WO2023082977A1 - Cargo conveying system and cargo conveying method - Google Patents

Abstract

The present disclosure relates to the technical field of intelligent warehousing. Provided are a cargo conveying system and a cargo conveying method. The cargo conveying system comprises a closed-loop conveying line, wherein the closed-loop conveying line comprises a first conveying section and a second conveying section, which are sequentially connected end to end, one side of the first conveying section is provided with at least two groups of cargo inlets and outlets at intervals, and one side of the second conveying section is provided with at least two sorting conveying lines; the closed-loop conveying line is provided with at least three first transfer apparatuses, two of the first transfer apparatuses are respectively located at two ends of the first conveying section; and the remaining first transfer apparatuses are located between any two sorting conveying lines, the remaining first transfer apparatuses are located between any two groups of cargo inlets and outlets, and the first transfer apparatuses transfer cargoes on the second conveying section to the first conveying section, or transfer cargoes on the first conveying section to the second conveying section. The cargo conveying system and the cargo conveying method of the present disclosure are conducive to improving the cargo conveying efficiency.

Description

Goods conveying system and method for conveying goods

This application claims priority to a Chinese patent application filed with the China Patent Office on November 11, 2021, with application number 202111333120.X and titled "Cargo Conveyor System and Cargo Conveyor Method," the entire contents of which are incorporated herein by reference Applying.

technical field

The present disclosure relates to the technical field of intelligent warehousing, and in particular to a cargo conveying system and a cargo conveying method.

Background technique

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligence level of terminal logistics is also increasing, and intelligent warehousing is an important link in the logistics process.

In intelligent warehousing, the cargo conveying system is the main equipment that can realize automatic conveying and sorting operations. The cargo conveying system can reduce human heavy physical labor and improve the efficiency of conveying and sorting operations. In the related art, the cargo conveying system includes multiple U-shaped picking workstations, and each U-shaped picking workstation has cargo import and cargo export. When working, the goods that need to enter multiple U-shaped picking workstations first enter the first U-shaped picking workstation through the goods import of the first U-shaped picking workstation to be picked, and the selected goods are picked from the first U-shaped picking workstation. The exit leaves the first U-shaped picking workstation and enters the handling device. The handling device moves the goods to the goods entrance of the next U-shaped picking workstation, so that the goods enter the next U-shaped picking workstation to continue picking.

However, the cargo conveying efficiency of the above cargo conveying system is relatively low.

Contents of the invention

Embodiments of the present disclosure provide a cargo conveying system and a cargo conveying method, which are used to solve the problem of relatively low cargo conveying efficiency of the cargo conveying system.

In order to achieve the above purpose, embodiments of the present disclosure provide the following technical solutions:

In the first aspect, an embodiment of the present disclosure provides a cargo conveying system, including a closed-loop conveying line, the closed-loop conveying line includes a first conveying section and a second conveying section connected end to end in sequence, the first conveying section and the The conveying direction of the second conveying section is opposite; one side of the first conveying section is provided with at least two groups of cargo import and export at intervals, and the cargo import and export includes cargo import and cargo export; one side of the second conveying section is provided with There are at least two picking conveying lines, and the two ends of the picking conveying lines are connected to the second conveying section at intervals, so that the goods on the second conveying section enter from the first end of the picking conveying line into the The picking conveying line, or, make the goods on the picking conveying line enter the second conveying section from the second end of the picking conveying line; at least three first transfer devices are arranged on the closed-loop conveying line , wherein two of the first transfer devices are respectively located at both ends of the first conveying section; the rest of the first transfer devices are located between any two of the picking conveyor lines, and the rest of the first The transfer device is located between any two groups of the goods import and export, and the first transfer device transfers the goods on the second conveying section to the first conveying section, or transfers the goods on the first conveying section to the first conveying section. The goods on the conveying section are transferred to the second conveying section.

The cargo conveying system as described above, optionally, the cargo conveying system further includes an unloader and a loader; the unloader is arranged at the cargo inlet and is used to transfer the cargo on the unloader to the cargo inlet; the feeder is arranged at the cargo outlet, and is used to transfer the cargo from the cargo outlet to the feeder.

The cargo conveying system as described above may optionally further include a handling robot. When the handling robot docks with the unloader, the unloader is used to transfer the goods on the handling robot to the unloader. on the loading machine; when the handling robot is docked with the loading machine, the loading machine is used to transfer the goods on the loading machine to the handling robot.

In the above-mentioned cargo conveying system, optionally, the cargo inlet and the cargo outlet are arranged adjacent to each other.

In the cargo conveying system described above, optionally, the cargo inlet and/or cargo outlet is provided with a second transfer device, and the second transfer device transfers the cargo from the cargo outlet to the cargo inlet .

In the cargo conveying system described above, optionally, the cargo inlet is provided with an integrated loading and unloading machine, and the integrated loading and unloading machine is used to transfer the cargo on the integrated loading and unloading machine to the cargo inlet, Or, the integrated loading and unloading machine is used to transfer the cargo transferred from the cargo outlet to the cargo inlet to the integrated loading and unloading machine.

In the above-mentioned cargo conveying system, optionally, the first end of the picking conveyor line and the second end of the picking conveying line are sequentially arranged along the conveying direction of the second conveying section; or, the picking The second end of the conveying line and the first end of the picking conveying line are arranged sequentially along the conveying direction of the second conveying section; the conveying direction of the picking conveying line is from the first end of the picking conveying line to The second end of the picking conveyor line.

In the above-mentioned cargo conveying system, optionally, there is at least one container space between the first end of the picking conveying line and the second end of the picking conveying line.

In the above-mentioned cargo conveying system, optionally, an identification device is provided at an upstream position of each of the picking conveyor lines, and the identification device is used to identify the boxes close to the picking conveyor line, so as to determine the Whether the box needs to enter the picking conveyor line.

In the above-mentioned cargo conveying system, optionally, the picking conveyor line includes two picking positions, and two adjacent third transfer devices are arranged between the two picking positions; The third transfer device at the first end of the picking conveying line transfers the goods on the second conveying section, and the third transferring device near the second end of the picking conveying line The goods on the second conveying section are transferred to the picking conveying line.

In the above-mentioned cargo conveying system, optionally, the conveying surface of the picking conveying line is inclined, and the side of the conveying surface far away from the second conveying section is lower than the side of the conveying surface close to the second conveying section. One side of the second conveying section.

The cargo conveying system as described above, optionally, further includes an auxiliary conveying line, the auxiliary conveying line is arranged above the picking conveying line; the side of the auxiliary conveying line away from the second conveying section is at The projection in the vertical direction falls between the side of the picking conveying line away from the second conveying section and the second conveying section; the bottom surface of the container conveyed by the cargo conveying system is rectangular, so The width of the conveying surface of the auxiliary conveying line is consistent with the width of the bottom surface of the container, and the width of the conveying surface of the sorting conveying line is consistent with the length of the bottom surface of the container.

In the above-mentioned cargo conveying system, optionally, at least one sorting conveyor line and/or at least one group of cargo inlets and outlets are arranged between two adjacent first transfer devices.

In the above-mentioned cargo conveying system, optionally, the unloader includes a discharge rack and a first lifting mechanism, and the first lift mechanism is arranged between the discharge rack and the cargo inlet; the The unloading rack transfers the goods on the handling robot to the unloading rack, and the first lifting mechanism transfers the goods on the unloading rack to the goods inlet.

In the cargo conveying system described above, optionally, the loading machine includes a loading rack and a second lifting mechanism, and the second lifting mechanism is arranged between the loading rack and the cargo outlet; the The second lifting mechanism transfers the goods at the goods outlet to the loading rack, and the loading rack transfers the goods on the loading rack to the handling robot.

In the cargo conveying system described above, optionally, the integrated loading and unloading machine includes a loading and unloading shelf and a third lifting mechanism, and the third lifting mechanism is arranged between the loading and unloading shelf and the cargo inlet when the integrated loading and unloading machine is loading, the third lifting mechanism will transfer the goods transferred from the goods outlet to the goods import to the loading and unloading shelf, and the loading and unloading shelf will The goods on the upper unloading shelf are transferred to the handling robot; when the integrated loading and unloading machine unloads, the upper unloading shelf transfers the goods on the handling robot to the upper unloading shelf, and the first The three lifting mechanisms transfer the goods on the upper and unloading shelves to the goods inlet.

In the cargo conveying system described above, optionally, the handling robot includes a mobile base and a robot shelf arranged on the mobile base, and the robot shelf is used to be integrated with the loader, the unloader, or the loader and unloader The machine docks and transfers the goods.

