WO2023116247A1 - 仓储系统及货箱入库方法 - Google Patents

仓储系统及货箱入库方法 Download PDF

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Publication number
WO2023116247A1
WO2023116247A1 PCT/CN2022/130977 CN2022130977W WO2023116247A1 WO 2023116247 A1 WO2023116247 A1 WO 2023116247A1 CN 2022130977 W CN2022130977 W CN 2022130977W WO 2023116247 A1 WO2023116247 A1 WO 2023116247A1
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WO
WIPO (PCT)
Prior art keywords
container
line
storage
information
preset
Prior art date
Application number
PCT/CN2022/130977
Other languages
English (en)
French (fr)
Inventor
汪奎
李小龙
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2023116247A1 publication Critical patent/WO2023116247A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins

Definitions

  • the present application relates to the technical field of warehousing, in particular to a warehousing system and a storage method for containers.
  • the storage system is usually used to store a variety of different types of goods, and the goods are usually placed in boxes, and the boxes are placed on the shelves of the storage system.
  • the goods are usually placed in boxes, and the boxes are placed on the shelves of the storage system.
  • the types of cargo boxes used may also be different.
  • the types of cargo boxes can be specifically divided into easily deformable cargo boxes (such as cartons, etc.) and non-deformable cargo boxes (such as plastic boxes, steel boxes, etc.) wait.
  • the size of the easily deformable cargo box can have various sizes, so as to adapt to goods of different sizes.
  • goods that are easy to expand such as clothing, quilts, etc.
  • Inbound management Relatively speaking, the non-deformable container is less likely to change in size, making its size more fixed. Therefore, the non-deformable container is more convenient for storage management.
  • the application provides a storage system and a storage method for containers to solve the problems existing in the prior art.
  • the present application provides a storage system, including:
  • Frame measuring equipment set on the conveying line, for obtaining container information
  • the conveying line includes a first branch and a second branch, and the first branch and the second branch are located downstream of the conveying line relative to the frame measuring equipment;
  • the first branch is used to transport the first container to the storage location, and the first container is a container whose information of the container in the storage container meets the preset requirements;
  • the second branch is used to deliver the second container to the operation platform
  • the second container is a container whose information of the container in the storage container does not meet the preset requirements
  • the operation platform is used to transfer the The goods in the second container are transferred to the third container whose container information meets the preset requirements, and the third container is transported to the storage location via the conveying line, and the third container is the Containers other than the first container and the second container on the line.
  • the warehouse system also includes: a server;
  • the measuring frame equipment includes: an image acquisition device, which is used to acquire the image information of the container to be stored, and send the image information to the server;
  • the server is used to identify the type of the container according to the image information of the container to be stored, obtain the type identification result of the container to be stored, and determine whether the container information of the container to be stored meets the preset requirements according to the type identification result;
  • the server is used to determine that the container information of the container to be stored meets the preset requirement.
  • the frame measuring device further includes: a 3D sensor, used for performing size measurement processing on the incoming cargo box, and sending the obtained size measurement result to the server;
  • the server is used to determine whether the container information of the container to be stored meets the preset requirements according to the size measurement result when the type identification result of the container to be stored is that the type of the container to be stored does not belong to the preset type;
  • the server is used to determine that the container information of the container to be stored meets the preset requirements
  • the server determines that the box information of the box to be put into storage does not meet the preset requirements.
  • the warehouse system also includes: a server;
  • the measuring frame equipment includes: 3D sensor, which is used to measure the size of the container to be stored, and send the obtained size measurement result to the server;
  • the server is used to determine whether the container information of the container to be stored meets the preset requirements according to the size measurement result
  • the server is used to determine that the container information of the container to be put into storage meets the preset requirement.
  • the frame measuring equipment further includes: an image acquisition device, configured to acquire the image information of the container to be put into storage, and send the image information to the server;
  • the server is used to identify the type of the container according to the image information of the container to be stored when the size measurement result of the container to be stored exceeds the preset size range, obtain the type recognition result of the container to be stored, and identify the container according to the type As a result, it is determined whether the container information of the container to be stored meets the preset requirements;
  • the server is used to determine that the container information of the container to be stored meets the preset requirements
  • the server determines that the container information of the container to be loaded does not meet the preset requirements.
