warehouse location detection image.
  • the goods verification module is specifically used to: determine the goods identifier of the goods placed in the target warehouse location based on the warehouse location detection information; determine whether the goods identifier is a preset identifier; if the goods identifier is If the preset identifier is used, it is determined that the goods placed in the target warehouse location are the target goods.
  • the device further includes: a first exception processing module, configured to determine each related goods associated with the target goods when the goods placed in the target warehouse location are not the target goods; via the handling robot, transporting each of the related goods to the goods import and export of the storage system, so as to determine the abnormal goods from each of the related goods; via the handling robot, placing each second goods in the original storage location corresponding to each second goods, Wherein, the second goods are other related goods except the abnormal goods in the related goods; and/or, if the target goods are included in the abnormal goods, the target goods are placed in the The target warehouse location is used to transport the target goods to the corresponding position of the sorting device via a transport robot.
  • a first exception processing module configured to determine each related goods associated with the target goods when the goods placed in the target warehouse location are not the target goods
  • via the handling robot transporting each of the related goods to the goods import and export of the storage system, so as to determine the abnormal goods from each of the related goods
  • via the handling robot placing each second goods in the original storage location corresponding to each
  • the device further includes: a second exception processing module, configured to determine each related goods associated with the target goods when the goods placed in the target warehouse location are not the target goods; determine the association Whether the target goods exist in the goods, wherein the target goods are placed in the first location of the storage shelf, and the goods corresponding to the first location are the goods placed in the target location; a handling robot, placing the target goods in the target warehouse location and placing the goods placed in the target warehouse location in the first warehouse location, so as to transport the target goods to the sorting device via the handling robot the corresponding location.
  • a second exception processing module configured to determine each related goods associated with the target goods when the goods placed in the target warehouse location are not the target goods; determine the association Whether the target goods exist in the goods, wherein the target goods are placed in the first location of the storage shelf, and the goods corresponding to the first location are the goods placed in the target location
  • a handling robot placing the target goods in the target warehouse location and placing the goods placed in the target warehouse location in the first warehouse location, so as to transport the target goods
  • the device further includes: a location status judging module, configured to judge the location status of the target location according to the location detection information after acquiring the location detection information of the target location.
  • a location status judging module configured to judge the location status of the target location according to the location detection information after acquiring the location detection information of the target location.
  • the cargo verification module is specifically used for: if the storage location status of the target storage location is an occupied state, based on the cargo detection information in the storage location detection information, it is judged whether the goods placed in the target storage location are the target cargo.
  • the device further includes: a recovery prompt module, configured to determine whether each recycled goods includes the target goods if the storage location status of the target storage location is idle, wherein the recycled goods are The manipulator transports the empty container to the production line; if so, a recycling prompt message is generated.
  • a recovery prompt module configured to determine whether each recycled goods includes the target goods if the storage location status of the target storage location is idle, wherein the recycled goods are The manipulator transports the empty container to the production line; if so, a recycling prompt message is generated.
  • the device further includes: a retention judging module, configured to acquire the shelf detection information of each layer of the conveying shelf of the sorting device if the returned goods do not include the target goods; Detecting information, judging whether the target goods are stranded on the conveying shelf; if yes, transporting the target goods stranded on the conveying shelf to the goods import and export via a handling robot, so as to detect whether the target goods are damaged.
  • a retention judging module configured to acquire the shelf detection information of each layer of the conveying shelf of the sorting device if the returned goods do not include the target goods. Detecting information, judging whether the target goods are stranded on the conveying shelf; if yes, transporting the target goods stranded on the conveying shelf to the goods import and export via a handling robot, so as to detect whether the target goods are damaged.
  • the device further includes: a cargo warehousing module, configured to, based on the handling robot and according to the warehousing instruction, store each of the goods to be put into storage at the goods import and export of the storage system on the storage shelf In each preset storage location, wherein, the storage instruction includes each preset storage location corresponding to the goods to be stored.
  • a cargo warehousing module configured to, based on the handling robot and according to the warehousing instruction, store each of the goods to be put into storage at the goods import and export of the storage system on the storage shelf In each preset storage location, wherein, the storage instruction includes each preset storage location corresponding to the goods to be stored.
  • the cargo warehousing module is specifically used for: when receiving the warehousing instruction, the handling robot moves to the position corresponding to the import and export of the goods, and sequentially places the corresponding items in the warehousing instruction on the Each of the goods to be put into storage at each pick-up point of the import and export of goods is transported to the temporary storage shelf of the handling robot; based on the handling robot, each of the goods to be put into storage is stored in the preset warehouse corresponding to each of the goods to be put into storage in place.
  • the device further includes: a storage situation determination module, configured to determine the storage situation of each pick-up point at the import and export of the goods after the handling robot moves to a position corresponding to the import and export of the goods; the pick-up point A judging module, configured to judge whether there are redundant goods or abnormal pick-up points according to the storage conditions of each pick-up point, wherein the abnormal pick-up point is an idle pick-up point, and in the storage instruction, the The abnormal pick-up point corresponds to one of the goods to be put into storage; the third abnormal processing module is used to determine each second associated goods associated with the excess goods if there are excess goods, wherein the second associated goods include Among the goods placed on the storage shelf associated with the excess goods, the goods placed on the delivery shelf associated with the excess goods, and the goods placed on the temporary storage shelf of the handling robot associated with the excess goods One or more items, each of the second associated goods is transported to the import and export of the goods, and based on the historical processing flow of each of the second associated goods, an abnormality check is performed
  • the device further includes: a fourth exception processing module, configured to, if there is an abnormal pick-up point, according to the abnormal pick-up point and the storage order corresponding to the abnormal pick-up point in the storage instruction Goods, generate the third abnormal prompt information.
  • a fourth exception processing module configured to, if there is an abnormal pick-up point, according to the abnormal pick-up point and the storage order corresponding to the abnormal pick-up point in the storage instruction Goods, generate the third abnormal prompt information.
  • the device further includes: a fifth exception processing module, configured to receive a message sent by the sorting device after placing the target goods on the second preset layer of the conveying shelf of the sorting device.
  • the first abnormal information wherein, the first abnormal information includes the excess goods on the second preset layer of the conveying shelf of the sorting device; according to the first abnormal information, via the handling robot, the second The redundant goods on the second preset layer are transported to the production line, and a fourth abnormality prompt message is generated.
  • the device further includes: a sixth exception processing module, configured to receive a message sent by the sorting device after placing the target goods on the second preset layer of the conveying shelf of the sorting device.
  • the second abnormal information wherein, the second abnormal information includes a second target cargo, and the second target cargo corresponds to the processing instruction of the second preset layer of the conveying rack that has not been transported to the sorting device according to the second abnormal information, place the second target goods on the second preset layer of the conveying shelf of the sorting device via the handling robot, so as to pass through the second preset layer of the conveying shelf
  • a layer is used to transport the second target goods to the working range of the manipulator, so as to process the second target goods based on the manipulator.
  • the cargo processing device provided in the embodiments of the present disclosure can execute the cargo processing method provided in any embodiment corresponding to the first aspect of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.
  • the second transportation module 2010 is used for transporting the first cargo through the conveying mechanism of the first preset layer when the processed first goods exist on the first preset layer of the conveying shelf of the sorting device.
  • a cargo to transport the first cargo to the free layer of the temporary storage shelf of the transport robot via the transport robot;
  • the third transport module 2020 used to place the target goods on the sorting device when the transport robot After the second preset layer of the delivery rack, the target cargo is transported to the working range of the manipulator through the transmission mechanism of the second preset layer, wherein the target cargo is the cargo corresponding to the processing instruction;
  • the processing module 2030 is used to process the target goods based on the manipulator;
  • the goods return module 2040 is used to transfer the target goods to the first delivery shelf if the processed target goods are not empty containers.
  • a default layer is used to process the target goods based on the manipulator.
  • the device further includes: an empty cargo container recovery module, configured to determine that the cargo is recycled cargo if the processed cargo is an empty cargo container; transport the recycled cargo to production line, and record the cargo information of the recycled cargo.
  • an empty cargo container recovery module configured to determine that the cargo is recycled cargo if the processed cargo is an empty cargo container; transport the recycled cargo to production line, and record the cargo information of the recycled cargo.
  • the device further includes: a first abnormal information generating module, configured to generate first abnormal information according to the redundant goods when there are redundant goods on the second preset layer of the conveying shelf of the sorting device , and send the first abnormality information to the handling robot.
  • a first abnormal information generating module configured to generate first abnormal information according to the redundant goods when there are redundant goods on the second preset layer of the conveying shelf of the sorting device , and send the first abnormality information to the handling robot.
  • the device further includes: a second abnormal information generating module, configured to, when there is no second target product on the second preset layer of the conveying shelf of the sorting device, according to the second target product generating second abnormality information, and sending the second abnormality information to the handling robot, wherein the second target goods are the processing instructions of the second preset layer of the delivery rack that has not been transported to the sorting device corresponding target goods.
  • a second abnormal information generating module configured to, when there is no second target product on the second preset layer of the conveying shelf of the sorting device, according to the second target product generating second abnormality information, and sending the second abnormality information to the handling robot, wherein the second target goods are the processing instructions of the second preset layer of the delivery rack that has not been transported to the sorting device corresponding target goods.
  • the cargo processing device provided in the embodiments of the present disclosure can execute the cargo processing method provided in any embodiment corresponding to the second aspect of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.
  • FIG. 21 is a schematic structural diagram of a handling robot provided by an embodiment of the present disclosure. As shown in FIG. 21 , the handling robot includes: a robot body 2110 , a temporary storage shelf 2120 , a handling device 2130 and at least one processor 2140 .
  • the temporary storage rack 2120 is used to store goods, usually including multiple layers, such as 5 layers; It may be called a pick-and-place device; at least one processor 2140 is configured to execute the goods processing method provided in any embodiment corresponding to the first aspect of the present disclosure.
  • the handling robot may be the handling robot 3 in any of the above-mentioned embodiments.
  • FIG. 22 is a schematic structural diagram of a sorting device provided by another embodiment of the present disclosure. As shown in FIG. 22 , the sorting device includes: a delivery shelf 2210 , a manipulator 2220 and at least one processor 2230 .
  • the conveying shelf 2210 has at least two conveying layers, and the at least two conveying layers indent from the bottom to the direction away from the manipulator 2220 at the end close to the manipulator 2220 and form steps;
  • the conveying layer is provided with a conveying mechanism, The conveying mechanism moves the cargo on the conveying layer along the conveying direction;
  • at least one processor 2230 is configured to execute the cargo processing method provided in any embodiment corresponding to the second aspect of the present disclosure.
  • An embodiment of the present disclosure further provides a storage system, which includes: storage shelves, the handling robot provided in the embodiment corresponding to the fifth aspect of the present disclosure, and the sorting device provided in the embodiment corresponding to the sixth aspect of the present disclosure.
  • the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device and the like.
  • the present disclosure also provides a program product including an executable computer program stored in a readable storage medium.
  • At least one processor of the handling robot, the sorting device or the storage system can read the computer program from the readable storage medium, and the at least one processor executes the computer program so that the cargo processing device implements the cargo processing methods provided in the above various embodiments.
  • modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • the above-mentioned integrated modules implemented in the form of software function modules can be stored in a computer-readable storage medium.
  • the above-mentioned software function modules are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) or a processor (English: processor) to execute the functions described in various embodiments of the present disclosure. part of the method.
  • processor may be a central processing unit (Central Processing Unit, referred to as CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application specific integrated circuits (Application Specific Integrated Circuit, referred to as ASIC) and so on.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the steps of the method disclosed in conjunction with the present disclosure may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
  • the storage may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage, and may also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.
  • NVM non-volatile storage
  • the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on.
  • the buses in the drawings of the present disclosure are not limited to only one bus or one type of bus.
  • the above-mentioned storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable In addition to programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM programmable read-only memory
  • ROM read-only memory
  • magnetic memory magnetic memory
  • flash memory magnetic disk or optical disk.
  • a storage media may be any available media that can be accessed by a general purpose or special purpose computer.
  • An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
  • the storage medium may also be a component of the processor.
  • the processor and the storage medium may be located in Application Specific Integrated Circuits (ASIC for short).
  • ASIC Application Specific Integrated Circuits
  • the processor and the storage medium can also exist in the electronic device or the main control device as discrete components.
  • the aforementioned program can be stored in a computer-readable storage medium.