In the above-mentioned cargo conveying system, optionally, conveying rollers or conveyor belts are arranged on the closed-loop conveying line, and the conveying rollers or conveying belts on the closed-loop conveying line drive the goods to move along the conveying direction of the closed-loop conveying line Conveyor rollers or conveyor belts are set on the sorting conveyor line, and the conveyor rollers or conveyor belts on the sorting conveyor line drive the goods to move along the conveying direction of the sorting conveyor line.

In the cargo conveying system described above, optionally, the first transfer device or the second transfer device is a push-pull rod, and the push-pull rod transfers the cargo along a transfer direction.

In the cargo conveying system described above, optionally, the first transfer device or the second transfer device is a lifting roller, and when the lifting roller is raised, the cargo is supported on the lifting roller , the lifting rolling parts drive the goods to move along the transfer direction; when the lifting rolling parts are lowered, the goods return to the conveying state.

In the cargo conveying system described above, optionally, the third transfer device is a push-pull rod, and the push-pull rod transfers the cargo along the transfer direction.

In the cargo conveying system described above, optionally, the third transfer device is a lifting roller. When the lifting roller is raised, the cargo is supported on the lifting roller, and the lifting roller drives the cargo Move along the transfer direction; when the lifting and rolling parts are lowered, the goods return to the conveying state.

In a second aspect, an embodiment of the present disclosure provides a cargo delivery method, which is applied to the cargo delivery system described in any one of the above items, and the cargo delivery method includes:

When the target goods are picked on one or more target picking conveyor lines, the position of the target goods in the second conveying section is determined; according to the position of the target goods, the first target first transfer device is determined, so that The target cargo enters the first conveying section through the first target first transfer device, and leaves the closed-loop conveying line through any target cargo outlet.

As described above in the cargo delivery method, optionally, the cargo delivery method further includes:

According to the target goods import of the target goods, the one or more target picking conveying lines corresponding to the target goods determine the second target first transfer device, so that the target goods enter through the target goods import The first conveying section enters the second conveying section through the second target first transfer device; wherein, the target cargo enters the second target cargo through the second target first transfer device The position of the conveying section is located upstream of all the target picking conveyor lines corresponding to the target goods; the target goods are controlled to enter the target picking conveying line via the second conveying section, so that the target picking conveying line The picking operation of the target goods is completed.

In the above-mentioned cargo conveying method, optionally, the controlling the target cargo to enter the target picking conveying line via the second conveying section, so that the target picking conveying line completes the picking of the target cargo After operation, also include:

Judging whether the target goods need to enter other picking conveying lines: if so, controlling the target goods to enter the other picking conveying lines through the second conveying section, so that the other picking conveying lines complete the processing of the target goods If not, control the target goods to leave the closed-loop conveying line.

In the above-mentioned cargo conveying method, optionally, the controlling the target cargo to enter the other picking conveying line via the second conveying section includes:

Judging whether the target cargo is located in the second conveying section: if yes, and the other picking conveyor line is located upstream of the current position of the target cargo, then controlling the target cargo to be transported by the third target first transfer device And the first transfer device of the fourth target, around to the upstream of the second conveying section, enter the other picking conveyor line; if so, and the other picking conveyor line is located downstream of the current location of the target goods, Then control the target goods to pass through the second conveying section and enter the other picking conveyor lines; if not, control the target goods to enter the second conveying section from the fifth target first transfer device, and enter The other picking conveyor lines.

In the above-mentioned cargo conveying method, optionally, an identification device is provided at an upstream position of each of the picking conveying lines, and the controlling of the target cargo entering the target picking conveying line via the second conveying section, Also includes:

Identify the target goods entering the identification area via the identification device corresponding to the target picking conveyor line, and judge whether the target goods need to enter the target picking conveyor line: if so, control the target goods to enter the target picking conveyor line .

In the method for conveying goods as described above, optionally, a sensor is provided at each entry position of the picking conveyor line, and the control of the target cargo entering the target picking conveying line via the second conveying section ,Also includes:

Detecting through the sensor whether the entry container of the target picking conveyor line is occupied: if not, controlling the target goods to enter the entry container of the target picking conveyor line via the second conveying section.

In the above-mentioned cargo conveying method, optionally, after detecting whether the entry container space of the target picking conveying line is occupied via the sensor, the method further includes:

If it is detected by the sensor that the entry container position of the target picking conveyor line is occupied, it is judged whether the target cargo is waiting: if so, control the target cargo to stop moving and wait, and repeat the process of passing through the sensor. The step of detecting whether the entry container space of the target picking conveyor line is occupied until the target goods enter the entry container space of the target picking conveyor line; if not, controlling the target goods to pass through the closed-loop conveyor line Wrap around to the entry end of the object picking conveyor line.

In the above-mentioned cargo conveying method, optionally, the controlling the target cargo to go around to the inlet end of the target picking conveyor line via the closed-loop conveyor line includes:

obtaining the sixth target first transfer device through which the target goods are transferred from the second conveying section to the first conveying section, and the target goods are transferred from the first conveying section to the The seventh target first transfer device that the second conveying section will pass through; wherein, along the conveying direction of the second conveying section, the sixth target first transfer device is located at the entrance end of the target picking conveying line Downstream, the seventh target first transfer device is located upstream of the inlet end of the target picking conveyor line; the target goods pass through the sixth target first transfer device and the seventh target first transfer device in sequence The device returns to the entry end of the object picking conveyor line.

In the above-mentioned cargo conveying method, optionally, the target cargo corresponds to a plurality of target picking conveyor lines, and the multiple target picking conveyor lines are all located at the sixth target first transfer device and the seventh target Between the first transfer device.

The cargo conveying system and cargo conveying method provided by the embodiments of the present disclosure have the following advantages:

The goods conveying system provided by the embodiments of the present disclosure sets at least two picking conveyor lines on the closed-loop conveying line, so that the goods that need to enter multiple picking conveying lines can be directly transported along the closed-loop conveying line and enter multiple picking conveying lines one by one Picking can not only save the transfer device between each picking conveyor line, but also help improve the efficiency of goods delivery. The closed-loop conveyor line can also allow the goods to be recirculated back to the entrance of the missed picking conveyor line when the goods miss entering the picking conveyor line.

Further, at least three first transfer devices are arranged on the closed-loop conveying line, so that the first transfer device transfers the goods on the second conveying section to the first conveying section, or, the first conveying section The goods on the conveyor are transferred to the second conveying section. On the one hand, the goods that enter the first conveying section through the goods import can choose to enter the second conveying section through the first transfer device with a relatively short conveying path and enter the picking conveyor line, or, the goods that have been picked on the picking conveyor line can be Choosing to make the first transfer device with a relatively short conveying path enter the first conveying section and leave from the goods exit, so that the goods do not need to go around a large circle along the closed-loop conveying line, which is conducive to further improving the efficiency of goods conveying. On the other hand, the goods that miss the picking conveying line can choose to return to the missed picking conveying line through the first transfer device with a relatively short conveying path, which is beneficial to further improve the efficiency of goods conveying.

The cargo delivery method provided by the embodiments of the present disclosure is also beneficial to improving the efficiency of cargo delivery by being applied to the cargo delivery system provided by the embodiments of the present disclosure.

In addition to the technical problems solved by the embodiments of the present disclosure described above, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, the goods conveying system and the goods conveying method provided by the embodiments of the present disclosure provide Other technical problems that can be solved, other technical features contained in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation manner.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings that need to be used in the descriptions of the embodiments or related technologies. Obviously, the drawings in the following description are the For some embodiments of the application, those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a top view schematic diagram 1 of a cargo conveying system provided by an embodiment of the present disclosure;

FIG. 2 is a second schematic top view of a cargo conveying system provided by an embodiment of the present disclosure;

Fig. 3 is a top view schematic diagram 3 of a cargo conveying system provided by an embodiment of the present disclosure;

Fig. 4 is a top view schematic diagram 1 of a partial closed-loop conveying line and a sorting conveying line provided by an embodiment of the present disclosure;

Fig. 5 is a schematic top view II of a partial closed-loop conveying line and a sorting conveying line provided by an embodiment of the present disclosure;

Fig. 6 is a schematic side view of setting an auxiliary conveying line above the picking conveying line in Fig. 4;

FIG. 7 is a schematic structural diagram of the docking of a handling robot and an unloader provided by an embodiment of the present disclosure;

FIG. 8 is a flow chart 1 of a cargo delivery method provided by an embodiment of the present disclosure;

FIG. 9 is a flow chart 2 of a cargo delivery method provided by an embodiment of the present disclosure;

FIG. 10 is a flowchart three of a cargo delivery method provided by an embodiment of the present disclosure;

FIG. 11 is a fourth flowchart of a cargo delivery method provided by an embodiment of the present disclosure.