  • the second branch includes an inbound line for conveying the second case to the operating station.
  • the number of operating stations is at least two;
  • the warehouse-in line is used to transport the second container to the idle operating platform in the direction of goods transmission.
  • the operation station also includes a buffer storage space
  • the warehouse-in line is used to transport the second container to the operating platform with an idle buffer storage space in the cargo transmission direction.
  • the number of operation stations is at least two, and the operation stations also include buffer storage positions;
  • the warehousing line is used to transport Mi second cargo boxes to each operation platform, and Mi is determined based on the status of the operation platform and the buffer location;
  • the warehousing line communicates with the operating platform through a flap structure
  • the warehouse-in line transports the second container to the operating platform through the flipped structure
  • the turning plate structure in the second turning state, is close to the storage line;
  • the turning plate structure In the first turning state, the turning plate structure is far away from the storage line.
  • the flap structure when the flap structure is in the second flipped state, the flap structure is used as a storage space for the console.
  • the conveying line includes a first empty container line for conveying a third container without cargo to the operation station.
  • the first empty container line is connected to the packing table
  • the third container without goods includes the empty container from which the goods are taken out at the packing table
  • the packing table is used for packing the taken out goods.
  • the conveying line includes a drop line for conveying the third container containing the goods to the storage location.
  • the number of operating stations is at least two;
  • the box transmission line of the box drop line passes through each operation station, and the box drop line is used to transport the third box filled with goods processed by each operation station to the storage location.
  • the number of storage locations is at least two;
  • the box drop line is used to transport the third container filled with goods to an idle storage location on the box transmission direction of the box drop line.
  • the storage location is provided with a cache storage location
  • the box drop line is used to transport the third container containing goods to the storage location with an idle buffer storage location in the box transmission direction of the box drop line.
  • the bet line includes a first sub-pick line and a second sub-pick line
  • the first sub-box drop line is used to transport the third container loaded with goods to the storage location;
  • the second sub-box-dropping line communicates with the first sub-box-dropping line, and the second sub-box-dropping line is used to transfer the container to the downstream position of the first sub-box-dropping line
  • the third case is transferred to the upstream position of the first sub-drop line and/or to each storage location.
  • the second sub-drop box line when there is an idle storage location, is used to transport the third container to an idle storage location on the case transmission direction of the second sub-drop box line;
  • the second sub-dropping line is used to transport the third container to a storage location with an idle buffer storage location in the case transmission direction of the second sub-dropping line.
  • the storage location includes a first storage location and at least one second storage location sequentially arranged along the container transmission direction of the first sub-dropping line;
  • the drop box line also includes a case transfer device; the case transfer device is used to transfer the third case from the first sub-drop line to the second sub-drop line, and/or transfer the third case from the second sub-line to the second sub-line.
  • the drop line is transferred to the first child drop line.
  • the storage location is provided with an unloading machine
  • the unloading machine is used to transfer multiple third container boxes containing goods to the handling robot, so that the handling robot performs warehousing processing on the third container boxes containing goods.
  • the conveying line further includes a second empty case line for conveying the second container without goods to the packing table.
  • the present application provides a method for storing containers, which is applied to the above-mentioned storage system, including:
  • the box information of the boxes to be put into storage is obtained through the measuring frame device;
  • the third container whose box information meets the preset requirements, and controls the conveying line to transport the third container to the storage location, the third container is the first container on the conveying line and crates other than the second crate.
  • the operation platform includes a turnover panel structure, which is used to communicate with the operation platform and a warehouse-in line for transporting the boxes to be put into storage to the operation platform;
  • the second branch of the control conveyor line transports the second container whose information of the container to be stored does not meet the preset requirements to the operation platform, including:
  • the turning plate structure in the second turning state, is close to the storage line;
  • the turning plate structure In the first turning state, the turning plate structure is far away from the storage line.
  • determining whether the container information meets preset requirements includes:
  • Carton type identification is carried out according to the image information of the container to be stored, and the type recognition result of the container to be stored is obtained;
  • the type identification result is that the type of the container to be stored belongs to the preset type
  • determining whether the container information meets preset requirements includes:
  • the size measurement result is within the preset size range, it is determined that the container information of the container to be stored meets the preset requirements.