  • the program executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

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Abstract

一种货物处理方法、装置、机器人、分拣装置及仓储系统（100），该货物处理方法应用于搬运机器人（3，130），该货物处理方法包括：搬运机器人（3，130）将放置于仓储货架（4，120）上的处理指令对应的目标货物运输至分拣装置对应的位置，其中，搬运机器人（3，130）的暂存货架包括至少一层空闲层；当分拣装置的输送货架（1，2210）的第一预设层上存在处理完毕的第一货物时，搬运机器人（3，130）将第一货物搬运至暂存货架的空闲层，接着将目标货物放置于分拣装置的输送货架（1，2210）的第二预设层，以通过输送货架（1，2210）的第二预设层的传送机构将目标货物运输至机械手（2，2220）的工作范围，以基于机械手（2，2220）对目标货物进行处理，实现了通过一个机器人完成货物的双向搬运，提高了货物搬运效率。

Description

货物处理方法、装置、机器人、分拣装置及仓储系统
本申请要求于2021年07月23日提交的名称为“货物处理方法、装置、机器人、分拣装置及仓储系统”的CN202110838422.6的优先权和于2021年07月23日提交的名称为“分拣装置和仓储系统”的CN202121697587.8的优先权，两件申请的全部内容通过引用合并于此。
技术领域
本公开涉及智能仓储技术领域，尤其涉及一种货物处理方法、装置、机器人、分拣装置及仓储系统。
背景技术
基于机器人的仓储系统采用智能操作系统，通过系统指令实现货物的自动取出和存放，同时可以24小时不间断运行，代替了人工管理和操作，提高了仓储的效率，受到了广泛地应用和青睐。
基于仓储系统的货物处理过程，需要通过机器人将仓储货架存放的货物搬运至输送线，进而通过输送线将货物运输至相应的操作台，从而完成货物的处理，当货物需要回流时，则控制机器人将需要回流的货物运输至仓储系统的仓储货架中。
在现有技术中，往往通过一个机器人将仓储货架中的货物运输至输送线，而通过另一个机器人将输送线上的货物搬运至仓储货架，货物搬运占用机器人数量较多，且由于货物处理需要一定的时间，机器人需要在输送线的货物出口等待较久的时间，或者机器人需要频繁往返于输送线和仓储货架之间，行走距离较长，导致机器人工作效率较低、货物搬运效率较低，货物处理成本较高。
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本公开提供一种货物处理方法、装置、机器人、分拣装置及仓储系统，在仓储系统中设置尺寸相对较小的分拣装置代替传统的输送线，提高了仓储系统的空间利用率，并基于同一个搬运机器人进行分拣装置上货物的提取和存放，加快了货物搬运的速度，提高了货物处理效率。
第一方面，本公开实施例提供了一种货物处理方法，该货物处理方法应用于搬运机器人，所述搬运机器人用于进行仓储系统的货物的搬运，所述仓储系统包括仓储货架、搬运机器人和分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，所述方法包括：当接收到处理指令时，经由搬运机器人，将放置于所述仓储货架上的所述处理指令对应的目标货物运输至所述分拣装置对应的位置，其中，所述搬运机器人的暂存货架包括至少一层空闲层；当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，经由所述搬运机器人，将第一货物搬运至所述暂存货架的空闲层；在所述第一货物被放置于所述暂存货架的空闲层之后，经由所述搬运机器人，将所述目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，以基于所述机械手对所述目标货物进行处理。
可选的，经由所述搬运机器人，将放置于所述仓储货架上的所述处理指令对应的目标货物运输至所述分拣装置对应的位置，包括：根据所述处理指令，确定所述仓储货架放置所述目标货物的目标库位；在所述搬运机器人移动至所述目标库位对应的位置之后，将所述目标货物从所述目标库位搬运至所述搬运机器人的暂存货架；经由所述搬运机器人，将所述目标货物运输至所述分拣装置对应的位置。
可选的，在所述搬运机器人移动至所述目标库位对应的位置之后，所述方法还包括：
获取所述目标库位的库位检测信息；基于所述库位检测信息，判断所述目标库位放置的货物是否为所述目标货物；若是，则将所述目标货物从所述目标库位搬运至所述搬运机器人的暂存货架。
可选的，获取所述目标库位的库位检测信息，包括：基于所述搬运机 器人的图像传感器，采集所述目标库位的库位检测图像，以基于所述库位检测图像，判断所述目标库位放置的货物是否为所述目标货物。
可选的，基于所述库位检测信息，判断所述目标库位放置的货物是否为所述目标货物，包括：基于所述库位检测信息，确定所述目标库位放置的货物的货物标识；判断所述货物标识是否为预设标识；若所述货物标识为预设标识，则确定所述目标库位放置的货物为所述目标货物。
可选的，当所述目标库位放置的货物不是所述目标货物时，所述方法还包括：确定与所述目标货物关联的各个关联货物；经由搬运机器人，将各个所述关联货物搬运至所述仓储系统的货物进出口，以从各个所述关联货物中确定异常货物；经由搬运机器人，将各个第二货物放置于各个第二货物对应的原库位，其中，所述第二货物为所述关联货物中除去所述异常货物的其他关联货物；和/或，若所述异常货物中包括所述目标货物，则经由搬运机器人将所述目标货物放置于所述目标库位，以经由搬运机器人将所述目标货物搬运至所述分拣装置对应的位置。
可选的，当所述目标库位放置的货物不是所述目标货物时，所述方法还包括：确定与所述目标货物关联的各个关联货物；判断所述关联货物中是否存在所述目标货物，其中，所述目标货物放置于所述仓储货架的第一库位，所述第一库位对应的货物为所述目标库位放置的货物；若是，则经由搬运机器人，将所述目标货物放置于所述目标库位以及将所述目标库位放置的货物放置于所述第一库位，以经由搬运机器人将所述目标货物搬运至所述分拣装置对应的位置。
可选的，在获取目标库位的库位检测信息之后，所述方法还包括：根据所述库位检测信息，判断所述目标库位的库位状态；若所述目标库位的库位状态为占据状态，则基于所述库位检测信息中的货物检测信息，判断所述目标库位放置的货物是否为所述目标货物。
可选的，若所述目标库位的库位状态为空闲状态，所述方法还包括：确定各个回收货物中是否包括所述目标货物，其中，所述回收货物为被所述机械手搬运至生产线的空货箱；若是，则生成回收提示信息。
可选的，若所述回收货物中不包括所述目标货物，所述方法还包括：获取所述分拣装置的输送货架的各层的货架检测信息；基于所述货架检测信息，判断所述目标货物是否滞留于所述输送货架；若是，则经由搬运机 器人，将滞留于所述输送货架的目标货物搬运至货物进出口，以检测所述目标货物是否损坏。
可选的，若所述目标货物未滞留于所述输送货架，所述方法还包括：巡视所述仓储货架的各个库位；根据巡视结果，判断所述目标货物是否存放于所述仓储货架的第二库位；若是，则确定与所述目标货物关联的各个关联货物；基于所述目标货物及各个关联货物的历史处理流程进行异常盘查，以确定异常处理节点；根据所述异常处理节点，生成第一异常提示信息。
可选的，所述方法还包括：基于所述搬运机器人，根据入库指令，将位于所述仓储系统的货物进出口的各个待入库货物存放于所述仓储货架的各个预设库位中，其中，所述入库指令包括各个待入库货物对应的预设库位。
可选的，根据入库指令，将位于所述仓储系统的货物进出口的各个待入库货物存放于所述仓储货架的各个预设库位中，包括：当接收到所述入库指令，搬运机器人移动至所述货物进出口对应的位置，并依次将所述入库指令中对应的放置于所述货物进出口的各个取货点的各个待入库货物搬运至所述搬运机器人的暂存货架中；基于所述搬运机器人，将各个待入库货物存放于各个待入库货物对应的预设库位中。
可选的，在搬运机器人移动至所述货物进出口对应的位置之后，所述方法还包括：确定所述货物进出口的各个取货点的存放情况；根据各个取货点的存放情况，判断是否存在多余货物或异常取货点，其中，所述异常取货点为空闲取货点，且在所述入库指令中，所述异常取货点对应其中一个待入库货物；若存在多余货物，则确定与所述多余货物关联的各个第二关联货物，其中，所述第二关联货物包括与所述多余货物关联的放置于所述仓储货架的货物、与所述多余货物关联的放置于所述输送货架的货物和与所述多余货物关联的放置于搬运机器人的暂存货架的货物中的一项或多项；将各个所述第二关联货物搬运至所述货物进出口；基于各个所述第二关联货物的历史处理流程，进行异常盘查，以确定异常处理节点；根据所述异常处理节点，生成第二异常提示信息。
可选的，若存在异常取货点，所述方法还包括：根据所述异常取货点以及所述入库指令中所述异常取货点对应的待入库货物，生成第三异常提 示信息。
可选的，在将所述目标货物放置于所述分拣装置的输送货架的第二预设层上之后，所述方法还包括：接收所述分拣装置发送的第一异常信息，其中，所述第一异常信息包括所述分拣装置的输送货架的第二预设层上的多余货物；根据所述第一异常信息，经由搬运机器人，将所述第二预设层上的多余货物搬运至生产线，并生成第四异常提示信息。
可选的，在将所述目标货物放置于所述分拣装置的输送货架的第二预设层上之后，所述方法还包括：接收所述分拣装置发送的第二异常信息，其中，所述第二异常信息包括第二目标货物，所述第二目标货物为未搬运至所述分拣装置的输送货架的第二预设层的所述处理指令对应的目标货物；根据所述第二异常信息，经由搬运机器人，将所述第二目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层将所述第二目标货物运输至所述机械手的工作范围，以基于所述机械手对所述第二目标货物进行处理。
第二方面，本公开实施例还提供了一种货物处理方法，该货物处理方法应用于分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，所述方法包括：当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，通过所述第一预设层的传送机构运输所述第一货物，以经由搬运机器人将所述第一货物搬运至所述搬运机器人的暂存货架的空闲层；在所述搬运机器人将目标货物放置于所述分拣装置的输送货架的第二预设层之后，通过所述第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，其中，所述目标货物为处理指令对应的货物；基于所述机械手处理所述目标货物；若处理完的所述目标货物不是空货箱，则将所述目标货物转运至所述输送货架的第一预设层。
可选的，所述方法还包括：若处理完的所述货物为空货箱，则确定所述货物为回收货物；经由所述机械手将所述回收货物搬运至生产线，并记录所述回收货物的货物信息。
可选的，所述方法还包括：当所述分拣装置的输送货架的第二预设层 上存在多余货物时，根据所述多余货物生成第一异常信息，并将所述第一异常信息发送至搬运机器人。
可选的，所述方法还包括：当所述分拣装置的输送货架的第二预设层上不存在第二目标货物时，根据所述第二目标货物生成第二异常信息，并将所述第二异常信息发送至搬运机器人，其中，所述第二目标货物为未搬运至所述分拣装置的输送货架的第二预设层的所述处理指令对应的目标货物。
第三方面，本公开实施例还提供了一种货物处理装置，所述货物处理装置应用于搬运机器人，所述搬运机器人用于进行仓储系统的货物的搬运，所述仓储系统包括仓储货架、搬运机器人和分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，所述货物处理装置包括：
货物运输模块，用于当接收到处理指令时，经由搬运机器人，将放置于所述仓储货架上的所述处理指令对应的目标货物运输至所述分拣装置对应的位置，其中，所述搬运机器人的暂存货架包括至少一层空闲层；第一搬运模块，用于当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，经由所述搬运机器人，将第一货物搬运至所述暂存货架的空闲层；第一放置模块，用于在所述第一货物被放置于所述暂存货架的空闲层之后，经由所述搬运机器人，将所述目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，以基于所述机械手对所述目标货物进行处理。
第四方面，本公开实施例还提供了一种货物处理装置，所述货物处理装置应用于分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，所述货物处理装置包括：
第二运输模块，用于当所述分拣装置的输送货架的第一预设层上存在 处理完毕的第一货物时，通过所述第一预设层的传送机构运输所述第一货物，以经由搬运机器人将所述第一货物搬运至所述搬运机器人的暂存货架的空闲层；第三运输模块，用于在所述搬运机器人将目标货物放置于所述分拣装置的输送货架的第二预设层之后，通过所述第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，其中，所述目标货物为处理指令对应的货物；货物处理模块，用于基于所述机械手处理所述目标货物；货物回流模块，用于若处理完的所述目标货物不是空货箱，则将所述目标货物转运至所述输送货架的第一预设层。
第五方面，本公开实施例还提供了一种搬运机器人，包括机器人主体、暂存货架、搬运装置和至少一个处理器；其中，所述暂存货架用于存放货物；所述搬运装置用于将货物搬运至所述暂存货架，或者提取存放于所述暂存货架中的货物；所述至少一个处理器用于执行本公开第一方面对应的任意实施例提供的货物处理方法。
第六方面，本公开实施例还提供了一种分拣装置，包括输送货架、机械手和至少一个处理器；其中，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动；所述至少一个处理器用于执行本公开第二方面对应的任意实施例提供的货物处理方法。
第七方面，本公开实施例还提供了一种仓储系统，仓储货架、本公开第五方面对应的实施例提供的搬运机器人和本公开第六方面对应的实施例提供的分拣装置。
第八方面，本公开实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如本公开任意实施例提供的货物处理方法。