Explanation of reference signs:

100-closed-loop conveying line; 110-first conveying section; 111-goods import; 112-goods export; 120-second conveying section; 121-picking conveying line; 122-identification device; 130-first transfer device; 140 - the second transfer device; 150 - the third transfer device;

200-unloading machine; 210-unloading shelf; 220-the first lifting mechanism;

300-feeder;

400-integrated loading and unloading machine;

500-handling robot; 510-mobile base; 520-robot shelf;

600 - Auxiliary conveyor line.

Detailed ways

Since the multiple U-shaped picking workstations of the cargo conveying system in the related art are set independently, the cargo that needs to be picked at the multiple U-shaped picking workstations needs to be transported between the picking conveyor lines by the handling device. In this process, the goods need to be transferred from the previous U-shaped picking workstation to the handling device, the handling device transports the goods to the next picking workstation, and the goods are transferred from the handling device to another U-shaped picking workstation, which not only causes the goods to be transported The efficiency is relatively low, and more handling devices are required.

In order to solve the above problems, an embodiment of the present disclosure provides a cargo conveying system and a cargo conveying method, by setting at least two sorting conveying lines on the closed-loop conveying line, so that the goods that need to enter multiple picking conveying lines can be directly along the closed loop The conveying line is transported and enters multiple picking conveying lines one by one for picking, so that not only the transfer device between each picking conveying line can be omitted, but also the efficiency of goods conveying can be improved. Further, an embodiment of the present disclosure provides a goods conveying system by setting at least three first transfer devices on the closed-loop conveying line, so that the first transfer devices can transfer the goods on the second conveying section to the first conveying section. section, or transfer the goods on the first section to the second section. On the one hand, the goods that enter the first conveying section through the goods import can choose to enter the second conveying section through the first transfer device with a relatively short conveying path and enter the picking conveyor line, or, the goods that have been picked on the picking conveyor line can be Choosing to make the first transfer device with a relatively short conveying path enter the first conveying section and leave from the goods exit, so that the goods do not need to go around a large circle along the closed-loop conveying line, which is conducive to further improving the efficiency of goods conveying. On the other hand, the goods that miss the picking conveying line can choose to return to the missed picking conveying line through the first transfer device with a relatively short conveying path, which is beneficial to further improve the efficiency of goods conveying.

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments It is a part of the embodiments of the present disclosure, but not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.

Embodiment one

Fig. 1 is a schematic top view of a cargo conveying system provided by an embodiment of the present disclosure; Fig. 2 is a schematic top view of a cargo conveying system provided by an embodiment of the present disclosure; Fig. 3 is a schematic diagram of a cargo provided by an embodiment of the present disclosure Figure 4 is a top view schematic diagram of a part of the closed-loop conveyor line and sorting conveyor line provided by the embodiment of the present disclosure; Figure 5 is a top view schematic diagram of a part of the closed-loop conveyor line and the sorting conveyor line provided by the embodiment of the present disclosure ; FIG. 6 is a schematic side view of an auxiliary conveyor line set above the sorting conveyor line in FIG. 4 ;

Referring to FIGS. 1 to 7 , an embodiment of the present disclosure provides a cargo conveying system, including a closed-loop conveying line 100. The closed-loop conveying line 100 includes a first conveying section 110 and a second conveying section 120 connected end to end in sequence. The first conveying section 110 and the second conveying section 120 have opposite conveying directions. Exemplarily, the first conveying section 110 and the second conveying section 120 both extend along a straight line and are parallel to each other.

One side of the first conveying section 110 is provided with at least two groups of cargo inlets and outlets at intervals, and the cargoes import and export include cargo inlets 111 and cargo outlets 112 . One side of the second conveying section 120 is provided with at least two picking conveying lines 121, and the two ends of the picking conveying lines 121 are connected to the second conveying section 120 at intervals, so that the goods on the second conveying section 120 are picked from the picking conveying lines 121 The first end of the picking conveyor line 121 enters, or the goods on the picking conveyor line 121 enter the second conveying section 120 from the second end of the picking conveyor line 121 . Exemplarily, the picking conveying line 121 can be U-shaped, and the two ends of the U-shaped picking conveying line can be respectively connected to the second conveying section 120 through a transfer device; or, the picking conveying line 121 can be linear, and the linear picking conveying Both ends of the line can be respectively connected to the second conveying section 120 through a transfer device.

The closed-loop conveying line 100 is provided with at least three first transfer devices 130, wherein two first transfer devices are located at both ends of the first conveying section 110, so that the first conveying section 110 and the second conveying section 120 The two ends are respectively connected correspondingly by the first transfer device 130, so that the first conveying section 110, the second conveying section 120, and the first transfer device 130 located at both ends of the first conveying section 110 jointly form a closed loop to realize a closed-loop conveying line 100 closed-loop delivery functions. Optionally, the first conveying section 110 and the second conveying section 120 can change the conveying direction according to actual needs, and the first transfer device 130 located at both ends of the first conveying section 110 can also change the conveying direction according to actual needs, so that the closed-loop conveying Thread 100 can be fed either clockwise or counterclockwise.

The rest of the first transfer devices 130 are located between any two picking conveyor lines 121 , and the rest of the first transfer devices 130 are located between any two groups of cargo inlets and outlets. Optionally, the rest of the first transfer devices 130 can change the transfer direction according to actual needs; the number of the rest of the first transfer devices 130 can be set to one, two or more according to actual needs.

In a specific implementation, the first transfer device 130 transfers the goods on the second conveying section 120 to the first conveying section 110, so that the goods that have been picked can choose a relatively short path to leave the closed-loop conveying line 100; or, the second A transfer device 130 transfers the goods on the first conveying section 110 to the second conveying section 120 , so that the goods entering the first conveying section 110 can choose a relatively short path to enter the picking conveyor line 121 . It should be understood that this is only an example of the function of the first transfer device 130 in the cargo conveying system, and is not a limitation on the function of the first transfer device 130 in the cargo conveying system.

Referring to FIG. 1 , FIG. 2 and FIG. 7 , the cargo conveying system may further include an unloading machine 200 and a loading machine 300 . The unloader 200 is installed at the cargo inlet 111 and is used to transfer the cargo on the unloader 200 to the cargo inlet 111 . The loading machine 300 is arranged at the cargo outlet 112 and is used to transfer the goods at the cargo outlet 112 to the loading machine 300 .

The goods conveying system may further include a handling robot 500 . When the handling robot 500 is docked with the unloader 200 , the unloader 200 is used to transfer multiple goods on the handling robot 500 to the unloader 200 at the same time. When the handling robot 500 is docked with the loading machine 300 , the loading machine 300 is used to transfer multiple goods on the loading machine 300 to the handling robot 500 at the same time.

During specific implementation, the handling robot 500 can pick up the goods from the storage shelf, and move the goods on its back to dock with the unloader 200, and the unloader 200 can simultaneously transfer multiple goods on the handling robot 500 to the unloader 200 Above, the unloader 200 can transfer the goods on the unloader 200 to the goods inlet 111 , so that the goods enter the closed-loop conveying line 100 through the goods inlet 111 . The goods on the closed-loop conveying line 100 enter the loading machine 300 through the goods outlet 112. The loading machine 300 can simultaneously transfer multiple goods on the loading machine 300 to the handling robot 500 docked with the loading machine. The handling robot 500 can Move processed goods to storage racks.

Exemplarily, the unloader 200 includes a discharge rack 210 and a first lifting mechanism 220 , and the first lift mechanism 220 is arranged between the discharge rack 210 and the cargo inlet 111 . The unloading rack 210 transfers multiple goods on the handling robot 500 to the unloading rack 210 at the same time, and the first lifting mechanism 220 transfers the goods on the unloading rack 210 to the goods inlet 111 . During specific implementation, the unloading shelf 210 includes multi-layered cargo layers arranged in the height direction, the cargo inlet 111 is flush with the first conveying section 110, and the first lifting mechanism 220 has a conveying platform that can be lifted and moved, and the conveying platform can move The goods on any storage layer of the unloading shelf 210 are transferred to the goods inlet 111 .

Exemplarily, the loading machine 300 includes a loading shelf and a second lifting mechanism, and the second lifting mechanism is arranged between the loading shelf and the cargo outlet 112 . The second lifting mechanism transfers the goods at the goods outlet 112 to the loading rack, and the loading rack transfers the goods on the loading rack to the handling robot 500 . During specific implementation, the loading shelf includes multi-layered cargo layers arranged in the height direction, the cargo outlet 112 is flush with the first conveying section 110, and the second lifting mechanism has a conveying platform that can be lifted and moved, and the conveying platform can export the goods The goods of 112 are transferred to any loading layer of the loading rack.