  • the type identification of the container is performed according to the image information of the container to be stored, and the type identification result of the container to be stored is obtained;
  • the type identification result is that the type of the container to be stored belongs to the preset type, it is determined that the container information of the container to be stored meets the preset requirements;
  • the type identification result is that the type of the container does not belong to the preset type
  • the number of operating stations is at least two;
  • the second branch of the control conveyor line transports the second container whose information of the container to be stored does not meet the preset requirements to the operation platform, including:
  • the warehouse-in line of the second branch is controlled to transport the second container to the idle operating platform in the direction of goods transmission.
  • the operator station includes a buffer bay
  • Methods also include:
  • the warehouse-in line of the second branch is controlled to transport the second container to the operating platform with an idle buffer storage space in the cargo transmission direction.
  • the number of operation stations is at least two, and the operation stations include buffer storage spaces;
  • the second branch of the control conveyor line transports the second container whose information of the container to be stored does not meet the preset requirements to the operation platform, including:
  • the number of storage locations is at least two;
  • Transfer the third case to the storage location via the conveyor line including:
  • the first sub-dropping line controlling the box-dropping line in the conveying line transports the third container to the vacant warehousing location in the transport direction of the container.
  • the storage location is provided with a cache storage location
  • Methods also include:
  • the first sub-dropping line is controlled to transport the third container to a storage location with an idle buffer storage location in the transport direction of the container.
  • the conveying line includes a drop line for conveying the third container containing the goods to the storage location;
  • the method also includes:
  • the second sub-drop box line that controls the second branch transports the third container to the vacant warehousing location on the container transmission direction of the second sub-drop box line;
  • the second sub-dropping line that controls the second branch transports the third container to the storage location that has an idle buffer storage location in the direction of the second sub-dropping line.
  • the storage location includes a first storage location and at least one second storage location sequentially arranged along the container transmission direction of the first sub-dropping line;
  • Methods also include:
  • the method also includes:
  • the unloader installed at the storage location is controlled to transfer the first container and the third container at the storage location to the handling robot, so that the handling robot performs storage processing on the third container.
  • the method also includes:
  • the first empty container line is connected to the packing table, and the third container without goods and whose container information meets the preset requirements includes empty containers that are taken out of the goods at the packing table, and the packing table is used to pack the taken out goods deal with.
  • the method also includes:
  • a measuring frame device for obtaining the size information and/or type information of the container is set, and then determined based on the size information and/or type information of the container Whether the container information meets the preset requirements. If so, the container can be put into storage directly; if not, the goods in the container will be transferred to another container whose container information meets the preset requirements, Put another container containing the goods into storage.
  • Fig. 1 is the schematic diagram of the storage system provided by the embodiment of the present application.
  • Fig. 2 is a schematic structural diagram of the second branch in the embodiment of the present application.
  • Fig. 3 is the schematic diagram of the flap structure in the embodiment of the present application.
  • Fig. 4 is a schematic diagram of a container storage method provided by an embodiment of the present application.
  • the words “if”, “if” as used herein may be interpreted as “at” or “when” or “in response to determining” or “in response to detecting”.
  • the phrases “if determined” or “if detected (the stated condition or event)” could be interpreted as “when determined” or “in response to the determination” or “when detected (the stated condition or event) )” or “in response to detection of (a stated condition or event)”.
  • the storage system is usually used to store a variety of different types of goods, and the goods are usually placed in boxes, and the boxes are placed on the shelves of the storage system.
  • the corresponding box size is also larger, while for small goods, the box size can be smaller.
  • the types of cargo boxes used may also be different.
  • the types of cargo boxes can be specifically divided into easily deformable cargo boxes (such as cartons, etc.) and non-deformable cargo boxes (such as plastic boxes, steel boxes, etc.) wait.
  • the size of the easily deformable cargo box can have various sizes, so as to adapt to goods of different sizes.
  • goods that are easy to expand such as clothing, quilts, etc.
  • it may cause the expansion of the deformable container, resulting in a change in the size of the deformable container, that is, the size becomes irregular, making it difficult for the robot to pick up the container Therefore, it is not convenient for storage management.
  • the non-deformable container is less likely to change in size, making its size more fixed. Therefore, the non-deformable container is more convenient for storage management.
  • the warehousing system and the container warehousing method provided by this application aim to solve the above technical problems in the prior art.