第九方面，本公开实施例还提供了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现本公开任意实施例提供的货物处理方法。
本公开实施例提供的货物处理方法、装置、机器人、分拣装置及仓储系统，该货物处理方法针对包括仓储货架、搬运机器人和分拣装置的仓储系统，搬运机器人基于接收到的处理指令将仓储货架上的目标货物搬运至 分拣装置对应的位置，且搬运机器人预留一个空闲层，当分拣装置的第一预设层上存在处理完毕的第一货物，由搬运机器人将该第一货物搬运至预留的空闲层，之后再将一个目标货物放置于分拣装置的第二预设层，从而通过该第二预设层的传送机构将目标货物运输至机械手的工作范围，由机械手完成目标货物的处理，进而若处理完毕的目标货物需要返回仓储货架，则将该目标货物运输至第一预设层，以通过搬运机器人的暂存货架的空闲层将其搬运回仓储货架，该分拣装置具备双向运输的功能，该搬运机器人可以在同一位置通过交替的方式进完成取放货，减少了搬运机器人的行走距离和等待时间，提高货物搬运的效率，从而提高了货物处理的效率。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的一种分拣装置的结构示意图一；
图2为本公开实施例提供的一种分拣装置的结构示意图二；
图3为本公开实施例提供的一种分拣装置的结构示意图三；
图4为本公开实施例提供的另一种分拣装置的结构示意图一；
图5为本公开实施例提供的另一种分拣装置的结构示意图二；
图6为本公开实施例提供的另一种分拣装置的结构示意图三；
图7为本公开实施例提供的仓储系统的结构示意图；
图8为本公开实施例提供的仓储系统中搬运机器人与输送货架对接的俯视图；
图9为本公开实施例提供的仓储系统中搬运机器人与输送货架对接的侧视图；
图10为本公开实施例提供的货物处理方法的一种应用场景图；
图11为本公开一个实施例提供的货物处理方法的流程图；
图12为本公开另一个实施例提供的货物处理方法的流程图；
图13为本公开另一个实施例提供的货物处理方法的流程图；
图14为本公开另一个实施例提供的货物处理方法的流程图；
图15为本公开另一个实施例提供的货物处理方法的流程图；
图16为本公开另一个实施例提供的货物处理方法的流程图；
图17为本公开另一个实施例提供的货物处理方法的流程图；
图18为本公开另一个实施例提供的货物处理方法的流程图；
图19为本公开一个实施例提供的货物处理装置的结构示意图；
图20为本公开另一个实施例提供的货物处理装置的结构示意图；
图21为本公开一个实施例提供的搬运机器人的结构示意图；
图22为本公开另一个实施例提供的分拣装置的结构示意图。
附图标记说明：
1-输送货架；12-输送层；121-输送线；1211-传送机构；1212-滚动传送件；
2-机械手；21-第一连接臂；22-第二连接臂；23-支撑底座；231-增稳底座；232-支撑柱；24-拿取组件；
3-搬运机器人；
4-仓储货架；41-货物进出口；
5-输送料箱。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
下面以具体地实施例对本公开的技术方案以及本公开的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。
仓储系统通常由管理设备、机器人、仓储货架、输送线和操作台组成，输送线往往设置为一层，以通过机器人将位于各个地方的仓储货架的货物输送至对应的操作台，或者将操作台上的货物运输至各个仓储货架对应的位置， 进而由机器人将货物搬运至仓储货架。由于输送线的长度较长，导致其占地面积比较大，从而降低了仓储系统的仓储密度。
为了解决上述问题，本公开实施例提供一种分拣装置，该分拣装置的输送货架具有至少两层输送层，至少两层输送层的靠近机械手的一端自下向上依次朝向远离机械手的方向缩进并形成台阶状。第一，至少两层输送层不仅可以增大输送货架的置物空间，而且可以减小输送货架的占地面积，从而有利于减小分拣装置占用的空间，提高仓储密度，降低仓储成本。第二，输送层的靠近机械手的一端设置为台阶状便于机械手从各个输送层的靠近机械手的一端拿取货物，或，向各个输送层的靠近机械手的一端放置货物，从而可以避免机械手在取放货物的过程中与输送层发生碰撞干涉，且实现货物的双向循环输送，提高货物输送效率。
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
图1为本公开实施例提供的一种分拣装置的结构示意图一；图2为本公开实施例提供的一种分拣装置的结构示意图二；图3为本公开实施例提供的一种分拣装置的结构示意图三；图4为本公开实施例提供的另一种分拣装置的结构示意图一；图5为本公开实施例提供的另一种分拣装置的结构示意图二；图6为本公开实施例提供的另一种分拣装置的结构示意图三。
参照图1至图6所示，本公开实施例提供一种分拣装置。该分拣装置包括输送货架1和机械手2，机械手2设置在输送货架1的沿输送方向的第一端。输送货架1用于输送货物，机械手2用于从输送货架1上拿取货物，或，机械手2用于将拿取的货物放置在输送货架1上。
具体的，输送货架1具有至少两层输送层12，至少两层输送层12的靠近机械手2的一端自下向上依次朝向远离机械手2的方向缩进并形成台阶状。输送层12可以根据实际需要设置两层、三层、四层或者更多层。示例性的，输送货架1包括支撑腿和安装在支撑腿上的输送层12，至少两层输送层12可以共用一组(例如四个)支撑腿；或者，至少两层输送层12可以各自具有一 组(例如四个)支撑腿；亦或者，至少两层输送层12可以在远离机械手2的一端共用部分支撑腿，而在靠近机械手的一端各自具有支撑腿。
输送层12上设置有传送机构1211，传送机构1211使货物在输送层12上沿输送方向移动，示例性的，传送机构1211可以将货物从远离机械手2的一端输送至靠近机械手2的一端，以便于机械手2从输送货架1上拿取货物；或者，传送机构1211可以将机械手2放置在输送货架1上的靠近机械手2的一端的货物输送至远离机械手2的一端，以便于搬运机器人、工作人员或其他设备从输送货架1的远离机械手2的一端取走货物。
本公开实施例提供的分拣装置中，输送货架1具有至少两层输送层12，至少两层输送层12的靠近机械手2的一端自下向上依次朝向远离机械手2的方向缩进并形成台阶状。第一，至少两层输送层12不仅可以增大输送货架1的置物空间，而且可以减小输送货架1的占地面积，从而有利于减小分拣装置占用的空间。第二，输送层12的靠近机械手的一端设置为台阶状便于机械手2从各个输送层12的靠近机械手2的一端拿取货物，或，向各个输送层12的靠近机械手2的一端放置货物，从而可以避免机械手2在取放货物的过程中与输送层12发生碰撞干涉。
同时，通过在输送层12上设置传送机构1211，传送机构1211使货物在输送层12上沿输送方向移动。一方面，传送机构可以将输送层12上的货物朝向靠近机械手2的一端输送，以便于机械手2拿取；另一方面，传送机构可以将机械手2放置在输送层12的靠近机械手2的一端的货物朝向远离机械手2的一端输送，以便于让出机械手2放货空间，从而有利于提高分拣装置的工作效率。
可选的，输送层12包括至少两个输送线121，至少两个输送线121沿垂直于输送方向的方向并列设置，示例性的，输送线121可以根据实际需要设置两个、三个、四个或者更多个。传送机构1211设置在输送线121上，以使输送层12可以同时通过至少两个输送线121输送货物，从而有利于提高输送货架1的输送效率，进而有利于提高分拣装置的分拣效率。
可选的，输送线121上放置有输送料箱5，输送料箱5用于容置货物，以便于货物的输送，从而有利于避免小件货物或者形状不规则的货物在输送的过程中发生卡滞。输送线121垂直于输送方向的宽度大于或等于输送料箱5垂直于输送方向的宽度，以避免输送料箱5伸出输送线121的两侧并与其他 结构发生干涉，从而有利于保证输送料箱5整体均位于输送线121上，进而有利于保证输送料箱5的顺利输送。
可选的，相邻两层输送层12中，位于上层的输送层12的靠近机械手2的一端与位于下层的输送层12的靠近机械手2的一端相比，位于上层的输送层12的靠近机械手2的一端朝向远离机械手2的方向缩进第一长度值，第一长度值大于或等于输送料箱5沿输送方向的宽度。一方面，保证上层输送层的靠近机械手2的一端不会遮挡下层输送层的靠近机械手2的一端放置的输送料箱5，从而便于机械手2从输送料箱5内拿取货物，或，向输送料箱5内放置货物。另一方面，便于机械手2直接从输送层12的靠近机械手2的一端将输送料箱5取下，或，直接将输送料箱5放置在输送层12的靠近机械手2的一端。
在一种可选的实现方式中，传送机构1211设置有滚动传送件1212，滚动传送件1212具有与放置在滚动传送件1212上的传送物滚动接触的外轮廓面；滚动传送件1212绕自身的转动轴线朝向输送方向转动，以将传送物沿输送方向输送。示例性的，滚动传送件1212可以为转动辊，转动辊的外周面与传送物滚动接触并将传送物沿输送方向输送。
进一步的，滚动传送件1212可以有多个，多个滚动传送件1212沿输送方向并列设置，且多个滚动传送件1212的转动轴线相互平行，以便更灵活、顺畅的输送放置在输送层12上的货物。
在另一种可选的实现方式中，传送机构1211设置有往复式输送带，往复式输送带沿输送方向往复移动，以将放置在往复式输送带上的传送物沿输送方向输送。
可选的，至少两层输送层12的远离机械手2的一端平齐，以便于搬运机器人与至少两层输送层12的远离机械手2的一端对接，从而有利于保证搬运机器人顺利的将搬运机器人上的货物移送至输送层12上，或，将输送层12上的货物移送至搬运机器人上。
可选的，机械手2包括支撑底座23、第一连接臂21和拿取组件24，第一连接臂21的第一端与支撑底座23的顶端转动连接，示例性的，第一连接臂21的第一端与支撑底座23的顶端之间可以通过万向轴转动连接，也可以通过球铰转动连接，从而有利于提升第一连接臂21相对于支撑底座23转动的灵活性。拿取组件24安装在第一连接臂21的第二端，拿取组件24用于从 至少两层输送层12的靠近机械手2的一端拿取货物。具体实现时，第一连接臂21转动并调整拿取组件24相对于待拿取货物之间的位置关系，以使拿取组件24可以顺利的与待拿取货物对接。
进一步的，机械手2还包括第二连接臂22，第二连接臂22的第一端与第一连接臂21的第二端转动连接，示例性的，第二连接臂22的第一端与第一连接臂21的第二端之间可以通过万向轴转动连接，也可以通过球铰转动连接，从而有利于提升第二连接臂22相对于第一连接臂21转动的灵活性。拿取组件24安装在第二连接臂22的第二端。具体实现时，第一连接臂21和第二连接臂22均可以灵活转动，以便于更精确的调整拿取组件24与待拿取货物之间的相对位置关系，从而使拿取组件24可以顺利且精确的与待拿取货物对接。
在一种可选的实现方式中，拿取组件24为吸盘组件，吸盘组件包括吸盘连接件和吸盘，吸盘连接件的顶端与第二连接臂22的第二端转动连接，示例性的，吸盘连接件的顶端与第二连接臂22的第二端之间可以通过万向轴转动连接，也可以通过球铰转动连接，从而有利于提升吸盘连接件相对于第二连接臂22转动的灵活性。吸盘安装在吸盘连接件的底端，吸盘用于吸取货物。可选的，吸盘连接件可以设置为可伸缩的结构，以增加吸盘调节的灵活性。
在另一种可选的实现方式中，拿取组件24为机械爪组件，机械爪组件包括机械爪连接件和机械爪，机械爪连接件的顶端与第二连接臂22的第二端转动连接，示例性的，机械爪连接件的顶端与第二连接臂22的第二端之间可以通过万向轴转动连接，也可以通过球铰转动连接，从而有利于提升机械爪连接件相对于第二连接臂22转动的灵活性。机械爪安装在机械爪连接件的底端；机械爪具有至少两个机械手指，机械爪用于抓取货物，示例性的，机械爪可以根据实际需要设置两个、三个、四个或者更多个机械手指，机械手指可以使机械爪更可靠的抓取货物。可选的，机械爪连接件可以设置为可伸缩的结构，以增加机械爪调节的灵活性。
可选的，支撑底座23包括增稳底座231和支撑柱232，支撑柱232的底端安装在增稳底座231上，第一连接臂21的第一端与支撑柱232的顶端转动连接。示例性的，增稳底座231可以平铺设置在地面上，增稳底座231的形状可以为正方形、圆形或者其他形状。增稳底座231有利于降低机械手2的重心，从而可以提高机械手2的稳定性和可靠性。
可选的，拿取组件24上设置有目标物识别装置，目标物识别装置用于识 别拿取组件需要拿取的目标物。示例性的，目标物识别装置可以是扫码装置，待拿取的货物上可以贴设有识别码，例如条形码或二维码等，扫码装置可以通过识别货物上的识别码，以找出需要拿取的目标物。当然，目标物识别装置也可以是图像识别装置，图像识别装置可以直接从待拿取的货物中找出目标物。
可选的，拿取组件24上设置有防撞检测装置，防撞检测装置用于防止拿取组件与输送货架1发生碰撞。示例性的，防撞检测装置包括测距传感器和接近传感器，测距传感器和接近传感器可以检测拿取组件24与输送货架1之间的距离，具体实现时，当拿取组件24与输送货架1之间的距离小于预设值时，可以发出警报提醒操作人员，或者，可以将距离回传至机械手2的主控系统，使机械手2的主控系统控制机械手2的拿取组件24的移动。
图7为本公开实施例提供的仓储系统的结构示意图；图8为本公开实施例提供的仓储系统中搬运机器人与输送货架对接的俯视图；图9为本公开实施例提供的仓储系统中搬运机器人与输送货架对接的侧视图。
在实施例一的基础上，参照图7至图9所示，本公开实施例提供一种仓储系统。该仓储系统包括仓储货架4、搬运机器人3和分拣装置，搬运机器人3用于将仓储货架4上的货物搬运至分拣装置的输送货架1上，或，将输送货架1上的货物搬运至仓储货架4上。
示例性的，仓储货架4、搬运机器人3和分拣装置均设置在仓库内，仓库可以分为存货区域和分拣区域，仓储货架4排列设置在存货区域内，且仓储货架4之间留有供搬运机器人3穿行的巷道；存货区域具有货物进出口41，以便将货物运进或运出存货区域。分拣装置设置在存货区域和分拣区域之间，以使存货区域的货物可以通过分拣装置输送并分拣存放在分拣区域，或，使分拣区域的货物可以通过分拣装置分拣并输送存放至存货区域。
可选的，搬运机器人3的货物出入口与输送货架1的沿输送方向的第二端对接，以将货物从搬运机器人3上移送至输送货架1上，或，将货物从输送货架1上移送至搬运机器人3上。结合实施例一的描述，输送货架1的沿输送方向的第二端为输送货架的远离机械手的一端。
可选的，搬运机器人3有至少两个，示例性的，搬运机器人3可以根据仓储系统规模设置两个、三个、四个或者更多个，从而有利于提升仓储系统 的工作效率。