Exemplarily, the handling robot 500 includes a mobile base 510 and a robot shelf 520 arranged on the mobile base 510. The robot shelf 520 may include a multi-layer storage layer arranged along the height direction. , unloading machine 200 or the integrated loading and unloading machine 400 hereinafter. During specific implementation, the robot shelf 520 can be docked with the unloading shelf 210, so that multiple goods on the robot shelf 520 can be transferred to the unloading shelf at the same time. The layers of goods can be the same number of layers and correspondingly flush; the robot shelf 520 can be docked with the loading shelf, so that multiple goods on the loading shelf can be transferred to the robot shelf 520 at the same time, and the multi-layer loading of the robot shelf 520 The number of layers and the multi-layer storage layers of the loading rack can be the same and correspondingly flush.

Referring to Fig. 1 to Fig. 3, the goods inlet 111 and the goods outlet 112 can be adjacently arranged, and of course, the goods inlet 111 and the goods outlet 112 can also be arranged at intervals according to actual needs.

With reference to Fig. 3, when goods inlet 111 and goods outlet 112 are adjacently arranged, second transfer device 140 can be set on at least one of goods inlet 111 and goods outlet 112, and second transfer device 140 is the goods of goods outlet 112. Transfer to cargo import 111.

Further, the cargo inlet 111 is provided with an integrated loading and unloading machine 400, and the integrated loading and unloading machine 400 is used to transfer the goods on the integrated loading and unloading machine 400 to the cargo inlet 111, or the integrated loading and unloading machine 400 is used to transfer The goods transferred from the goods outlet 112 to the goods inlet 111 are transferred to the integrated loading and unloading machine 400 .

In actual implementation, the handling robot 500 can pick up the goods from the storage shelf, and move the goods on its back to dock with the integrated loading and unloading machine 400, and the integrated loading and unloading machine 400 can simultaneously transfer multiple goods on the handling robot 500 to the upper On the integrated loading and unloading machine 400 , the integrated loading and unloading machine 400 can transfer the goods on the integrated loading and unloading machine 400 to the goods inlet 111 , so that the goods enter the closed-loop conveying line 100 through the goods inlet 111 . The goods leaving the closed-loop conveying line 100 enter the goods outlet 112, enter the goods inlet 111 through the second transfer device 140, and enter the integrated loading and unloading machine 400. The goods are simultaneously transferred to the handling robot 500 docked with the integrated loading and unloading machine 400, and the handling robot 500 can transport the processed goods to the storage shelf. On the one hand, loading at the cargo inlet 111 and unloading at the cargo outlet 112 can share the same loading and unloading integrated machine 400, which is conducive to simplifying the structure of the cargo conveying system and saving costs. On the other hand, after the loading and unloading machine 400 completes unloading, the handling robot 500 does not need to move, so that the loading and unloading machine 400 can load the recovered goods into the handling robot 500, which is beneficial to reduce the running path of the handling robot 500. Save the energy consumption of the handling robot 500.

Exemplarily, the integrated loading and unloading machine 400 includes a loading and unloading shelf and a third lifting mechanism, and the third lifting mechanism is arranged between the loading and unloading shelf and the cargo inlet 111 . When the loading and unloading integrated machine 400 is loading, the third lifting mechanism will transfer the goods transferred from the goods outlet 112 to the goods inlet 111 to the loading and unloading shelf, and the loading and unloading shelf will simultaneously transfer multiple goods on the loading and unloading shelf to On the handling robot 500; when the loading and unloading integrated machine 400 is unloading, the loading and unloading shelf will simultaneously transfer multiple goods on the handling robot 500 to the loading and unloading shelf, and the third lifting mechanism will transfer the goods on the loading and unloading shelf to Import of goods 111.

During specific implementation, the loading and unloading shelf includes multi-layered cargo layers arranged in the height direction, the cargo inlet 111 is flush with the first conveying section 110, and the third lifting mechanism has a conveying platform that can be lifted and moved, and the conveying platform can move the upper The goods in any loading layer of the unloading shelf are transferred to the goods inlet 111, or the goods in the goods inlet 111 are transferred to any loading layer of the upper unloading shelf. The robot shelf 520 can be docked with the loading and unloading shelf, so that when loading, the goods on the loading and unloading shelf can be transferred to the robot shelf 520, or when unloading, the goods on the robot shelf 520 can be transferred to the loading and unloading shelf. on the shelf. The multi-layer storage layers of the robot rack 520 and the multi-layer storage layers of the loading and unloading racks may have the same number of layers and be correspondingly flush.

The conveying direction of the sorting conveyor line 121 is from the first end of the sorting conveyor line 121 to the second end of the sorting conveyor line 121 . In a possible implementation, referring to FIG. 2 , the first end of the sorting conveyor line 121 and the second end of the sorting conveyor line 121 are arranged in sequence along the conveying direction of the second conveying section 120 . During specific implementation, the goods are transported to the first end of the picking conveyor line 121 along the second conveying section 120, and can directly enter the picking conveyor line 121 from the first end of the picking conveyor line 121 to increase the picking rate. The two ends leave the sorting conveying line 121 and re-enter the second conveying section 120 .

In another possible implementation, referring to FIG. 1 , the second end of the sorting conveyor line 121 and the first end of the sorting conveyor line 121 are sequentially arranged along the conveying direction of the second conveying section 120 . During specific implementation, the goods are transported along the second conveying section 120 through the second end of the sorting conveyor line 121 to the first end of the sorting conveyor line 121, and can enter the sorting conveyor line 121 from the first end of the picking conveyor line 121. The second end of the conveying line 121 leaves the sorting conveying line 121 and re-enters the second conveying section 120 . In this process, on the one hand, there is a longer buffer time before the goods are transported along the second conveying section 120 to the first end of the picking conveyor line 121, which reduces the time when the goods are occupied because the picking conveyor line 121 has fewer buffer positions. The probability of entering the picking conveyor line 121, so that the goods line up to enter the picking conveyor line 121; on the other hand, after the goods leave the picking conveyor line 121 from the second end of the picking conveyor line 121, they can be transported to the Pick the first end of the conveying line 121, so that when the picking conveying line 121 picks an error or fails to pick, return to the picking conveying line 121 with the shortest distance to correct the error or complete the picking.

Optionally, there is at least one container space between the first end of the picking conveyor line 121 and the second end of the picking conveyor line 121 . Exemplarily, the first end of the picking conveyor line 121 and the second end of the picking conveyor line 121 can be separated by one, two or more cargo box positions. On the one hand, it is beneficial to ensure the length of the picking conveyor line 121 and facilitate On the other hand, it is beneficial to ensure the length of the second conveying section 120 between the first end of the picking conveyor line 121 and the second end of the picking conveyor line 121, so that the first end of the picking conveyor line 121 is connected to the When the position of the second conveying section 120 is located downstream of the second end of the picking conveying line 121 connected to the position of the second conveying section 120, the goods can have longer buffer boxes before entering the first end of the picking conveying line 121 to avoid congestion.

Optionally, an identification device 122 is provided at the upstream position of each picking conveyor line 121 , and the identifying device 122 is used to identify the boxes close to the picking conveyor line 121 to determine whether the boxes need to enter the picking conveyor line 121 . Exemplarily, the identification device 122 may be a code scanner, an identification code is set on the container, and the code scanner can scan the identification code of the container to identify the container. Of course, the identification device 122 may also be other devices known to those skilled in the art, and details will not be repeated here.

Referring to FIG. 5 , the picking conveyor line 121 may include two picking positions, and two adjacent third transfer devices 150 are arranged between the two picking positions. The third transfer device 150 near the first end of the picking conveyor line 121 transfers the goods on the picking conveyor line 121 to the second conveying section 120, and the third transfer device 150 near the second end of the picking conveyor line 121 transfers the goods on the picking conveyor line 121 to the second conveyor section 120. The goods on the second conveying section 120 are transferred to the sorting conveying line 121 .

Exemplarily, the third transfer device 150 can be a push-pull rod, and the push-pull rod transfers the goods along the transfer direction. Back-end conveyor line. Alternatively, the third transfer device 150 can be a lifting roller. When the lifting roller is raised, the goods are supported on the lifting roller, and the lifting roller drives the goods to move along the transfer direction; when the lifting roller is lowered, the goods return to the conveying state. . The elevating rollers can be arranged on the conveying line at the rear end in the transfer direction, or the elevating rollers can be arranged on two adjacent conveying lines in the transferring direction at the same time. The lifting rolling element can be spherical, cylindrical and so on. Alternatively, the third transfer device 150 may be a device known to those skilled in the art that can transfer goods between the picking conveying line 121 and the second conveying section 120 .