  • the main concept of this application scheme is: in the storage system, set up the measuring frame equipment for obtaining the size information and/or type information of the container, and then determine whether the container information meets the requirements based on the size information and/or type information of the container. If the preset requirements are met, the container can be stored directly; if not, the goods in the container will be transferred to another container whose information meets the preset requirements, and then the container containing the goods Another container is put into storage.
  • it can be ensured that the container information of all incoming containers satisfies the preset requirements, thereby facilitating the incoming management.
  • Fig. 1 is a schematic diagram of the storage system provided by the embodiment of the present application. As shown in Fig. 1, the storage system includes:
  • the conveying line 100 is used for conveying the container, and the direction of the goods conveying on the conveying line is shown by the arrow in the figure;
  • the measuring frame equipment 200 is installed on the conveying line to obtain the information of the container. According to the direction of cargo transmission on the conveying line, the container to be put into the warehouse first passes through the measuring frame equipment, and the corresponding container information is obtained by measuring the measuring frame equipment.
  • the box information is used to judge whether the box meets the preset requirements for storage;
  • the conveying line includes a first branch 110 and a second branch 120, and the first branch and the second branch are located downstream of the conveying line relative to the measuring frame equipment; it can be understood that after the measuring frame equipment obtains the container information, the container The information can be used to judge whether the container meets the preset requirements for warehousing, that is to say, the container that has passed the measuring box equipment is divided into two types: the first container whose container information meets the preset requirements, for example, in Figure 1 The cargo 31, and the second cargo box whose container information does not meet the preset requirements, such as the cargo 32 in FIG. 1 .
  • the first container whose container information meets the preset requirements is transported to the storage location via the first branch. Since the first container is a container whose container information meets the preset requirements, it can be directly Inbound processing at the inbound location;
  • the second container is transmitted by the second branch. Since the container information of the second container does not meet the preset requirements, the second branch does not transport the second container to the storage location, but sends the second
  • the cargo box is transported to the operation platform, which can change the goods in the second cargo box, that is, transfer the goods in the second cargo box to the third cargo box whose information meets the preset requirements, and then transfer the third cargo box
  • the container is transported to the storage location via the conveyor line, such as the cargo 33 in FIG. 1 , and the third container is a container on the conveyor line other than the first container and the second container.
  • the storage location corresponding to the first branch and the storage location corresponding to the second branch may be set as the same storage location, or may be set as different storage locations, which are not specifically limited in this application.
  • a measuring frame device for obtaining the size information and/or type information of the container is set, and then based on the size information and/or type information of the container, it is determined whether the container information meets the predetermined requirements. If the requirements are met, the container can be put into storage directly; if not, the goods in the container will be transferred to another container whose information meets the preset requirements, and then the container containing the goods will be transferred to another container. A container is put into storage.
  • it can be ensured that the container information of all incoming containers meets the preset requirements, so as to facilitate management. Specifically, on the one hand, it can facilitate the storage and placement of the containers and other storage management.
  • the robot it is also convenient for the robot to carry the cargo box, so as to facilitate the automatic warehouse-in and out-of-warehouse processing of the cargo box.
  • the storage system further includes: a server (not shown in FIG. 1 ); the frame measuring device sends the measured container information to the server, and the server judges whether the container information meets the preset requirements.
  • the server can judge whether the information of the container meets the preset requirements according to the type of the container.
  • the types of cargo boxes can be specifically divided into easily deformable cargo boxes (such as cardboard boxes, etc.) and non-deformable cargo boxes (such as plastic boxes, steel boxes, etc.).
  • the frame measuring equipment includes: an image acquisition device, such as a camera, etc., the image acquisition device is used to capture image information of the container, and send the image information to the server;
  • an image acquisition device such as a camera, etc.
  • the image acquisition device is used to capture image information of the container, and send the image information to the server;
  • the server After receiving the image information sent by the image acquisition device, the server performs container type identification according to the image information of the container, obtains the type identification result of the container, and determines whether the container information of the container meets the preset requirements according to the type identification result ;
  • the server is used to determine that the container information of the container meets the preset requirement.
  • the preset type can specifically be a non-deformable container, such as a plastic box, a steel box, etc.