可选的，分拣装置有至少两个，示例性的，分拣装置可以根据仓储系统的规模设置两个、三个、四个或者更多个，从而有利于提升分拣装置的工作效率。至少两个分拣装置间隔设置在仓储货架4的同一侧，以便在分拣装置的远离仓储货架4的一侧设置分拣输送线，从而有利于保证分拣输送线的紧凑性，减小分拣输送线的设置范围，节约成本。
本公开实施例提供的仓储系统包括实施例一的分拣装置，因此，实施例一的分拣装置所具有的优点，仓储系统同样具有，具体可参照实施例一的描述，此处不再赘述。
本公开实施例还提供一种货物处理方法，下面对本公开货物处理方法对应的实施例的应用场景进行解释：
图10为本公开实施例提供的货物处理方法的一种应用场景图，如图1所示，本公开实施例提供的货物处理方法可以由上述搬运机器人或分拣装置执行，通常仓储系统100主要由管理设备110、仓储货架120、搬运机器人130、输送线140和操作台组成，图10中以3个仓储货架120为例，管理设备110用于记录仓储货架120上存储的各个货物的信息，还用于为搬运机器人130规划路径；输送线140包括一个机器人对接口I，当搬运机器人130将货物搬运至机器人对接口I之后，输送线140用于将货物由机器人对接口I输送至操作台进行相应的处理，如分拣、打包等，若货物需要返回仓储货架120，则通过输送线140将货物输送至货物出口，经由另一个搬运机器人130将货物放回仓储货架120。
现有技术中，需要通过不同的搬运机器人分别进行取货和放货，占用机器人数量较多，且在取货时，由于货物处理需要一定的时间，搬运机器人往往需要在货物出口处等待较久的时间，或者需要频繁往返于输送线和仓储货架之间，导致搬运机器人130搬运效率较低。
为了提高货物搬运的效率，本公开实施例提供了一种货物处理方法，通过搬运机器人与分拣装置的配合，使得在货物搬运时，搬运机器人将分拣装置的第一预设层上处理完毕需要返回仓储货架的第一货物搬运至其暂存货架的空闲层，之后将暂存货架其他层的目标货物放置于分拣装置的第二预设层，以通过分拣装置的机械手进行该目标货物的处理，处理完毕之后，若目标货 物需要返回仓储货架，则通过该机械手将，从而基于分拣装置实现货物的双向运输，且通过搬运机器人在分拣装置处的交替取放货，实现了由同一机器人完成取放货，减少了搬运机器人的行走距离和等待时间，提高货物搬运的效率，从而提高了货物处理的效率。
图11为本公开一个实施例提供的货物处理方法的流程图，如图11所示，该货物处理方法适用于仓储系统，该仓储系统可以为无人仓储系统，即货物的入库、分拣、出库等处理过程无人参与，仅通过仓储系统便可以完成。该货物处理方法可以由搬运机器人执行，该仓储系统包括仓储货架、搬运机器人和分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动。本实施例提供的货物处理方法包括以下步骤：
步骤S201，当接收到处理指令时，经由搬运机器人，将放置于所述仓储货架上的所述处理指令对应的目标货物运输至所述分拣装置对应的位置。
其中，搬运机器人的暂存货架为多层，且在搬运机器人移动至分拣装置对应的位置时，搬运机器人的暂存货架包括至少一层空闲层。
在一些实施例中，该空闲层可以为暂存货架的最低的一层，也可以是最高的一层。
在一些实施例中，搬运机器人可以为上述实施例中的搬运机器人3。
在一些实施例中，目标货物的数量可以为多个，且一个搬运机器人在一次搬运时，所对应的目标货物的数量应小于该搬运机器人的暂存货架的层数。
具体的，处理指令可以由仓储系统的管理设备、调度设备或接单设备下发，该处理指令中可以包括各个目标货物，还可以包括各个目标货物对应的目标库位。
在一些实施例中，处理指令可以为分拣指令，该分拣指令中还可以包括每个目标货物的分拣任务。
进一步地，当仓储系统的接单设备接收到订单之后，基于该订单生成各个搬运机器人的处理指令，以基于各个搬运机器人完成该订单。
具体的，搬运机器人在接收到处理指令之后，对该处理指令进行解码， 得到各个目标货物以及各个目标货物对应的目标库位，进而按照设定顺序移动至各个目标库位对应的位置，将各个目标货物搬运至搬运机器人的暂存货架的各层，并预留一个空闲层，在各个目标货物均被搬运至搬运机器人的暂存货架之后，搬运机器人移动至分拣装置对应的位置，以基于分拣装置进行各个目标货物的处理。
步骤S202，当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，经由所述搬运机器人，将第一货物搬运至所述暂存货架的空闲层。
其中，第一货物为分拣装置处理完毕且需要返回仓储货架的上一目标货物。
分拣装置的输送货架可以包括至少两层，第一预设层和第二预设层，第一预设层可以用于输送处理完毕需要返回仓储货架的第一货物，第二预设层则用于输送需要分拣装置的机械手处理的各个目标货物。
在一些实施例中，第一预设层还可以用于输送需要分拣装置的机械手处理的各个目标货物，第一预设层的输送方向可以改变，第一预设层的输送方向可以与第二预设层的输送方向保持一致或者相反。
在一些实施例中，分拣装置可以为上述任意实施例提供的分拣装置。
在一些实施例中，分拣装置的输送货架的第一预设层可以与第二预设层的输送方向相反，且第一预设层位于第二预设层的下方。
具体的，分拣装置通过第二预设层进行第一货物运输，将第一货物运输至机械手的工作范围，进而由机械手进行第一货物处理，如货物分拣、打包等，处理完毕之后，若该第一货物需要返回仓储系统，如第一货物中仍存在物品或第一货物不是空货箱，则将该第一货物输送至第一预设层，以通过搬运机器人提取该第一货物，并将该第一货物存放于仓储货架中。
具体的，当第一货物处理完毕时，可以通过分拣装置的机械手将第一货物搬运至分拣装置的输送货架的第一预设层。
具体的，搬运机器人可以通过其取放货装置将第一货物放置于其暂存货架的空闲层。
步骤S203，在所述第一货物被放置于所述暂存货架的空闲层之后，经由所述搬运机器人，将所述目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层的传送机构将所述目标货物运输至 所述机械手的工作范围，以基于所述机械手对所述目标货物进行处理。
具体的，若存在多个第一货物和多个目标货物，则搬运装置在将一个第一货物放置于其暂存货架的预留的空闲层之后，可以通过取放货装置将一个目标货物放置于分拣装置的输送货架的第二预设层，从而使得搬运机器人的暂存货架出现一个新的空闲层，即原来放置目标货物的一层，搬运机器人接着再将一个第一货物放置于该新的空闲层，依次类推，搬运机器人采用交替的方式，从第一预设层提取一个第一货物并将暂存货架的一个目标货物放置于第二预设层，从而同时满足了货物出库分拣和分拣完毕之后回流两种运输方向的货物的搬运，大大缩短了货物处理的时间，提高了货物处理效率。
具体的，在目标货物被放置于分拣装置的输送货架的第二预设层之后，通过该第二预设层的传动机构进行目标货物的运输，当目标货物被运输至分拣装置的机械手的工作范围之后，该机械手基于目标货物对应的处理指令对目标货物进行处理，如基于分拣指令中的分拣任务进行目标货物的分拣，处理完毕之后，若目标货物不是空货箱，则通过机械手将目标货物搬运至分拣装置的输送货架的第一预设层，以通过搬运机器人，将目标货物放回至仓储货架，可以放回目标货物的原库位或者重新分配的库位。
本公开实施例提供的货物处理方法、装置、机器人、分拣装置及仓储系统，该货物处理方法针对包括仓储货架、搬运机器人和分拣装置的仓储系统，搬运机器人基于接收到的处理指令将仓储货架上的目标货物搬运至分拣装置对应的位置，且搬运机器人预留一个空闲层，当分拣装置的第一预设层上存在处理完毕的第一货物，由搬运机器人将该第一货物搬运至预留的空闲层，之后再将一个目标货物放置于分拣装置的第二预设层，从而通过该第二预设层的传送机构将目标货物运输至机械手的工作范围，由机械手完成目标货物的处理，进而若处理完毕的目标货物需要返回仓储货架，则将该目标货物运输至第一预设层，以通过搬运机器人的暂存货架的空闲层将其搬运回仓储货架，该分拣装置具备双向运输的功能，该搬运机器人可以在同一位置通过交替的方式进完成取放货，减少了搬运机器人的行走距离和等待时间，提高货物搬运的效率，从而提高了货物处理的效率。
图12为本公开另一个实施例提供的货物处理方法的流程图，本实施例提供的货物处理方法是在图11所示实施例的基础上，对步骤S201的进一步细 化，以及增加目标货物判定相关的步骤，如图12所示，本实施例提供的货物处理方法可以包括以下步骤：
步骤S301，当接收到处理指令时，经由搬运机器人，根据所述处理指令，确定所述仓储货架放置所述目标货物的目标库位。
具体的，可以对处理指令进行解码，进而基于解码后的处理指令，确定各个目标货物以及各个目标货物对应的目标库位。
具体的，可以根据处理指令确定各个目标货物，如得到各个目标货物的货物标识，进而基于存储的第一对应关系，根据各个目标货物的货物标识，确定各个目标货物对应的目标库位。其中，第一对应关系用于描述仓储系统的仓储货架的各个库位与货物标识的对应关系。
步骤S302，在所述搬运机器人移动至所述目标库位对应的位置之后，获取所述目标库位的库位检测信息。
其中，库位检测信息可以为目标库位存放的货物的货物标识的识别结果。
在一些实施例中，库位检测信息可以为货物标识、货物的尺寸信息、货物类型等，还可以为货物内存放的物品的类型、数量等。
具体的，在确定目标货物的目标库位之后，获取行走路径，并基于该行走路径由当前位置移动至目标库位对应的位置。
具体的，搬运机器人可以基于预先建立的仓储系统的地图、搬运机器人的当前位置以及目标库位，进行路径规划，从而确定行走路径。
具体的，在搬运机器人移动或行走至目标库位对应的位置之后，开启设置在搬运机器人上的传感器，如红外传感器、超声传感器、图像传感器等，采集目标库位的库位检测信息。
进一步地，在搬运机器人移动或行走至目标库位对应的位置之后，还可以进行位置校准，在校准完毕之后或者过程中，开启设置在搬运机器人上的传感器，采集目标库位的库位检测信息。
步骤S303，基于所述库位检测信息，判断所述目标库位放置的货物是否为所述目标货物。
具体的，可以判断库位检测信息是否满足目标货物对应的预设信息，若是，则确定目标库位放置的货物为目标货物。如库位检测信息中的货物类型与目标货物的预设货物类型不一致，则确定目标库位放置的货物不是目标货物。
在一些实施例中，不同类型的货位对应的尺寸信息不同，则上述库位检测信息可以为目标库位放置的货物的尺寸信息，如宽度、长度等，从而基于该尺寸信息判断目标库位放置的货物是否为目标货物。
具体的，库位检测信息可以为放置于目标库位的货物的货物标识，基于该货物标识判断目标库位放置的货物是否为目标货物。
具体的，目标货物的设定区域可以粘贴有货物标识码，其形式可以为二维码、条形码、编码等，可以通过搬运机器人上设置的传感器识别该设定区域，从而获取放置于目标库位的货物的货物标识。
可选的，获取所述目标库位的库位检测信息，包括：
基于所述搬运机器人的图像传感器，采集所述目标库位的库位检测图像，以基于所述库位检测图像，判断所述目标库位放置的货物是否为所述目标货物。
其中，图像传感器可以为2D或3D图像传感器。
具体的，可以通过识别目标库位的库位检测图像，基于识别结果判断目标库位放置的货物是否为目标货物。
进一步地，在采集目标库位的库位检测图像之后，还可以对库位检测图像进行图像分割，从而得到包括放置于目标库位的货物的设定区域的分割图像，对该分割图像中的货物标识码进行识别，得到放置于目标库位的货物的货物标识，基于该货物标识判断目标库位放置的货物是否为目标货物。
可选的，基于所述库位检测信息，判断所述目标库位放置的货物是否为所述目标货物，包括：
基于所述库位检测信息，确定所述目标库位放置的货物的货物标识；判断所述货物标识是否为预设标识；若所述货物标识为预设标识，则确定所述目标库位放置的货物为所述目标货物。
其中，预设标识为目标货物的货物标识。
具体的，当目标库位对应的库位检测信息对应的货物标识为预设标识时，确定目标库位放置的货物为目标货物，反之，即货物标识不是预设标识，则确定目标库位放置的货物不是目标货物。
步骤S304，若是，则将所述目标货物从所述目标库位搬运至所述搬运机器人的暂存货架。
具体的，当确定目标库位上放置的货物为目标货物之后，通过取放货装 置将该目标货物从目标库位搬运至搬运机器人的暂存货架的一层。
通过对目标库位上放置的货物的核验，避免了由于系统故障，导致将错误的货物搬运至分拣装置，从而导致货物分拣出错，影响订单的完成，造成客户的损失。
步骤S305，经由所述搬运机器人，将所述目标货物运输至所述分拣装置对应的位置。
步骤S306，当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，经由所述搬运机器人，将第一货物搬运至所述暂存货架的空闲层。
步骤S307，在所述第一货物被放置于所述暂存货架的空闲层之后，经由所述搬运机器人，将所述目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，以基于所述机械手对所述目标货物进行处理。
分拣装置的机械手完成历史时间的目标货物的分拣任务之后，可以判断目标货物内的物品是否均被取出，或者判断目标货物是否为空货箱，若是，则通过分拣装置的机械手的吸盘组件将目标货物回收，如通过机械手将空货箱转运于生产线上，以通过生产线将空货箱回收。
当目标货物被处理完毕之后，如打包完毕之后，需要通过分拣装置的机械手被转运至生产线进行目标货物的出库。具体的，机械手可以通过其吸盘组件自取目标货物，并将目标货物放置于生产线。
在一些实施例中，由于机械手的故障，软件故障或硬件故障，会导致需要转运至生成线的目标货物吸取失败，从而导致该目标货物变为多余货物，滞留在分拣装置的输送货架的第二预设层。如当空货箱的回收失败时，即吸盘组件吸取空货箱失败时，该空货箱被滞留在分拣装置的输送货架的第二预设层。分拣装置基于该多余货物生成第一异常信息。
可选的，在将所述目标货物放置于所述分拣装置的输送货架的第二预设层上之后，所述方法还包括：
接收所述分拣装置发送的第一异常信息；根据所述第一异常信息，经由搬运机器人，将所述第二预设层上的多余货物搬运至生产线，并生成第四异常提示信息。
其中，所述第一异常信息包括所述分拣装置的输送货架的第二预设层上 的多余货物，如该多余货物的货物标识、位置等。该多余货物可以为未被机械手回收的空货箱，还可以为未被上一搬运机器人搬走的第一货物。第四异常提示信息用于提醒操作人员针对多余货物的异常情况进行分拣装置的检查，以确定异常原因。在第四异常提示信息中可以包括多余货物对应的信息，如货物标识，还可以包括时间戳，以便于进行回溯确定异常原因。