When the amount of picking is relatively small, the picking position located upstream of the conveying direction of the picking conveying line 121 can be closed, so that the picking position located downstream of the conveying direction of the picking conveying line 121 can work normally. adjacent third transfer device 150. During specific implementation, the goods enter the sorting conveyor line 121 from the first end of the sorting conveyor line 121 , and leave the sorting conveyor line 121 from the second end of the sorting conveyor line 121 after being picked at the picking position downstream of the sorting conveyor line 121 . Therefore, it is not only beneficial to increase the buffer position before the case reaches the picking position, but also helps to reduce the input of picking personnel.

When the picking volume is relatively large, two picking positions of the picking conveying line 121 can be opened, and at the same time, two adjacent third transfer devices 150 between the two picking positions can be opened. During specific implementation, a part of the goods can enter the picking conveyor line 121 from the first end of the picking conveyor line 121, and after being picked at the picking position upstream of the picking conveyor line 121, they can be picked from the third transfer device near the first end of the picking conveyor line 121. 150 is transferred to the second conveying section 120; some goods can enter the picking conveying line 121 from the third transfer device 150 near the second end of the picking conveying line 121, and after being picked at the picking position downstream of the picking conveying line 121, from the picking The second end of the conveyor line 121 leaves the sorting conveyor line 121 . This will help improve picking efficiency and reduce the waiting time for boxes.

Further, along the conveying direction of the second conveying section 120, an identification device may be provided near the upstream of the first end of the picking conveying line 121 to identify goods that need to enter the picking conveying line 121 from the first end of the picking conveying line 121; An identification device may also be provided upstream of the third transfer device 150 at the second end of the picking conveyor line 121 to identify goods entering the picking conveyor line 121 from the third transfer device 150 close to the second end of the picking conveyor line 121 .

Referring to FIG. 6 , the conveying surface of the sorting conveying line 121 can be inclined, and the side of the conveying surface away from the second conveying section 120 is lower than the side of the conveying surface close to the second conveying section 120 . During specific implementation, the picker is located on the side of the picking conveyor line 121 away from the second conveying section 120, and when the container is conveyed on the conveying surface of the picking conveyor line 121, the side of the container near the picker is inclined downward, so that The picker picks the goods in the box.

Continuing to refer to FIG. 6 , the goods conveying system may also include an auxiliary conveying line 600, which is arranged above the picking conveying line 121; the projection of the side of the auxiliary conveying line 600 away from the second conveying section 120 in the vertical direction , falls between the side of the sorting conveying line 121 away from the second conveying section 120 and the second conveying section 120 . The bottom surface of the container transported by the cargo conveying system is rectangular, the width of the conveying surface of the auxiliary conveying line 600 is consistent with the width of the bottom surface of the container, and the width of the conveying surface of the sorting conveyor line 121 is consistent with the length of the bottom surface of the container. Thereby not only can prevent the auxiliary conveying line from hindering the picking personnel from picking goods from the picking conveying line 121, but also facilitate empty boxes to be placed on the auxiliary conveying line 600 for recycling, or complete other conveying tasks through the auxiliary conveying line 600.

Referring to Fig. 1 to Fig. 3, at least one sorting conveying line 121 can be set between two adjacent first transfer devices 130; or, at least one sorting conveying line 121 and at least one group of goods import and export can be set between two adjacent first transfer devices 130 at the same time. Therefore, it is beneficial to form more conveying paths in the cargo conveying system, make the conveying strategy more flexible, and further help to improve the conveying efficiency and conveying flexibility of the freight conveying system.

Optionally, conveying rollers or conveying belts are arranged on the closed-loop conveying line 100 , and the conveying rollers or conveying belts on the closed-loop conveying line 100 drive goods to move along the conveying direction of the closed-loop conveying line 100 . Exemplarily, a plurality of conveying rollers are arranged on the closed-loop conveying line 100 , and the conveying rollers are arranged in parallel along the conveying direction of the closed-loop conveying line 100 , so as to drive goods to move along the conveying direction of the closed-loop conveying line 100 . Conveyor rollers or conveyor belts are arranged on the sorting conveyor line 121 , and the conveyor rollers or conveyor belts on the sorting conveyor line 121 drive goods to move along the conveying direction of the sorting conveyor line 121 . Exemplarily, the sorting conveying line 121 is provided with a plurality of conveying rollers, and the conveying rollers are arranged in parallel along the conveying direction of the sorting conveying line 121 , so as to drive goods to move along the conveying direction of the sorting conveying line 121 .

In a possible implementation manner, the first transfer device 130 or the second transfer device 140 is a push-pull rod, and the push-pull rod transfers the goods along the transfer direction. Exemplarily, the push-pull rod can be arranged on the conveying line at the front end in the transfer direction, or the push-pull rod can be arranged on the conveying line at the rear end in the transfer direction.

In another possible implementation, the first transfer device 130 or the second transfer device 140 is an elevating rolling element. When the elevating rolling element is raised, the goods are supported on the elevating rolling element, and the elevating rolling element drives the goods to move along. The load direction moves; when the lifting roller is lowered, the goods return to the conveying state. Exemplarily, the elevating rollers may be arranged on the conveying line at the rear end in the transfer direction, or the elevating rollers may be arranged on two adjacent conveying lines in the transferring direction at the same time. The lifting rolling element can be spherical, cylindrical and so on.

It can be understood that the first transfer device 130 and the second transfer device 140 may also include other devices known to those skilled in the art, as long as the requirements of the first transfer device 130 and the second transfer device in this disclosed embodiment can be satisfied. The requirements of the device 140 are sufficient, and will not be repeated here.

To sum up, the goods conveying system provided by the embodiments of the present disclosure sets at least two picking conveyor lines on the closed-loop conveying line, so that the goods that need to enter multiple picking conveying lines can be directly transported along the closed-loop conveying line and enter multiple picking conveying lines one by one. The picking conveyor line is used for picking, so that not only the transfer device between each picking conveyor line can be omitted, but also the efficiency of cargo transportation can be improved. Further, an embodiment of the present disclosure provides a goods conveying system by setting at least three first transfer devices on the closed-loop conveying line, so that the first transfer devices can transfer the goods on the second conveying section to the first conveying section. section, or transfer the goods on the first section to the second section. On the one hand, the goods that enter the first conveying section through the goods import can choose to enter the second conveying section through the first transfer device with a relatively short conveying path and enter the picking conveyor line, or, the goods that have been picked on the picking conveyor line can be Choosing to make the first transfer device with a relatively short conveying path enter the first conveying section and leave from the goods exit, so that the goods do not need to go around a large circle along the closed-loop conveying line, which is conducive to further improving the efficiency of goods conveying. On the other hand, the goods that miss the picking conveying line can choose to return to the missed picking conveying line through the first transfer device with a relatively short conveying path, which is beneficial to further improve the efficiency of goods conveying.

Embodiment two

Figure 8 is a flow chart of a cargo delivery method provided by an embodiment of the present disclosure; Figure 9 is a flowchart of a cargo delivery method provided by an embodiment of the present disclosure; Figure 10 is a cargo delivery method provided by an embodiment of the present disclosure Flowchart 3 of the delivery method; FIG. 11 is a flowchart 4 of a cargo delivery method provided by an embodiment of the present disclosure.

Referring to Fig. 8 to Fig. 11 , the embodiment of the present disclosure provides a cargo conveying method, which is applied to the cargo conveying system in Embodiment 1. The components and specific structure of the cargo conveying system involved in this embodiment can refer to Embodiment 1 description of. The execution subject of the cargo delivery method may be a management device, which may include a computer, a server, and a chip, etc., and the management device may control the working status of each component of the cargo delivery system, and may plan the delivery route of the cargo, etc., so that the embodiment A cargo conveying system realizes the cargo conveying method of the embodiment of the present disclosure.

Referring to Fig. 8, the cargo delivery method provided by the embodiment of the present disclosure includes the following steps:

Step S100, when the target goods are picked on one or more target picking conveying lines, determine the position of the target goods in the second conveying section.

It can be understood that the second conveying section of the closed-loop conveying line can be provided with a plurality of picking conveying lines. The target picking conveying line is the picking conveying line that needs to be entered and picked before the target goods enter the closed-loop conveying line. There can be one or more lines. When there is one target picking conveying line, the target goods enter the target picking conveying line to complete the picking. At this time, the position where the picked target goods are located in the second conveying section may be the exit position of the target picking conveying line. When there are multiple target picking conveyor lines, the target goods enter the target picking conveyor line in turn and complete the picking. At this time, the position where the target goods that have been picked on multiple target picking conveyor lines in the second conveying section can be the last target picking The exit position of the conveyor line.

Exemplarily, referring to Fig. 1 to Fig. 3, a position sensor can be set on the second conveying section, the position sensor can detect the position of the target goods on the second conveying section, and send the position information of the target goods on the second conveying section Send it to the management device, so that the management device can plan the delivery route of the target goods.

Step S200, according to the position of the target cargo, determine the first target first transfer device, so that the target cargo passes through the first target first transfer device, enters the first conveying section, and leaves the closed-loop conveying line through any target cargo exit .

Exemplarily, the management device can plan the path of the target cargo leaving the closed-loop conveying line according to the position of the target cargo on the second conveying section, that is, the management device can determine the first target first transfer device, or determine the target cargo exit , so that the picked target goods can leave the closed-loop conveyor line along the path planned by the management equipment. The path planned by the management equipment can be the shortest path for cargo transportation, or a path to avoid congestion during cargo transportation, which is conducive to improving the efficiency of cargo transportation.

Referring to FIG. 9 , the cargo delivery method provided by the embodiment of the present disclosure further includes the following steps:

Step S300, determine the second target first transfer device according to the target cargo inlet of the target cargo, and one or more target picking conveyor lines corresponding to the target cargo, so that the target cargo enters the first conveying section through the target cargo inlet, and Enter the second conveying section through the first transfer device of the second target.

Wherein, the position where the target cargo enters the second conveying section through the second target first transfer device is located upstream of all target picking conveyor lines corresponding to the target cargo.

Step S400, controlling the target goods to enter the target picking conveying line via the second conveying section, so that the target picking conveying line completes the picking operation for the target goods.

Exemplarily, the management device can plan the path of the target goods entering the target picking conveyor line according to the target goods import of the target goods, and one or more target picking conveyor lines corresponding to the target goods, that is, the management device can determine the second target first A transfer device, so that the goods that enter the first conveying section through the target goods inlet can enter the second conveying section through the second target first transfer device. The path planned by the management equipment can be the shortest path for cargo transportation, or a path to avoid congestion during cargo transportation, which is conducive to improving the efficiency of cargo transportation.

In some embodiments, the target goods can enter the target picking conveying line through steps S300 and S400, so that the target picking conveying line completes the picking operation for the target goods. The target goods that have been picked can leave the closed-loop conveying line through steps S100 and S200.

In some embodiments, the target goods can enter the target picking conveying line through steps S300 and S400, so that the target picking conveying line completes the picking operation for the target goods. The target goods that have been picked may not go through the methods of step S100 and step S200, and uniformly follow the last first transfer device in the direction of the second conveying section of the closed-loop conveying line to detour to any cargo exit and leave the closed-loop conveying line , In this way, there are more options for exporting goods, which is conducive to improving the efficiency of returning the target goods to the warehouse.

In some embodiments, the target goods can detour to the second conveying section at the last first transfer device in the conveying direction of the first conveying section of the closed-loop conveying line, and enter the target picking under the conveyance of the second conveying section Conveyor line, so that the target picking conveyor line completes the picking operation of the target goods, which is beneficial to reduce the probability of target goods detour when adding a target picking conveyor line during the goods picking process. The target goods that have been picked can leave the closed-loop conveying line through steps S100 and S200.

Continuing to refer to FIG. 9 , the goods delivery method provided by the embodiment of the present disclosure, after controlling the target goods to enter the target picking conveying line through the second conveying section in step S400 so that the target picking conveying line completes the picking operation of the target goods, further includes:

Step S500, judging whether the target goods need to enter other picking conveying lines.

In some embodiments, the management device can determine whether the target goods need to enter other picking conveyor lines for picking according to the temporarily increased order demand information.

If the target goods need to enter other picking conveying lines, step S510 is executed to control the target goods to enter other picking conveying lines through the second conveying section, so that other picking conveying lines complete the picking operation of the target goods.

In some embodiments, the management device may execute step S510 at any time after the target goods are picked on all the target picking conveying lines and before the target goods leave the second conveying section.

In some embodiments, the management equipment can leave the target goods through any one of the target goods exits after the target goods have been picked on all the target picking conveyor lines and after the target goods enter the first conveying section through the first target first transfer device Step S510 is executed at any time before the closed-loop conveying line.

If the target goods do not need to enter other picking conveying lines, execute step S520 to control the target goods to leave the closed-loop conveying line.

In some embodiments, the management device may control the target goods to detour along the last first transfer device in the conveying direction of the second conveying section of the closed-loop conveying line to the goods exit and leave the closed-loop conveying line.

In some embodiments, the management device can execute step S100 and step S200 to make the target goods leave the closed-loop conveying line.

Referring to Figure 10, step S510, controlling the target goods to enter other picking conveyor lines via the second conveying section, may specifically include:

Step S511, judging whether the target cargo is located in the second conveying section.

Exemplarily, it may be determined whether the target cargo is located in the second conveying section through a position sensor arranged on the second conveying section.

If the target goods are located in the second conveying section, and other picking conveyor lines are located upstream of the current location of the target goods, step S512 is performed to control the target goods to be transferred from the third target first transfer device to the fourth target first transfer device, Around to the upstream of the second conveying section, enter other sorting conveying lines.

If the target goods are located in the second conveying section and other picking conveyor lines are located downstream of the current position of the target goods, step S513 is executed to control the target goods to pass through the second conveying section and enter other picking conveying lines.

Exemplarily, the position sensor of the target goods on the second conveying section can be detected by the position sensor, and the position information of the target goods can be sent to the management device, and the management device can, according to the position information of the target goods, And the location information of other picking conveyor lines where the target goods will enter, and judge the positional relationship between the location of the target goods and other picking conveyor lines.

If other picking conveyor lines are located upstream of the current location of the target goods, the management equipment can plan the target goods to enter other picking conveyors based on the location information of the target goods, the location information of other picking conveyor lines, and the position information of the first transfer device. the path of the line.

That is, the management device may determine the third target first transfer device and the fourth target first transfer device. Exemplarily, the position of the third target first transfer device in the second conveying segment is located at the location where the cargo is currently located. Downstream, the position of the fourth target first transfer device in the second conveying section is located upstream of the position of other picking conveyor lines, so that the target goods can pass through the third target first transfer device and the fourth target first transfer device Surrounding to the upstream of the second conveying section, at this time, the position where the target goods circle to the second conveying section may be upstream of other picking conveyor lines, so that the second conveying section drives the target goods into other picking conveying lines. The path planned by the management equipment can be the shortest path for cargo transportation, or a path to avoid congestion during cargo transportation, which is conducive to improving the efficiency of cargo transportation.

If other picking conveying lines are located downstream of the current location of the target goods, the management device can control the second conveying section to drive the target goods to move and enter other picking conveying lines.

If the target goods are not in the second conveying section, step S514 is executed to control the target goods to enter the second conveying section from the fifth target first transfer device, and enter other picking conveying lines.

In some embodiments, the target cargo is on the first conveying section, the position of the target cargo on the first conveying section can be detected by a position sensor arranged on the first conveying section, and the position information of the target cargo is sent to the management device, The management device can determine the fifth target first transfer device according to the position information of the target goods and the position information of other picking conveying lines where the target goods will enter. It can be understood that the position of the fifth target first transfer device is located upstream of the position of other picking conveyor lines in the second conveying section, and the target goods on the first conveying segment enter the first transfer device through the fifth target. Two conveying sections, and the position where the target goods enter the second conveying section is upstream of other picking conveyor lines, so that the second conveying section drives the target goods to enter other picking conveying lines.

Optionally, an identification device can be provided at the upstream position of each picking conveying line.

Step S400, controlling the target goods to enter the target picking conveying line via the second conveying section, which may specifically include:

The target cargo entering the identification area is identified by the identification device corresponding to the target picking conveyor line, and it is judged whether the target cargo needs to enter the target picking conveyor line.

If the target goods need to enter the target picking conveyor line, control the target goods to enter the target picking conveyor line.

Exemplarily, the identification device, such as a code scanner, can scan the identification code of the target goods, and transmit the identification code information of the target goods to the management equipment, and the management equipment can determine according to the identification code information of the target goods and the picked order information Whether the target goods need to enter the target picking conveyor line corresponding to the current identification device. If the target goods need to enter the target picking conveying line corresponding to the current identification device, the target goods are controlled to enter the target picking conveying line.