具体的，分拣装置的机械手可以检测输送货架的第二预设层是否存在多余货物，若存在，则基于该多余货物生成第一异常信息，并将第一异常信息发送至搬运机器人。搬运机器人接收到该第一异常信息之后，基于该第一异常信息中多余货物的货物标识或位置，将第二预设层的该多余货物搬运至生产线，从而完成该多余货物的异常处理。
可选的，在将所述目标货物放置于所述分拣装置的输送货架的第二预设层上之后，所述方法还包括：
接收所述分拣装置发送的第二异常信息；根据所述第二异常信息，经由搬运机器人，将所述第二目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层将所述第二目标货物运输至所述机械手的工作范围，以基于所述机械手对所述第二目标货物进行处理。
其中，所述第二异常信息包括第二目标货物，所述第二目标货物为未搬运至所述分拣装置的输送货架的第二预设层的所述处理指令对应的目标货物。即第二目标货物为处理指令中对应的需要搬运至分拣装置的第二预设层的目标货物，但分拣装置在其第二预设层中未检测到该第二目标货物，即搬运机器人在响应处理指令时，未将该第二目标货物搬运至分拣装置的第二预设层。
具体的，分拣装置的机械手基于处理指令，对处理指令对应的放置于第二预设层的各个目标货物进行处理，当确定缺少其中一个目标货物，即上述第二目标货物时，或者当第二预设层不存在第二目标货物时，则基于该第二目标货物生成第二异常信息，并将该第二异常信息发送至搬运机器人。该搬运机器人可以为任意一个机器人，如处理第二目标货物对应的处理指令对应的机器人或者其他机器人。搬运机器人在接收到第二异常信息之后，基于第二异常信息中的第二目标货物，如第二目标货物的货物标识，确定第二目标货物的第二目标库位，并将放置于该第二目标库位的第二目标货位搬运至分拣装置的输送货架的第二预设层，以通过分拣装置的机械手完成该第二目标货物的处理，从而保证各个订单的顺利完成。
在本实施例中，在搬运机器人基于处理指令移动至目标库位之后，获取目标库位的库位检测信息，从而基于该库位检测信息判断目标库位上放置的货物是否为预设的目标库位，即对目标货物进行核验，若是，则通过搬运机器人将目标货物搬运至分拣装置对应的位置，提高了货物搬运的准确性，避免了对错误的货物进行处理，而导致订单出错；搬运机器人在提取各个目标货物之后，其暂存货架仍预留至少一个空闲层，从而支持搬运机器人以交替的方式，提取一个第一货物和放置一个目标货物，从而实现由一个搬运机器人完成分拣装置的取放货两种任务，大大缩短了货物搬运所需的时间，提高了货物搬运和处理效率。
可选的，图13为本公开另一个实施例提供的货物处理方法的流程图，本实施例是在上一实施例，即图12对应的实施例的基础上，针对当目标库位放置的货物不是目标货物的情况，如图13所示，当目标库位放置的货物不是目标货物时，该货物处理方法还可以包括以下步骤：
步骤S401，确定与所述目标货物关联的各个关联货物。
其中，关联货物可以为与目标货物同一批次入库或被处理的各个货物，或者在目标货物入库的时刻之前预设时间段内入库的各个货物，如10min。
具体的，当搬运机器人确定目标库位放置的货物不是目标货物时，可以根据目标货物的货物标识，确定与目标货物关联的各个关联货物的货物标识。
步骤S402，经由搬运机器人，将各个所述关联货物搬运至所述仓储系统的货物进出口，以从各个所述关联货物中确定异常货物。
其中，货物进出口为仓储系统接收和输出货物的窗口。异常货物可以包括库位不符的各个关联货物，如放置在目标库位的货物。
具体的，在确定各个关联货物之后，可以通过搬运机器人以及各个关联货物存放的库位，将各个关联货物搬运至仓储系统的货物进出口。其中，关联货物存放的库位可以基于仓储系统的操作记录确定，在该操作记录中记载由各个货物被处理的过程，包括入库时对应的原库位，以及后续货物处理之后对应的新库位。
进一步地，可以基于操作记录对各个关联货物进行处理流程的复原，从而确定一个或多个异常货物。
进一步地，在搬运机器人将各个关联货物搬运至货物进出口之后，可以 由操作人员从各个关联货物中确定异常货物。
步骤S403，经由搬运机器人，将各个第二货物放置于各个第二货物对应的原库位。
其中，所述第二货物为所述关联货物中除去所述异常货物的其他关联货物。
具体的，对于库位准确的各个关联货物，即上述第二货物，则通过搬运机器人将其放回原库位。
步骤S404，若所述异常货物中包括所述目标货物，则经由搬运机器人将所述目标货物放置于所述目标库位，以经由搬运机器人将所述目标货物搬运至所述分拣装置对应的位置。
针对关联货物中的异常货物，即库位不符的关联货物，若其中包括处理指令中目标库位对应的目标货物，则通过搬运机器人将该目标货物放置于该目标库位，进而通过机器人将目标库位上放置的目标货位搬运至分拣装置对应的位置，并通过分拣装置的输送货架的第二预设层将该目标货物输送至机械手的工作范围，通过机械手对该目标货物进行处理。
若异常货物中不存在目标货物，则需要对仓储系统的仓储货架进行整体检查，以确定更多的异常货物，并判断其中是否存在目标货物，若是，则通过搬运机器人将该目标货物放置于该目标库位，进而通过机器人将目标库位上放置的目标货位搬运至分拣装置对应的位置。
进一步地，还可以基于各个异常货物以及各个异常货物存放的库位生成第五异常提示信息，以基于该异常信息对仓储系统进行异常屏排查，确定异常原因。
可选的，图14为本公开另一个实施例提供的货物处理方法的流程图，本实施例是在图12对应的实施例的基础上，针对当目标库位放置的货物不是目标货物的情况，如图14所示，当目标库位放置的货物不是目标货物时，该货物处理方法还可以包括以下步骤：
步骤S501，确定与所述目标货物关联的各个关联货物。
其中，关联货物可以为与目标货物同一批次入库或被处理的各个货物，或者在目标货物入库的时刻之前预设时间段内入库的各个货物，如10min。
具体的，当搬运机器人确定目标库位放置的货物不是目标货物时，可以 根据目标货物的货物标识，确定与目标货物关联的各个关联货物的货物标识。
步骤S502，判断所述关联货物中是否存在所述目标货物。
其中，所述目标货物放置于所述仓储货架的第一库位，所述第一库位对应的货物为所述目标库位放置的货物。
具体的，在确定与目标货物关联的各个关联货物之后，基于货物标识，在各个关联货物中查找是否存在目标货物。
步骤S503，若是，则经由搬运机器人，将所述目标货物放置于所述目标库位以及将所述目标库位放置的货物放置于所述第一库位，以经由搬运机器人将所述目标货物搬运至所述分拣装置对应的位置。
若关联货物中存在目标货物，则确定目标货物存放的库位，即上述第一库位，搬运机器人将第一库位与目标库位上放置的货物交换，即将目标库位上放置的货物放置于第一库位，而将目标货物放置于目标库位，以使目标库位放置的货物准确。
在目标货物被放置于目标库位，即归位之后，搬运机器人将目标货物搬运至分拣装置对应的位置，以在将第一货物放置于搬运机器人的暂存货架的空闲层之后，将该目标货物放置于分拣装置的第二预设层，以通过分拣装置的机械手完成目标货物的处理，如分拣、打包等。
图15为本公开另一个实施例提供的货物处理方法的流程图，本实施例提供的货物处理方法是在图12所示实施例的基础上，在步骤S302之后增加库位状态判断相关的步骤，如图15所示，本实施例提供的货物处理方法包括以下步骤：
步骤S601，当接收到处理指令时，经由搬运机器人，根据所述处理指令，确定所述仓储货架放置所述目标货物的目标库位。
步骤S602，在所述搬运机器人移动至所述目标库位对应的位置之后，获取所述目标库位的库位检测信息。
其中，库位检测信息可以为目标库位的库位重量，或者可以为目标库位的库位检测图像。
步骤S603，根据所述库位检测信息，判断所述目标库位的库位状态；若所述目标库位的库位状态为占据状态，则执行步骤S604；若所述目标库位的库位状态为空闲状态，则执行步骤S608。
其中，占据状态下目标库位上存放有货物，空闲状态下目标库位上则未存放任何货物，为空闲库位。
具体的，若库位检测信息中的库位重量大于基准重量，则确定目标库位的库位状态为占据状态，反之，即目标库位的库位重量小于或等于基准重量，则确定目标库位的库位状态为空闲状态。
其中，基准重量可以为在历史时间采集的多组目标库位在空闲状态时的库位重量的平均值。
具体的，可以基于通过识别目标库位的库位检测图像，判断目标库位是否存放有货物；若是，则确定目标库位的库位状态为占据状态；若否，则确定目标库位的库位状态为空闲状态。
步骤S604，若所述目标库位的库位状态为占据状态，则基于所述库位检测信息中的货物检测信息，判断所述目标库位放置的货物是否为所述目标货物。
步骤S605，若是，则将所述目标货物从所述目标库位搬运至所述搬运机器人的暂存货架；并经由所述搬运机器人，将所述目标货物运输至所述分拣装置对应的位置。
步骤S606，当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，经由所述搬运机器人，将第一货物搬运至所述暂存货架的空闲层。
步骤S607，在所述第一货物被放置于所述暂存货架的空闲层之后，经由所述搬运机器人，将所述目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，以基于所述机械手对所述目标货物进行处理。
步骤S608，若所述目标库位的库位状态为空闲状态，则确定各个回收货物中是否包括所述目标货物。
其中，所述回收货物为被所述机械手搬运至生产线的空货箱。回收货物即为历史时间分拣装置处理的目标货物，且处理完毕后，该回收货物为空货箱。
具体的，分拣装置的机械手在分拣货物时，若当前的目标货物中存放的物品均被机械手取出，则确定该目标货物为空货箱，通过机械手回收该目标货物。
具体的，可以根据目标货物的存放信息以及处理指令中的任务信息，判断目标货物在处理完毕之后是否为空货箱，即存放信息中物品的存放数量与任务信息中的分拣数量相等，则确定目标货物在分拣完毕之后为空货箱。
如目标货物中存放有100件衣服C，而目标货物的分拣指令为分拣100件衣服C，则分拣完毕后，目标货物为空货箱。
在一些实施例中，分拣装置上可以设置有图像采集设备，可以通过图像采集设备采集的图像判断各个目标货物在处理完毕之后是否为空货箱，若是，则通过机械手回收该目标货物。
具体的，机械手在每次回收空货箱或回收货物时，会更新回收记录，在该回收记录中记录有每次回收的回收货物的货物信息，如货物标识，以及回收时间等信息。
具体的，可以基于回收记录以及目标货物的货物标识，即上述预设标识，判断回收货物中是否包括目标货物。
步骤S609，若是，则生成回收提示信息。
若目标货物为其中一个回收货物，即目标货物为被机械手回收的空货箱，则生成回收提示信息，以提示目标货物已被回收，以便于操作人员基于该回收提示信息，确定新的目标货物，并基于该新的目标货物下发新的处理指令，以完成相应的订单。
进一步地，若各个回收货物中不存在目标货物，则需要进行仓储货架以及输送货架的全盘巡视，以判断仓储货架的其他库位上是否存在目标货物，以及输送货架上是否存在目标货物。
若仓储货架的其他库位上，如第二库位上，存在目标货物，则确定与目标货物关联的各个关联货物，基于操作记录，从该各个关联货物中确定异常货物，基于第二库位、各个异常货物及其对应的库位，生成第六异常提示信息。通过搬运机器人将第二库位上的目标货物搬运至目标库位，以及将关联货物中除去异常货物的各个关联货物放回其原库位。进而通过搬运机器人将目标库位上的目标货物搬运至分拣装置对应的位置，以进行目标货物的处理，具体方式可以参见图11对应部分的描述，在此不再赘述。
若输送货架上存在目标货物，则生成货物滞留提示信息，并经由搬运机器人，将滞留于输送货架处的目标货物搬运至货物进出口，以检测目标货物是否损坏。
在本实施例中，搬运机器人在基于处理指令移动至目标库位之后，先判断目标库位的库位状态，当目标库位上存在货物，即库位状态为占据状态时，判断目标库位放置的货物是否为目标货物，若是，方将目标货物搬运至分拣装置处进行处理，实现了对目标货物的核验，避免搬错货物，而导致订单无法完成；若目标库位处于空闲状态，则从各个回收货物中查找目标货物，若目标货物被回收，则生成回收提示信息，以便于及时更换目标货物，确保订单的顺利完成，同时，提高了无人仓储系统的异常处理效率和智能化程度。
可选的，图16为本公开另一个实施例提供的货物处理方法的流程图，本实施例是在上一实施例，即图15对应的实施例的基础上，针对回收货物中不包括所述目标货物的情况，如图16所示，当所述回收货物中不包括所述目标货物时，该货物处理方法还可以包括以下步骤：
步骤S701，获取所述分拣装置的输送货架的各层的货架检测信息。
其中，该货架检测信息可以为输送货架各层的货架检测图像，或者该货架检测信息可以为识别的输送货架各层的运输的货物的货物标识。
具体的，可以通过机械手或输送货架上设置的检测设备，货物输送货架各层的货架检测信息。
步骤S702，基于所述货架检测信息，判断所述目标货物是否滞留于所述输送货架；若是，则执行步骤S703；若否，则执行步骤S704。
具体的，可以通过识别货架检测图像判断目标货物是否存在于输送货架上，若是，则确定目标货物滞留于输送货架。
具体的，可以判断货架检测信息中的货物标识中是否存在目标货物的货物标识，即预设标识，若是，则确定目标货物滞留于输送货架，若否，则确定目标货物未滞留于输送货架。
步骤S703，若是，则经由搬运机器人，将滞留于所述输送货架的目标货物搬运至货物进出口，以检测所述目标货物是否损坏。
步骤S704，若否，则巡视所述仓储货架的各个库位。
当分拣装置的输送货架处不存在目标货物时，则需要在仓储货架上进行全盘检查，以判断仓储货架的其他库位上，即除去目标库位的各个库位上，是否存放有该目标货物。
步骤S705，根据巡视结果，判断所述目标货物是否存放于所述仓储货架 的第二库位。
其中，第二库位为除去目标库位的任意一个库位。
步骤S706，若是，则确定与所述目标货物关联的各个关联货物。
其中，关联货物可以为与目标货物同一批入库或被处理的各个货物，或者在目标货物入库的时刻之前预设时间段内入库的各个货物，如10min。
具体的，若目标货物被存放于仓储货架的第二库位上，即目标货物被放置在错误的库位上，则确定仓储系统存在异常，需要确定与目标货物关联的各个关联货物。
具体的，可以基于操作记录、入库记录等，确定与目标货物关联的各个关联货物，如确定各个关联货物的货物标识。
步骤S707，基于所述目标货物及各个关联货物的历史处理流程进行异常盘查，以确定异常处理节点。
其中，历史处理流程可以存储在上述操作记录中，可以包括在历史时间各个货物处理的流程。
具体的，可以通过对目标货物以及各个关联货物的历史处理流程的复原，确定异常处理节点。
步骤S708，根据所述异常处理节点，生成第一异常提示信息。
具体的，可以基于异常处理节点对应的关联货物以及执行该异常处理节点的设备，生成第一异常提示信息，以辅助维护人员确定仓储系统发生异常的原因。
可选的，搬运机器人还用于基于入库指令进行货物入库，该货物处理方法还可以包括：
基于所述搬运机器人，根据入库指令，将位于所述仓储系统的货物进出口的各个待入库货物存放于所述仓储货架的各个预设库位中。
其中，货物入库即将位于仓储系统外部的货物搬运至仓储系统的仓储货架上进行仓储。入库指令包括各个待入库货物及其对应的预设库位。
具体的，在接收到入库指令时，一个或多个搬运机器人移动至仓储系统的货物进出口，进而提取货物进出口的各个窗口或取货点上的入库指令对应的待入库货物，并将其存放于仓储货架对应的预设库位中。
图17为本公开另一个实施例提供的货物处理方法的流程图，本实施例是 在上述任意实施例的基础上，针对货物入库时发生异常的情况，如图17所示，该货物处理方法还可以包括以下步骤：
步骤S801，当接收到所述入库指令，搬运机器人移动至所述货物进出口对应的位置，确定所述货物进出口的各个取货点的存放情况。
其中，存放情况用于表示取货点是否存放有货物，以及所存放的货物的货物标识。
具体的，可以通过采集货物进出口的各个取货点的检测信息，如检测图像，确定各个取货点的存放情况。
步骤S802，根据各个取货点的存放情况，判断是否存在多余货物或异常取货点。
具体的，入库指令中还包括各个待入库货物对应的取货点，多余货物即存放在入库指令中未涉及的取货点的货物。异常取货点指的是入库指令中待入库货物对应的取货点，而该取货点的存放情况为未存放货物，即取货点为空闲取货点。
具体的，针对存放情况为存放有货物的各个取货点，可以根据各个取货点存放的货物的货物标识，以及入库指令中各个待入库货物的货物标识，判断各个取货点是否为异常取货点。
具体的，若取货点存放的货物的货物标识不是入库指令中对应的任意一个货物标识，则确定取货点为异常取货点；反之，即取货点存放的货物的货物标识为入库指令中对应的其中一个货物标识，则确定取货点不是异常取货点，即为正常取货点。
示例性的，如入库指令的指示为取货点1-5放置有待入库货物H1-H5，放置顺序不进行限定，若确定取货点7的存放的货物即为多余货物，若取货点3未放置任何货物，则取货点3为异常取货点。
若不存在多余货物或者异常取货点，则依次将所述入库指令中对应的放置于所述货物进出口的各个取货点的各个待入库货物搬运至所述搬运机器人的暂存货架中。基于所述搬运机器人，将各个待入库货物存放于各个待入库货物对应的预设库位中。
步骤S803，若存在多余货物，则确定与所述多余货物关联的各个第二关联货物。
其中，所述第二关联货物包括与所述多余货物关联的放置于所述仓储货 架的货物、与所述多余货物关联的放置于所述输送货架的货物和与所述多余货物关联的放置于搬运机器人的暂存货架的货物中的一项或多项。
其中，第二关联货物可以为与多余货物同一批入库的各个货物，还可以是多余货物入库时刻前后设定时间范围内的各个货物。
具体的，可以根据入库记录以及多余货物的货物标识，确定各个第二关联货物的货物标识。
步骤S804，将各个所述第二关联货物搬运至所述货物进出口。
具体的，可以基于各个第二关联货物的货物标识，确定各个第二关联货物存放的库位，进而通过搬运机器人基于各个第二关联货物存放的库位，将各个第二关联货物搬运至货物进出口。
步骤S805，基于各个所述第二关联货物的历史处理流程，进行异常盘查，以确定异常处理节点。
具体的，可以基于操作记录，确定各个第二关联货物的历史处理流程，采用对该历史处理流程进行复原的方式进行异常盘查，从而确定异常处理节点。
步骤S806，根据所述异常处理节点，生成第二异常提示信息。
具体的，可以根据异常处理节点对应的货物、时刻以及执行设备，生成第二异常提示信息，以便于辅助维护人员定位异常原因。
步骤S807，若存在异常取货点，则根据所述异常取货点以及所述入库指令中所述异常取货点对应的待入库货物，生成第三异常提示信息。
具体的，若入库指令中对应的取货点为异常取货点，即该取货点未放置入库指令中对应的货物，为空闲取货点，则基于该异常取货点以及该异常取货点应存放的待入库货物，生成第三异常提示信息，以基于该第二异常提示信息将缺少的待入库货物放置于该异常取货点。
进一步地，在异常取货点上被放置入库指令对应的待入库货物之后，搬运机器人依次将各个取货点放置的待入库货物搬运至仓储货架对应的预设库位中，从而实现货物的顺利入库。
通过上述入库异常的解决方法，确保了异常情况下，仓储系统的正常运转，实现了货物的顺利入库，提高了仓储系统的智能化程度。
图18为本公开另一个实施例提供的货物处理方法的流程图，本实施例提 供的货物处理方法可以由分拣装置执行，如图18所示，该货物处理方法包括以下步骤：
步骤S901，当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，通过所述第一预设层的传送机构运输所述第一货物，以经由搬运机器人将所述第一货物搬运至所述搬运机器人的暂存货架的空闲层。
步骤S902，在所述搬运机器人将目标货物放置于所述分拣装置的输送货架的第二预设层之后，通过所述第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围。
其中，所述目标货物为处理指令对应的货物。
步骤S903，基于所述机械手处理所述目标货物。
步骤S904，若处理完的所述目标货物不是空货箱，则将所述目标货物转运至所述输送货架的第一预设层。
在本实施例中，搬运机器人基于接收到的处理指令将仓储货架上的目标货物搬运至分拣装置对应的位置，且搬运机器人预留一个空闲层，当分拣装置的第一预设层上存在处理完毕的第一货物，由搬运机器人将该第一货物搬运至预留的空闲层，之后再将一个目标货物放置于分拣装置的第二预设层，从而通过该第二预设层的传送机构将目标货物运输至机械手的工作范围，由机械手完成目标货物的处理，进而若处理完毕的目标货物需要返回仓储货架，则将该目标货物运输至第一预设层，以通过搬运机器人的暂存货架的空闲层将其搬运回仓储货架，该分拣装置具备双向运输的功能，该搬运机器人可以在同一位置通过交替的方式进完成取放货，减少了搬运机器人的行走距离和等待时间，提高货物搬运的效率，从而提高了货物处理的效率。
可选的，所述方法还包括：
若处理完的所述货物为空货箱，则确定所述货物为回收货物；经由所述机械手将所述回收货物搬运至生产线，并记录所述回收货物的货物信息。
可选的，所述方法还包括：
当所述分拣装置的输送货架的第二预设层上存在多余货物时，根据所述多余货物生成第一异常信息，并将所述第一异常信息发送至搬运机器人。
可选的，所述方法还包括：
当所述分拣装置的输送货架的第二预设层上不存在第二目标货物时，根据所述第二目标货物生成第二异常信息，并将所述第二异常信息发送至搬运 机器人，其中，所述第二目标货物为未搬运至所述分拣装置的输送货架的第二预设层的所述处理指令对应的目标货物。
图19为本公开一个实施例提供的货物处理装置的结构示意图，所述搬运机器人用于进行仓储系统的货物的搬运，所述仓储系统包括仓储货架、搬运机器人和分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，如图19所示，所述货物处理装置包括：货物运输模块1910、第一搬运模块1920和第一放置模块1930。
其中，货物运输模块1910，用于当接收到处理指令时，经由搬运机器人，将放置于所述仓储货架上的所述处理指令对应的目标货物运输至所述分拣装置对应的位置，其中，所述搬运机器人的暂存货架包括至少一层空闲层；第一搬运模块1920，用于当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，经由所述搬运机器人，将第一货物搬运至所述暂存货架的空闲层；第一放置模块1930，用于在所述第一货物被放置于所述暂存货架的空闲层之后，经由所述搬运机器人，将所述目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，以基于所述机械手对所述目标货物进行处理。
可选的，货物运输模块1910，包括：目标库位确定单元，用于当接收到处理指令时，经由搬运机器人，根据所述处理指令，确定所述仓储货架放置所述目标货物的目标库位；第一搬运单元，用于在所述搬运机器人移动至所述目标库位对应的位置之后，将所述目标货物从所述目标库位搬运至所述搬运机器人的暂存货架；货物运输单元，用于经由所述搬运机器人，将所述目标货物运输至所述分拣装置对应的位置。
可选的，所述装置还包括：检测信息获取模块，用于在所述搬运机器人移动至所述目标库位对应的位置之后，获取所述目标库位的库位检测信息；货物核验模块，用于基于所述库位检测信息，判断所述目标库位放置的货物是否为所述目标货物。
相应的，第一搬运单元，具体用于：若目标库位放置的货物为所述目标货物，则将所述目标货物从所述目标库位搬运至所述搬运机器人的暂存货架。
可选的，检测信息获取模块，具体用于：在所述搬运机器人移动至所述目标库位对应的位置之后，基于所述搬运机器人的图像传感器，采集所述目标库位的库位检测图像，以基于所述库位检测图像，判断所述目标库位放置的货物是否为所述目标货物。
可选的，货物核验模块，具体用于：基于所述库位检测信息，确定所述目标库位放置的货物的货物标识；判断所述货物标识是否为预设标识；若所述货物标识为预设标识，则确定所述目标库位放置的货物为所述目标货物。
可选的，所述装置还包括：第一异常处理模块，用于当所述目标库位放置的货物不是所述目标货物时，确定与所述目标货物关联的各个关联货物；经由搬运机器人，将各个所述关联货物搬运至所述仓储系统的货物进出口，以从各个所述关联货物中确定异常货物；经由搬运机器人，将各个第二货物放置于各个第二货物对应的原库位，其中，所述第二货物为所述关联货物中除去所述异常货物的其他关联货物；和/或，若所述异常货物中包括所述目标货物，则经由搬运机器人将所述目标货物放置于所述目标库位，以经由搬运机器人将所述目标货物搬运至所述分拣装置对应的位置。
可选的，所述装置还包括：第二异常处理模块，用于当所述目标库位放置的货物不是所述目标货物时，确定与所述目标货物关联的各个关联货物；判断所述关联货物中是否存在所述目标货物，其中，所述目标货物放置于所述仓储货架的第一库位，所述第一库位对应的货物为所述目标库位放置的货物；若是，则经由搬运机器人，将所述目标货物放置于所述目标库位以及将所述目标库位放置的货物放置于所述第一库位，以经由搬运机器人将所述目标货物搬运至所述分拣装置对应的位置。
可选的，所述装置还包括：库位状态判断模块，用于在获取目标库位的库位检测信息之后，根据所述库位检测信息，判断所述目标库位的库位状态。
相应的，货物核验模块，具体用于：若所述目标库位的库位状态为占据状态，则基于所述库位检测信息中的货物检测信息，判断所述目标库位放置的货物是否为所述目标货物。
可选的，所述装置还包括：回收提示模块，用于若所述目标库位的库位状态为空闲状态，确定各个回收货物中是否包括所述目标货物，其中，所述 回收货物为被所述机械手搬运至生产线的空货箱；若是，则生成回收提示信息。
可选的，所述装置还包括：滞留判断模块，用于若所述回收货物中不包括所述目标货物，获取所述分拣装置的输送货架的各层的货架检测信息；基于所述货架检测信息，判断所述目标货物是否滞留于所述输送货架；若是，则经由搬运机器人，将滞留于所述输送货架的目标货物搬运至货物进出口，以检测所述目标货物是否损坏。
可选的，所述装置还包括：第二异常处理模块，用于若所述目标货物未滞留于所述输送货架，巡视所述仓储货架的各个库位；根据巡视结果，判断所述目标货物是否存放于所述仓储货架的第二库位；若是，则确定与所述目标货物关联的各个关联货物；基于所述目标货物及各个关联货物的历史处理流程进行异常盘查，以确定异常处理节点；根据所述异常处理节点，生成第一异常提示信息。
可选的，所述装置还包括：货物入库模块，用于基于所述搬运机器人，根据入库指令，将位于所述仓储系统的货物进出口的各个待入库货物存放于所述仓储货架的各个预设库位中，其中，所述入库指令包括各个待入库货物对应的预设库位。
可选的，货物入库模块，具体用于：当接收到所述入库指令，搬运机器人移动至所述货物进出口对应的位置，并依次将所述入库指令中对应的放置于所述货物进出口的各个取货点的各个待入库货物搬运至所述搬运机器人的暂存货架中；基于所述搬运机器人，将各个待入库货物存放于各个待入库货物对应的预设库位中。
可选的，所述装置还包括：存放情况确定模块，用于在搬运机器人移动至所述货物进出口对应的位置之后，确定所述货物进出口的各个取货点的存放情况；取货点判定模块，用于根据各个取货点的存放情况，判断是否存在多余货物或异常取货点，其中，所述异常取货点为空闲取货点，且在所述入库指令中，所述异常取货点对应其中一个待入库货物；第三异常处理模块，用于若存在多余货物，则确定与所述多余货物关联的各个第二关联货物，其中，所述第二关联货物包括与所述多余货物关联的放置于所述仓储货架的货物、与所述多余货物关联的放置于所述输送货架的货物和与所述多余货物关联的放置于搬运机器人的暂存货架的货物中的一项或多项，将各个所述第二 关联货物搬运至所述货物进出口，基于各个所述第二关联货物的历史处理流程，进行异常盘查，以确定异常处理节点，根据所述异常处理节点，生成第二异常提示信息。
可选的，所述装置还包括：第四异常处理模块，用于若存在异常取货点，根据所述异常取货点以及所述入库指令中所述异常取货点对应的待入库货物，生成第三异常提示信息。
可选的，所述装置还包括：第五异常处理模块，用于在将所述目标货物放置于所述分拣装置的输送货架的第二预设层上之后，接收所述分拣装置发送的第一异常信息，其中，所述第一异常信息包括所述分拣装置的输送货架的第二预设层上的多余货物；根据所述第一异常信息，经由搬运机器人，将所述第二预设层上的多余货物搬运至生产线，并生成第四异常提示信息。
可选的，所述装置还包括：第六异常处理模块，用于在将所述目标货物放置于所述分拣装置的输送货架的第二预设层上之后，接收所述分拣装置发送的第二异常信息，其中，所述第二异常信息包括第二目标货物，所述第二目标货物为未搬运至所述分拣装置的输送货架的第二预设层的所述处理指令对应的目标货物；根据所述第二异常信息，经由搬运机器人，将所述第二目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层将所述第二目标货物运输至所述机械手的工作范围，以基于所述机械手对所述第二目标货物进行处理。
本公开实施例所提供的货物处理装置可执行本公开第一方面对应的任意实施例所提供的货物处理方法，具备执行方法相应的功能模块和有益效果。