If the target goods do not need to enter the target picking conveyor line, and the target goods need to enter other target picking conveyor lines, the management equipment can control the second conveying section to transport the target goods to the next target picking conveyor line; or, the target goods have completed all For the picking of the target picking conveyor line, the management equipment can plan the path to make the target goods leave the closed-loop conveyor line; or, the target goods need to enter other picking conveyor lines, and the management equipment can plan the path to transport the target goods to other picking conveyor lines. For the specific steps here, reference may be made to the description above, and details will not be repeated here.

Optionally, a sensor is provided at the entry box position of each picking conveying line, for example, the sensor may be an infrared sensor.

Referring to Figure 11, step S400, controlling the target goods to enter the target picking conveyor line via the second conveying section, may specifically include:

Step S410, detecting whether the entry container position of the target picking conveying line is occupied via the sensor:

If the entry container position of the target picking conveyor line is not occupied, step S450 is executed to control the target goods to enter the entry container position of the target picking conveyor line via the second conveying section.

During specific implementation, the sensor can detect whether the entrance container position of the target picking conveyor line is occupied, and transmit the detected information to the management device. When the entry container is not occupied, the management device can control the target goods to enter the entry container of the picking conveyor line, so that the target goods can be picked on the picking conveyor line. When the entrance container space is occupied, the management device can control the continued delivery of the target goods, and the management device can plan the delivery route of the target goods according to the order information and the picking situation of the target goods.

Optionally, if the sensor detects that the entry container of the target picking conveyor line is occupied, step S420 can be executed to determine whether the target cargo is waiting, or the following step S440 can be directly executed, which is not limited here.

Exemplarily, the management device can determine whether the target goods are waiting according to the conveying situation of the picking conveying line.

If the target goods need to wait, execute step S430, control the target goods to stop moving and wait, and repeat the step of detecting whether the entry container position of the target picking conveyor line is occupied by the sensor until the target goods enter the target picking conveyor line. Box location.

In some embodiments, the management device can also preset a predetermined time for the target goods to stop waiting according to the actual situation. Within the predetermined time, if the sensor detects that the entry container of the target picking conveyor line is vacant, the target goods can enter the entry container of the target picking conveyor line; if the sensor detects that the entry container of the target picking conveyor line is occupied, Then the target goods continue to wait. After waiting for the predetermined time, if the target goods have not entered the entry container position of the target picking conveyor line, the management equipment can control the target goods to continue to be transported, and the management equipment can plan the delivery of the target goods according to the order information and the picking situation of the target goods path.

If the target goods do not need to wait, step S440 is executed to control the target goods to go around to the entrance of the target picking conveyor line via the closed-loop conveyor line.

Further, step S440, controlling the target goods to go around to the entrance of the target picking conveyor line via the closed-loop conveyor line, may specifically include:

Obtain the sixth target first transfer device through which the target goods are transferred from the second conveying section to the first conveying section, and the seventh target first transfer device through which the target goods are transferred from the first conveying section to the second conveying section a transfer device. Wherein, along the conveying direction of the second conveying section, the sixth target first transfer device is located downstream of the inlet end of the target picking conveyor line, and the seventh target first transfer device is located upstream of the inlet end of the target picking conveyor line; Return to the entrance end of the object picking conveyor line through the sixth object first transfer device and the seventh object first transfer device.

In some embodiments, if the target goods do not need to wait, the target goods can be controlled to bypass directly to the entrance of the unsuccessfully entered target picking conveyor line. At this time, the sixth target first transfer device and the seventh target first transfer device It is only necessary to include the unsuccessfully entered target picking conveyor line between the loading devices.

In some embodiments, if the target goods do not need to wait, it is possible to control the target goods to continue to be transported and complete the picking of the subsequent target picking conveyor line, and then control the target goods to detour to the entrance of the unsuccessfully entered target picking conveyor line, At this time, multiple target picking conveyor lines need to be included between the sixth target first transfer device and the seventh target first transfer device. Object picking conveyor line.

It can be understood that if the target picking conveying line that the target cargo fails to enter is the first target picking conveying line that needs to enter, at this time, the first transfer device of the sixth target and the first transfer device of the seventh target The multiple target picking conveyor lines included in the interval may be all target picking conveyor lines corresponding to the target goods. If the target picking conveying line that the target cargo fails to enter is not the first target picking conveying line that needs to enter, at this time, multiple The target picking conveyor line may be a part of the target picking conveyor line corresponding to the target goods.

During specific implementation, the management device may determine the sixth target first transfer device and the seventh target first transfer device according to the position of the target picking conveyor line, so that the target goods detour to the entrance end of the target picking conveyor line The shortest path, Alternatively, the path for the target goods to detour around the entry end of the target picking conveyor line will not be congested.

It can be understood that since the sixth target first transfer device and the seventh target first transfer device, as well as the third target first transfer device and the fourth target first transfer device are all based on specific picking conveyor lines The location is determined, and can form a small loop line containing a specific picking conveyor line with the first conveyor section and the second conveyor section. Therefore, in some embodiments, the sixth target first transfer device and the seventh target first transfer device, and the third target first transfer device and the fourth target first transfer device may be completely identical, partially same or completely different.

In some embodiments, the target goods may correspond to multiple target picking conveyor lines, and the multiple target picking conveyor lines may all be located between the sixth target first transfer device and the seventh target first transfer device.

Exemplarily, the multiple target picking conveying lines corresponding to the target goods may be all the target picking conveying lines corresponding to the target goods, or may be some of the target picking conveying lines among all the target picking conveying lines corresponding to the target goods.

In specific implementation, the sixth target first transfer device, the seventh target first transfer device, the first conveying section and the second conveying section enclose a small ring, and the multiple target picking conveyor lines corresponding to the target goods are located on the small ring line Within the range, the management equipment can control the delivery of goods on the small ring line, and enter multiple target picking conveyor lines to complete the picking.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present disclosure. scope.

Claims (29)

1. A cargo conveying system, characterized in that it includes a closed-loop conveying line, the closed-loop conveying line includes a first conveying section and a second conveying section connected end to end in sequence, the first conveying section and the second conveying section The conveying direction is opposite;

   One side of the first conveying section is provided with at least two groups of goods import and export at intervals, and the goods import and export include a goods import and a goods export; one side of the second conveying section is provided with at least two sorting conveyor lines, so The two ends of the picking conveying line are connected to the second conveying section at intervals, so that the goods on the second conveying section enter the picking conveying line from the first end of the picking conveying line, or, the The goods on the picking conveyor line enter the second conveying section from the second end of the picking conveyor line;

   At least three first transfer devices are arranged on the closed-loop conveying line, two of which are respectively located at both ends of the first conveying section; the rest of the first transfer devices are located at any two between two picking conveying lines, and the rest of the first transfer devices are located between any two groups of the cargo entrances and exits, and the first transfer devices transfer the cargo on the second conveying section to the first conveying section, or to transfer the goods on the first conveying section to the second conveying section.
2. The cargo conveying system according to claim 1, further comprising an unloader and a loader; the unloader is arranged at the cargo inlet, and is used to transfer the cargo on the unloader to the The above-mentioned goods import; the said feeding machine is arranged at the said goods outlet, and is used for transferring the goods of said goods export to the said feeding machine.
3. The cargo conveying system according to claim 2, further comprising a handling robot, when the handling robot docks with the unloader, the unloader is used to transfer the goods on the handling robot to on the unloader;

   When the handling robot docks with the loading machine, the loading machine is used to transfer the goods on the loading machine to the handling robot.
4. The cargo conveying system according to claim 1, wherein the cargo inlet and the cargo outlet are arranged adjacent to each other.
5. The cargo conveying system according to claim 4, characterized in that, the cargo inlet and/or cargo outlet is provided with a second transfer device, and the second transfer device transfers the cargo from the cargo outlet to the cargo outlet. import of the above-mentioned goods.
6. The cargo conveying system according to claim 5, wherein the cargo inlet is provided with an integrated loading and unloading machine, and the integrated loading and unloading machine is used to transfer the cargo on the integrated loading and unloading machine to the The cargo inlet, or, the integrated loading and unloading machine is used to transfer the cargo transferred from the cargo outlet to the cargo inlet to the integrated loading and unloading machine.
7. The cargo conveying system according to claim 1, characterized in that, the first end of the sorting conveying line and the second end of the picking conveying line are sequentially arranged along the conveying direction of the second conveying section; or, The second end of the sorting conveyor line and the first end of the sorting conveyor line are sequentially arranged along the conveying direction of the second conveying section;