图20为本公开另一个实施例提供的货物处理装置的结构示意图，所述货物处理装置应用于分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，如图20所示，所述货物处理装置包括：第二运输模块2010、第三运输模块2020、货物处理模块2030和货物回流模块2040。
其中，第二运输模块2010，用于当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，通过所述第一预设层的传送机构运输所述 第一货物，以经由搬运机器人将所述第一货物搬运至所述搬运机器人的暂存货架的空闲层；第三运输模块2020，用于在所述搬运机器人将目标货物放置于所述分拣装置的输送货架的第二预设层之后，通过所述第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，其中，所述目标货物为处理指令对应的货物；货物处理模块2030，用于基于所述机械手处理所述目标货物；货物回流模块2040，用于若处理完的所述目标货物不是空货箱，则将所述目标货物转运至所述输送货架的第一预设层。
可选的，所述装置还包括：空货箱回收模块，用于若处理完的所述货物为空货箱，则确定所述货物为回收货物；经由所述机械手将所述回收货物搬运至生产线，并记录所述回收货物的货物信息。
可选的，所述装置还包括：第一异常信息生成模块，用于当所述分拣装置的输送货架的第二预设层上存在多余货物时，根据所述多余货物生成第一异常信息，并将所述第一异常信息发送至搬运机器人。
可选的，所述装置还包括：第二异常信息生成模块，用于当所述分拣装置的输送货架的第二预设层上不存在第二目标货物时，根据所述第二目标货物生成第二异常信息，并将所述第二异常信息发送至搬运机器人，其中，所述第二目标货物为未搬运至所述分拣装置的输送货架的第二预设层的所述处理指令对应的目标货物。
本公开实施例所提供的货物处理装置可执行本公开第二方面对应的任意实施例所提供的货物处理方法，具备执行方法相应的功能模块和有益效果。
图21为本公开一个实施例提供的搬运机器人的结构示意图，如图21所示，该搬运机器人包括：机器人主体2110、暂存货架2120、搬运装置2130和至少一个处理器2140。
其中，暂存货架2120用于存放货物，通常包括多层，如5层；搬运装置2130用于将货物搬运至暂存货架2120，或者提取存放于暂存货架2120中的货物，搬运装置2130又可称为取放货装置；至少一个处理器2140用于执行本公开第一方面对应的任意实施例提供的货物处理方法。
相关说明可以对应参见图11至图17的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
在一些实施例中，搬运机器人可以为上述任意实施例中的搬运机器人3。
图22为本公开另一个实施例提供的分拣装置的结构示意图，如图22所示，该分拣装置包括：输送货架2210、机械手2220和至少一个处理器2230。
其中，输送货架2210具有至少两层输送层，至少两层输送层在靠近机械手2220的一端自下向上依次朝向远离机械手2220的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动；至少一个处理器2230用于执行本公开第二方面对应的任意实施例提供的货物处理方法。
相关说明可以对应参见图18的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
本公开实施例还提供一种仓储系统，该仓储系统包括：仓储货架、本公开第五方面对应的实施例提供的搬运机器人和本公开第六方面对应的实施例提供的分拣装置。
本公开一个实施例提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现本公开图11至图18所对应的实施例中任一实施例提供的货物处理方法。
其中，计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本公开还提供一种程序产品，该程序产品包括可执行计算机程序，该可执行计算机程序存储在可读存储介质中。搬运机器人、分拣装置或仓储系统的至少一个处理器可以从可读存储介质读取该计算机程序，至少一个处理器执行该计算机程序使得货物处理装置实施上述各种实施方式提供的货物处理方法。
在本公开所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可 以是电性，机械或其它的形式。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能模块可以集成在一个处理单元中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个单元中。上述模块成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能模块的形式实现的集成的模块，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(英文：processor)执行本公开各个实施例所述方法的部分步骤。
应理解，上述处理器可以是中央处理单元(Central Processing Unit，简称CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本公开所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
存储器可能包含高速RAM存储器，也可能还包括非易失性存储NVM，例如至少一个磁盘存储器，还可以为U盘、移动硬盘、只读存储器、磁盘或光盘等。
总线可以是工业标准体系结构(Industry Standard Architecture，简称ISA)总线、外部设备互连(Peripheral Component，简称PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，简称EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，本公开附图中的总线并不限定仅有一根总线或一种类型的总线。
上述存储介质可以是由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。存 储介质可以是通用或专用计算机能够存取的任何可用介质。
一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于专用集成电路(Application Specific Integrated Circuits，简称ASIC)中。当然，处理器和存储介质也可以作为分立组件存在于电子设备或主控设备中。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。

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  1. 一种货物处理方法，其特征在于，所述方法应用于搬运机器人，所述搬运机器人用于进行仓储系统的货物的搬运，所述仓储系统包括仓储货架、搬运机器人和分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，所述方法包括：
    当接收到处理指令时，经由搬运机器人，将放置于所述仓储货架上的所述处理指令对应的目标货物运输至所述分拣装置对应的位置，其中，所述搬运机器人的暂存货架包括至少一层空闲层；
    当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，经由所述搬运机器人，将第一货物搬运至所述暂存货架的空闲层；
    在所述第一货物被放置于所述暂存货架的空闲层之后，经由所述搬运机器人，将所述目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，以基于所述机械手对所述目标货物进行处理。
  2. 根据权利要求1所述的方法，其特征在于，经由所述搬运机器人，将放置于所述仓储货架上的所述处理指令对应的目标货物运输至所述分拣装置对应的位置，包括：
    根据所述处理指令，确定所述仓储货架放置所述目标货物的目标库位；
    在所述搬运机器人移动至所述目标库位对应的位置之后，将所述目标货物从所述目标库位搬运至所述搬运机器人的暂存货架；
    经由所述搬运机器人，将所述目标货物运输至所述分拣装置对应的位置。
  3. 根据权利要求2所述的方法，其特征在于，在所述搬运机器人移动至所述目标库位对应的位置之后，所述方法还包括：
    获取所述目标库位的库位检测信息；
    基于所述库位检测信息，判断所述目标库位放置的货物是否为所述目标货物；
    若是，则将所述目标货物从所述目标库位搬运至所述搬运机器人的暂存 货架。
  4. 根据权利要求3所述的方法，其特征在于，获取所述目标库位的库位检测信息，包括：
    基于所述搬运机器人的图像传感器，采集所述目标库位的库位检测图像，以基于所述库位检测图像，判断所述目标库位放置的货物是否为所述目标货物。
  5. 根据权利要求3所述的方法，其特征在于，基于所述库位检测信息，判断所述目标库位放置的货物是否为所述目标货物，包括：
    基于所述库位检测信息，确定所述目标库位放置的货物的货物标识；
    判断所述货物标识是否为预设标识；
    若所述货物标识为预设标识，则确定所述目标库位放置的货物为所述目标货物。
  6. 根据权利要求3所述的方法，其特征在于，当所述目标库位放置的货物不是所述目标货物时，所述方法还包括：
    确定与所述目标货物关联的各个关联货物；
    经由搬运机器人，将各个所述关联货物搬运至所述仓储系统的货物进出口，以从各个所述关联货物中确定异常货物；
    经由搬运机器人，将各个第二货物放置于各个第二货物对应的原库位，其中，所述第二货物为所述关联货物中除去所述异常货物的其他关联货物；和/或，
    若所述异常货物中包括所述目标货物，则经由搬运机器人将所述目标货物放置于所述目标库位，以经由搬运机器人将所述目标货物搬运至所述分拣装置对应的位置。
  7. 根据权利要求3所述的方法，其特征在于，当所述目标库位放置的货物不是所述目标货物时，所述方法还包括：
    确定与所述目标货物关联的各个关联货物；
    判断所述关联货物中是否存在所述目标货物，其中，所述目标货物放置于所述仓储货架的第一库位，所述第一库位对应的货物为所述目标库位放置的货物；
    若是，则经由搬运机器人，将所述目标货物放置于所述目标库位以及将所述目标库位放置的货物放置于所述第一库位，以经由搬运机器人将所述目 标货物搬运至所述分拣装置对应的位置。
  8. 根据权利要求3所述的方法，其特征在于，在获取目标库位的库位检测信息之后，所述方法还包括：
    根据所述库位检测信息，判断所述目标库位的库位状态；
    若所述目标库位的库位状态为占据状态，则基于所述库位检测信息中的货物检测信息，判断所述目标库位放置的货物是否为所述目标货物。
  9. 根据权利要求8所述的方法，其特征在于，若所述目标库位的库位状态为空闲状态，所述方法还包括：
    确定各个回收货物中是否包括所述目标货物，其中，所述回收货物为被所述机械手搬运至生产线的空货箱；
    若是，则生成回收提示信息。
  10. 根据权利要求9所述的方法，其特征在于，若所述回收货物中不包括所述目标货物，所述方法还包括：
    获取所述分拣装置的输送货架的各层的货架检测信息；
    基于所述货架检测信息，判断所述目标货物是否滞留于所述输送货架；
    若是，则经由搬运机器人，将滞留于所述输送货架的目标货物搬运至货物进出口，以检测所述目标货物是否损坏。
  11. 根据权利要求10所述的方法，其特征在于，若所述目标货物未滞留于所述输送货架，所述方法还包括：
    巡视所述仓储货架的各个库位；
    根据巡视结果，判断所述目标货物是否存放于所述仓储货架的第二库位；
    若是，则确定与所述目标货物关联的各个关联货物；
    基于所述目标货物及各个关联货物的历史处理流程进行异常盘查，以确定异常处理节点；
    根据所述异常处理节点，生成第一异常提示信息。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：
    基于所述搬运机器人，根据入库指令，将位于所述仓储系统的货物进出口的各个待入库货物存放于所述仓储货架的各个预设库位中，其中，所述入库指令包括各个待入库货物对应的预设库位。
  13. 根据权利要求12所述的方法，其特征在于，根据入库指令，将位于 所述仓储系统的货物进出口的各个待入库货物存放于所述仓储货架的各个预设库位中，包括：
    当接收到所述入库指令，搬运机器人移动至所述货物进出口对应的位置，并依次将所述入库指令中对应的放置于所述货物进出口的各个取货点的各个待入库货物搬运至所述搬运机器人的暂存货架中；
    基于所述搬运机器人，将各个待入库货物存放于各个待入库货物对应的预设库位中。
  14. 根据权利要求13所述的方法，其特征在于，在搬运机器人移动至所述货物进出口对应的位置之后，所述方法还包括：
    确定所述货物进出口的各个取货点的存放情况；
    根据各个取货点的存放情况，判断是否存在多余货物或异常取货点，其中，所述异常取货点为空闲取货点，且在所述入库指令中，所述异常取货点对应其中一个待入库货物；
    若存在多余货物，则确定与所述多余货物关联的各个第二关联货物，其中，所述第二关联货物包括与所述多余货物关联的放置于所述仓储货架的货物、与所述多余货物关联的放置于所述输送货架的货物和与所述多余货物关联的放置于搬运机器人的暂存货架的货物中的一项或多项；
    将各个所述第二关联货物搬运至所述货物进出口；
    基于各个所述第二关联货物的历史处理流程，进行异常盘查，以确定异常处理节点；
    根据所述异常处理节点，生成第二异常提示信息。
  15. 根据权利要求14所述的方法，其特征在于，若存在异常取货点，所述方法还包括：
    根据所述异常取货点以及所述入库指令中所述异常取货点对应的待入库货物，生成第三异常提示信息。
  16. 根据权利要求1-11任一项所述的方法，其特征在于，在将所述目标货物放置于所述分拣装置的输送货架的第二预设层上之后，所述方法还包括：
    接收所述分拣装置发送的第一异常信息，其中，所述第一异常信息包括所述分拣装置的输送货架的第二预设层上的多余货物；
    根据所述第一异常信息，经由搬运机器人，将所述第二预设层上的多余货物搬运至生产线，并生成第四异常提示信息。
  17. 根据权利要求1-11任一项所述的方法，其特征在于，在将所述目标货物放置于所述分拣装置的输送货架的第二预设层上之后，所述方法还包括：
    接收所述分拣装置发送的第二异常信息，其中，所述第二异常信息包括第二目标货物，所述第二目标货物为未搬运至所述分拣装置的输送货架的第二预设层的所述处理指令对应的目标货物；
    根据所述第二异常信息，经由搬运机器人，将所述第二目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层将所述第二目标货物运输至所述机械手的工作范围，以基于所述机械手对所述第二目标货物进行处理。
  18. 一种货物处理方法，其特征在于，所述方法应用于分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，所述方法包括：
    当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，通过所述第一预设层的传送机构运输所述第一货物，以经由搬运机器人将所述第一货物搬运至所述搬运机器人的暂存货架的空闲层；
    在所述搬运机器人将目标货物放置于所述分拣装置的输送货架的第二预设层之后，通过所述第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，其中，所述目标货物为处理指令对应的货物；
    基于所述机械手处理所述目标货物；
    若处理完的所述目标货物不是空货箱，则将所述目标货物转运至所述输送货架的第一预设层。
  19. 根据权利要求18所述的方法，其特征在于，所述方法还包括：
    若处理完的所述货物为空货箱，则确定所述货物为回收货物；
    经由所述机械手将所述回收货物搬运至生产线，并记录所述回收货物的货物信息。
  20. 根据权利要求18或19所述的方法，其特征在于，所述方法还包括：
    当所述分拣装置的输送货架的第二预设层上存在多余货物时，根据所述多余货物生成第一异常信息，并将所述第一异常信息发送至搬运机器人。
  21. 根据权利要求18或19所述的方法，其特征在于，所述方法还包括：
    当所述分拣装置的输送货架的第二预设层上不存在第二目标货物时，根据所述第二目标货物生成第二异常信息，并将所述第二异常信息发送至搬运机器人，其中，所述第二目标货物为未搬运至所述分拣装置的输送货架的第二预设层的所述处理指令对应的目标货物。
  22. 一种货物处理装置，其特征在于，所述货物处理装置应用于搬运机器人，所述搬运机器人用于进行仓储系统的货物的搬运，所述仓储系统包括仓储货架、搬运机器人和分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，所述货物处理装置包括：
    货物运输模块，用于当接收到处理指令时，经由搬运机器人，将放置于所述仓储货架上的所述处理指令对应的目标货物运输至所述分拣装置对应的位置，其中，所述搬运机器人的暂存货架包括至少一层空闲层；
    第一搬运模块，用于当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，经由所述搬运机器人，将第一货物搬运至所述暂存货架的空闲层；
    第一放置模块，用于在所述第一货物被放置于所述暂存货架的空闲层之后，经由所述搬运机器人，将所述目标货物放置于所述分拣装置的输送货架的第二预设层，以通过所述输送货架的第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，以基于所述机械手对所述目标货物进行处理。
  23. 一种货物处理装置，其特征在于，所述货物处理装置应用于分拣装置，所述分拣装置包括输送货架和机械手，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动，所述货物处理装置包括：
    第二运输模块，用于当所述分拣装置的输送货架的第一预设层上存在处理完毕的第一货物时，通过所述第一预设层的传送机构运输所述第一货物，以经由搬运机器人将所述第一货物搬运至所述搬运机器人的暂存货架的空闲层；
    第三运输模块，用于在所述搬运机器人将目标货物放置于所述分拣装置的输送货架的第二预设层之后，通过所述第二预设层的传送机构将所述目标货物运输至所述机械手的工作范围，其中，所述目标货物为处理指令对应的货物；
    货物处理模块，用于基于所述机械手处理所述目标货物；
    货物回流模块，用于若处理完的所述目标货物不是空货箱，则将所述目标货物转运至所述输送货架的第一预设层。
  24. 一种搬运机器人，其特征在于，包括机器人主体、暂存货架、搬运装置和至少一个处理器；
    其中，所述暂存货架用于存放货物；所述搬运装置用于将货物搬运至所述暂存货架，或者提取存放于所述暂存货架中的货物；所述至少一个处理器用于执行如权利要求1-17任一项所述的货物处理方法。
  25. 一种分拣装置，其特征在于，包括输送货架、机械手和至少一个处理器；
    其中，所述输送货架具有至少两层输送层，至少两层输送层在靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动；所述至少一个处理器用于执行如权利要求18-21任一项所述的货物处理方法。
  26. 根据权利要求25所述的分拣装置，其特征在于，所述输送层包括至少两个输送线，至少两个输送线沿垂直于输送方向的方向并列设置；所述传送机构设置在所述输送线上。
  27. 根据权利要求26所述的分拣装置，其特征在于，所述输送线上放置有输送料箱，所述输送料箱用于容置货物；所述输送线垂直于输送方向的宽度大于或等于所述输送料箱垂直于输送方向的宽度。
  28. 根据权利要求27所述的分拣装置，其特征在于，相邻两层输送层中，位于上层的所述输送层的靠近所述机械手的一端与位于下层的所述输送层的靠近所述机械手的一端相比，位于上层的所述输送层的靠近所述机械手的一端朝向远离所述机械手的方向缩进第一长度值，所述第一长度值大于或等于所述输送料箱沿输送方向的宽度。
  29. 根据权利要求26所述的分拣装置，其特征在于，所述传送机构设置 有滚动传送件，所述滚动传送件具有与放置在所述滚动传送件上的传送物滚动接触的外轮廓面；所述滚动传送件绕自身的转动轴线朝向输送方向转动，以将所述传送物沿输送方向输送。
  30. 根据权利要求29所述的分拣装置，其特征在于，所述滚动传送件有多个，多个所述滚动传送件沿输送方向并列设置，且多个所述滚动传送件的转动轴线相互平行。
  31. 根据权利要求29所述的分拣装置，其特征在于，所述滚动传送件为转动辊。
  32. 根据权利要求26所述的分拣装置，其特征在于，所述传送机构设置有往复式输送带，所述往复式输送带沿输送方向往复移动，以将放置在所述往复式输送带上的传送物沿输送方向输送。
  33. 根据权利要求25所述的分拣装置，其特征在于，至少两层输送层的远离所述机械手的一端平齐。
  34. 根据权利要求25-33中任一项所述的分拣装置，其特征在于，所述机械手包括支撑底座、第一连接臂和拿取组件，所述第一连接臂的第一端与所述支撑底座的顶端转动连接，所述拿取组件安装在所述第一连接臂的第二端，所述拿取组件用于从至少两层输送层的靠近所述机械手的一端拿取货物。
  35. 根据权利要求34所述的分拣装置，其特征在于，所述机械手还包括第二连接臂，所述第二连接臂的第一端与所述第一连接臂的第二端转动连接，所述拿取组件安装在所述第二连接臂的第二端。
  36. 根据权利要求35所述的分拣装置，其特征在于，所述拿取组件为吸盘组件，所述吸盘组件包括吸盘连接件和吸盘，所述吸盘连接件的顶端与所述第二连接臂的第二端转动连接，所述吸盘安装在所述吸盘连接件的底端；所述吸盘用于吸取货物。
  37. 根据权利要求35所述的分拣装置，其特征在于，所述拿取组件为机械爪组件，所述机械爪组件包括机械爪连接件和机械爪，所述机械爪连接件的顶端与所述第二连接臂的第二端转动连接，所述机械爪安装在所述机械爪连接件的底端；所述机械爪具有至少两个机械手指；所述机械爪用于抓取货物。
  38. 根据权利要求34所述的分拣装置，其特征在于，所述支撑底座包括增稳底座和支撑柱，所述支撑柱的底端安装在所述增稳底座上，所述第一连 接臂的第一端与所述支撑柱的顶端转动连接。
  39. 根据权利要求34所述的分拣装置，其特征在于，所述拿取组件上设置有目标物识别装置，所述目标物识别装置用于识别所述拿取组件需要拿取的目标物。
  40. 根据权利要求39所述的分拣装置，其特征在于，所述目标物识别装置包括红外扫码装置和图像识别装置。
  41. 根据权利要求34所述的分拣装置，其特征在于，所述拿取组件上设置有防撞检测装置，所述防撞检测装置用于防止所述拿取组件与所述输送货架发生碰撞。
  42. 根据权利要求41所述的分拣装置，其特征在于，所述防撞检测装置包括测距传感器和接近传感器。
  43. 一种分拣装置，其特征在于，包括输送货架和机械手，所述机械手设置在所述输送货架的沿输送方向的第一端；所述输送货架用于输送货物，所述机械手用于从所述输送货架上拿取货物，或，所述机械手用于将拿取的货物放置在所述输送货架上；
    所述输送货架具有至少两层输送层，至少两层输送层的靠近所述机械手的一端自下向上依次朝向远离所述机械手的方向缩进并形成台阶状；所述输送层上设置有传送机构，所述传送机构使货物在所述输送层上沿输送方向移动。
  44. 根据权利要求43所述的分拣装置，其特征在于，所述输送层包括至少两个输送线，至少两个输送线沿垂直于输送方向的方向并列设置；所述传送机构设置在所述输送线上。
  45. 根据权利要求44所述的分拣装置，其特征在于，所述输送线上放置有输送料箱，所述输送料箱用于容置货物；所述输送线垂直于输送方向的宽度大于或等于所述输送料箱垂直于输送方向的宽度。
  46. 根据权利要求45所述的分拣装置，其特征在于，相邻两层输送层中，位于上层的所述输送层的靠近所述机械手的一端与位于下层的所述输送层的靠近所述机械手的一端相比，位于上层的所述输送层的靠近所述机械手的一端朝向远离所述机械手的方向缩进第一长度值，所述第一长度值大于或等于所述输送料箱沿输送方向的宽度。
  47. 根据权利要求44所述的分拣装置，其特征在于，所述传送机构设置 有滚动传送件，所述滚动传送件具有与放置在所述滚动传送件上的传送物滚动接触的外轮廓面；所述滚动传送件绕自身的转动轴线朝向输送方向转动，以将所述传送物沿输送方向输送。
  48. 根据权利要求47所述的分拣装置，其特征在于，所述滚动传送件有多个，多个所述滚动传送件沿输送方向并列设置，且多个所述滚动传送件的转动轴线相互平行。
  49. 根据权利要求47所述的分拣装置，其特征在于，所述滚动传送件为转动辊。
  50. 根据权利要求44所述的分拣装置，其特征在于，所述传送机构设置有往复式输送带，所述往复式输送带沿输送方向往复移动，以将放置在所述往复式输送带上的传送物沿输送方向输送。
  51. 根据权利要求43所述的分拣装置，其特征在于，至少两层输送层的远离所述机械手的一端平齐。
  52. 根据权利要求43-51中任一项所述的分拣装置，其特征在于，所述机械手包括支撑底座、第一连接臂和拿取组件，所述第一连接臂的第一端与所述支撑底座的顶端转动连接，所述拿取组件安装在所述第一连接臂的第二端，所述拿取组件用于从至少两层输送层的靠近所述机械手的一端拿取货物。
  53. 根据权利要求52所述的分拣装置，其特征在于，所述机械手还包括第二连接臂，所述第二连接臂的第一端与所述第一连接臂的第二端转动连接，所述拿取组件安装在所述第二连接臂的第二端。
  54. 根据权利要求53所述的分拣装置，其特征在于，所述拿取组件为吸盘组件，所述吸盘组件包括吸盘连接件和吸盘，所述吸盘连接件的顶端与所述第二连接臂的第二端转动连接，所述吸盘安装在所述吸盘连接件的底端；所述吸盘用于吸取货物。
  55. 根据权利要求53所述的分拣装置，其特征在于，所述拿取组件为机械爪组件，所述机械爪组件包括机械爪连接件和机械爪，所述机械爪连接件的顶端与所述第二连接臂的第二端转动连接，所述机械爪安装在所述机械爪连接件的底端；所述机械爪具有至少两个机械手指；所述机械爪用于抓取货物。
  56. 根据权利要求53所述的分拣装置，其特征在于，所述支撑底座包括增稳底座和支撑柱，所述支撑柱的底端安装在所述增稳底座上，所述第一连 接臂的第一端与所述支撑柱的顶端转动连接。
  57. 根据权利要求53所述的分拣装置，其特征在于，所述拿取组件上设置有目标物识别装置，所述目标物识别装置用于识别所述拿取组件需要拿取的目标物。
  58. 根据权利要求57所述的分拣装置，其特征在于，所述目标物识别装置包括红外扫码装置和图像识别装置。
  59. 根据权利要求53所述的分拣装置，其特征在于，所述拿取组件上设置有防撞检测装置，所述防撞检测装置用于防止所述拿取组件与所述输送货架发生碰撞。
  60. 根据权利要求59所述的分拣装置，其特征在于，所述防撞检测装置包括测距传感器和接近传感器。
  61. 一种仓储系统，其特征在于，包括：仓储货架、权利要求24所述的搬运机器人和权利要求25所述的分拣装置。
  62. 一种仓储系统，其特征在于，包括仓储货架、搬运机器人和如权利要求43-60中任一项所述的分拣装置，所述搬运机器人用于将仓储货架上的货物搬运至所述分拣装置的输送货架上，或，将所述输送货架上的货物搬运至所述仓储货架上。
  63. 根据权利要求62所述的仓储系统，其特征在于，所述搬运机器人的货物出入口与所述输送货架的沿输送方向的第二端对接，以将货物从搬运机器人上移送至输送货架上，或，将货物从输送货架上移送至搬运机器人上。
  64. 根据权利要求62所述的仓储系统，其特征在于，所述搬运机器人有至少两个；和/或，
    所述分拣装置有至少两个，至少两个所述分拣装置间隔设置在所述仓储货架的同一侧。
  65. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如权利要求1-21任一项所述的货物处理方法。
  66. 一种计算机程序产品，包括计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1-21任一项所述的货物处理方法。
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