   The conveying direction of the sorting conveyor line is from the first end of the sorting conveyor line to the second end of the sorting conveyor line.
8. The goods conveying system according to claim 1 or 7, characterized in that there is at least one container space between the first end of the picking conveying line and the second end of the picking conveying line.
9. The goods conveying system according to claim 1 or 7, characterized in that, each of the upstream positions of the picking conveyor line is provided with an identification device, and the identification device is used to identify the boxes close to the picking conveyor line, To determine whether the case needs to enter the picking conveyor line.
10. The cargo conveying system according to claim 1 or 7, wherein the picking conveyor line includes two picking positions, and two adjacent third transfer devices are arranged between the two picking positions; The third transfer device at the first end of the picking conveyor line transfers the goods on the picking conveyor line to the second conveying section, and the third transfer device near the second end of the picking conveyor line The third transfer device transfers the goods on the second conveying section to the sorting conveying line.
11. The cargo conveying system according to claim 1, characterized in that, the conveying surface of the picking conveying line is arranged obliquely, and the side of the conveying surface away from the second conveying section is lower than the side of the conveying surface close to the second conveying section. One side of the second conveying section.
12. The cargo conveying system according to claim 1 or 11, further comprising an auxiliary conveying line arranged above the picking conveying line;

    The vertical projection of the side of the auxiliary conveying line away from the second conveying section falls between the side of the sorting conveying line far away from the second conveying section and the second conveying section between;

    The bottom surface of the container transported by the cargo conveying system is rectangular, the width of the conveying surface of the auxiliary conveying line is consistent with the width of the bottom surface of the container, and the width of the conveying surface of the picking conveyor line is the same as that of the bottom surface of the container. of the same length.
13. The cargo conveying system according to any one of claims 1-7, characterized in that at least one sorting conveyor line and/or at least one group of cargo inlets and outlets are arranged between two adjacent first transfer devices .
14. The cargo conveying system according to claim 3, wherein the unloader includes a discharge rack and a first lifting mechanism, and the first lift mechanism is arranged between the discharge rack and the cargo inlet ;

    The unloading rack transfers the goods on the handling robot to the unloading rack, and the first lifting mechanism transfers the goods on the unloading rack to the goods inlet.
15. The cargo conveying system according to claim 3, wherein the loading machine includes a loading rack and a second lifting mechanism, and the second lifting mechanism is arranged between the loading rack and the cargo outlet ;

    The second lifting mechanism transfers the goods of the goods outlet to the loading rack, and the loading rack transfers the goods on the loading rack to the handling robot.
16. The cargo conveying system according to claim 6, wherein the integrated loading and unloading machine includes a loading and unloading shelf and a third lifting mechanism, and the third lifting mechanism is arranged on the loading and unloading shelf and the between imports of goods;

    When the loading and unloading integrated machine is loading, the third lifting mechanism will transfer the goods transferred from the goods outlet to the goods inlet to the loading and unloading rack, and the loading and unloading rack will move the loading and unloading rack. The goods on the unloading shelf are transferred to the handling robot;

    When the integrated loading and unloading machine is unloading, the loading and unloading shelf transfers the goods on the handling robot to the loading and unloading shelf, and the third lifting mechanism transfers the goods on the loading and unloading shelf to the import of said goods.
17. The cargo conveying system according to claim 3, wherein the handling robot includes a mobile base and a robot shelf arranged on the mobile base, and the robot shelf is used for connecting with a loading machine, an unloading machine or a loading machine. The integrated unloading machine docks and transfers the goods.
18. The cargo conveying system according to any one of claims 1-7, wherein conveying rollers or conveyor belts are arranged on the closed-loop conveying line, and the conveying rollers or conveying belts on the closed-loop conveying line drive the goods along the The conveying direction of the closed-loop conveying line moves;

    Conveying rollers or conveyor belts are arranged on the sorting conveyor line, and the conveyor rollers or conveyor belts on the sorting conveyor line drive goods to move along the conveying direction of the sorting conveyor line.
19. The cargo conveying system according to claim 5, wherein the first transfer device or the second transfer device is a push-pull rod, and the push-pull rod transfers the cargo along the transfer direction.
20. The cargo conveying system according to claim 5, wherein the first transfer device or the second transfer device is a lifting roller, and when the lifting roller is raised, the cargo is supported on the lifting roller. On the rolling parts, the lifting rolling parts drive the goods to move along the transfer direction; when the lifting rolling parts are lowered, the goods return to the conveying state.
21. A cargo conveying method, characterized in that it is applied to the cargo conveying system according to any one of claims 1-20, the cargo conveying method comprising:

    When the target goods are picked on one or more target picking conveyor lines, determining the position of the target goods in the second conveying section;

    According to the position of the target cargo, determine the first target first transfer device, so that the target cargo passes through the first target first transfer device, enters the first conveying section, and exits through any target cargo exit Closed loop conveyor line.
22. The cargo delivery method according to claim 21, wherein the cargo delivery method further comprises:

    According to the target goods import of the target goods, the one or more target picking conveying lines corresponding to the target goods determine the second target first transfer device, so that the target goods enter through the target goods import The first conveying section enters the second conveying section through the second target first transfer device;

    Wherein, the position where the target cargo enters the second conveying section through the second target first transfer device is located upstream of all the target picking conveyor lines corresponding to the target cargo;

    Controlling the target goods to enter the target picking conveying line via the second conveying section, so that the target picking conveying line completes the picking operation for the target goods.
23. The method for conveying goods according to claim 22, characterized in that the control of the target goods to enter the target picking conveying line via the second conveying section, so that the target picking conveying line completes the delivery of the target After the picking operation of the goods, it also includes:

    Judging whether the target goods need to enter other picking conveyor lines:

    If so, controlling the target goods to enter the other picking conveying line through the second conveying section, so that the other picking conveying lines complete the picking operation for the target goods;

    If not, control the target goods to leave the closed-loop conveying line.
24. The method for conveying goods according to claim 23, wherein the controlling the target goods to enter the other picking conveying line via the second conveying section comprises:

    Judging whether the target cargo is located in the second conveying section:

    If yes, and the other picking conveying lines are located upstream of the current position of the target goods, control the target goods to be surrounded by the third target first transfer device and the fourth target first transfer device to the upstream of the second conveying section, into said other sorting conveying line;

    If yes, and the other picking conveyor line is located downstream of the current location of the target cargo, then controlling the target cargo to pass through the second conveying section and enter the other picking conveyor line;

    If not, control the target goods to enter the second conveying section from the fifth target first transfer device, and then enter the other picking conveying line.
25. The method for conveying goods according to any one of claims 22-24, characterized in that, each of the upstream positions of the picking conveying line is provided with an identification device, and the control of the target goods passing through the second conveying section Access to the object picking conveyor line, including:

    Identifying the target goods entering the identification area via the identification device corresponding to the target picking conveyor line, and judging whether the target goods need to enter the target picking conveyor line:

    If so, control the target goods to enter the target picking conveyor line.
26. The method for conveying goods according to any one of claims 22-24, characterized in that, each of the entry cargo boxes of the picking conveyor line is provided with a sensor, and the control of the target goods through the second conveying Segments enter the object picking conveyor line, including:

    Detecting whether the entry container position of the target picking conveyor line is occupied via the sensor:

    If not, control the target cargo to enter the entry container position of the target picking conveying line via the second conveying section.
27. The method for conveying goods according to claim 26, characterized in that, after detecting whether the entry container position of the target picking conveying line is occupied via the sensor, the method further comprises:

    If it is detected by the sensor that the entry container position of the target picking conveyor line is occupied, then it is judged whether the target cargo is waiting:

    If so, control the target goods to stop moving and wait, and repeat the step of detecting whether the entry container position of the target picking conveyor line via the sensor is occupied until the target goods enter the target picking conveyor The entry container position of the line;

    If not, control the target goods to go around through the closed-loop conveying line to the entrance end of the target sorting conveying line.
28. The method for conveying goods according to claim 27, wherein the controlling the target goods to go around through the closed-loop conveying line to the entrance of the target picking conveying line includes:

    obtaining the sixth target first transfer device through which the target goods are transferred from the second conveying section to the first conveying section, and the target goods are transferred from the first conveying section to the The seventh target first transfer device that the second conveying section will pass through;

    Wherein, along the conveying direction of the second conveying section, the sixth target first transfer device is located downstream of the entrance end of the object picking conveying line, and the seventh target first transfer device is located at the target picking Upstream of the inlet end of the conveying line; the target goods return to the inlet end of the object picking conveying line through the sixth target first transfer device and the seventh target first transfer device in sequence.
29. The method for transporting goods according to claim 28, wherein the target goods correspond to a plurality of target picking conveyor lines, and the multiple target picking conveyor lines are located between the sixth target first transfer device and the The seventh target is between the first transfer devices.

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