  • the type of the container is the above-mentioned preset type, it means that the size of the current container is not easy to change, and it is more convenient to carry out Inbound management. Therefore, when the type of the container belongs to the preset type, the server determines that the container information of the container satisfies the preset requirement, and the storage management can be performed directly.
  • the container information used by the server to determine the container does not meet the preset requirements.
  • the server can determine whether the information of the container meets the preset requirements by "only looking at the container type", so as to facilitate the distinction between the first container and the second container.
  • the server can also judge whether the information of the container meets the preset requirements according to the type of the container and the size of the container.
  • the frame measuring device further includes: a 3D sensor, which is used to measure the size of the container, and send the obtained size measurement result to the server;
  • the server After receiving the size measurement result sent by the 3D sensor, when the type identification result of the container is that the type of the container does not belong to the preset type, the server determines whether the container information of the container meets the preset requirements according to the size measurement result;
  • the server may further combine the size measurement result of the cargo box to determine whether the information of the cargo box meets the preset requirements.
  • the server is used to determine that the container information of the container meets the preset requirements; if the size measurement result exceeds the preset size range, the server is used to determine that the container information of the container does not meet Default requirements.
  • the cargo box is a deformable cargo box
  • the size measurement result of the cargo box is within the preset size range
  • the size of the cargo box is relatively standardized, which can facilitate the robot to pick up and carry the cargo box, so it is still convenient Inbound management is performed, so the server can determine that the container information of the container meets the preset requirements.
  • the server can determine that the container information of the container does not meet the preset requirements.
  • the preset type may specifically be a non-deformable container, such as a plastic box, a steel box, etc.
  • the type of the container is the above-mentioned preset type, it means that the size of the current container is not easy to change, which is more convenient Carry out inventory management. Therefore, when the type of the container belongs to the preset type, the server determines that the container information of the container satisfies the preset requirement, and the storage management can be performed directly.
  • the server can determine whether the information of the container meets the preset requirements by "checking the type of the container first, and then the size of the container", so as to facilitate the distinction between the first container and the second container.
  • the server can also judge whether the information of the container meets the preset requirements according to the size of the container.
  • the measuring frame equipment includes: a 3D sensor, which is used to measure the size of the container, and send the obtained size measurement result to the server;
  • the server After receiving the size measurement result sent by the 3D sensor, the server is used to determine whether the container information of the container meets the preset requirements according to the size measurement result;
  • the server is used to determine that the container information of the container meets the preset requirements.
  • the server can determine the size of the container The container information of meets the preset requirements.
  • the server determines that the container information of the container does not meet the preset requirements.
  • the server can determine whether the information of the container meets the preset requirements by "only looking at the size of the container", so as to facilitate the distinction between the first container and the second container.
  • the server can also judge whether the information of the container meets the preset requirements according to the size and type of the container.
  • the frame measuring device further includes: an image acquisition device, configured to acquire the image information of the container, and send the image information to the server;
  • the server After receiving the image information sent by the image acquisition device, the server is used to identify the type of the container according to the image information of the container when the size measurement result of the container exceeds the preset size range, obtain the type identification result of the container, and Determine whether the container information of the container meets the preset requirements according to the type identification result;
  • the server is used to determine that the container information of the container meets the preset requirements
  • the container information used by the server to determine the container does not meet the preset requirements.
  • the preset type can be a non-deformable container, such as a plastic box, a steel box, etc.
  • the type of the container is the above-mentioned preset type, it means that the size of the current container is not easy to change, even if the container The size has exceeded the preset size range, but because the size of the box is fixed, it is still convenient for storage management. Therefore, when the type of the container belongs to the preset type, the server determines that the container information of the container satisfies the preset requirement, and the storage management can be performed directly.
  • the server determines that the container information of the container does not meet the preset requirements.
  • the server can determine whether the information of the container meets the preset requirements by "checking the size of the container first, and then the type of the container", so as to facilitate the distinction between the first container and the second container.
  • Fig. 2 is a schematic structural diagram of the second branch in the embodiment of the present application. For ease of understanding, other structures have been omitted. As shown in Fig. 2, the second branch includes a storage line 121 for transporting the second container to the operating platform .
  • the number of operating platforms is at least two.
  • the storage structure in FIG. 2 includes two operating platforms including operating platform 1 and operating platform 2;
  • the line is used to transport the second case to a free station in the direction of goods transport.
  • the server when transporting the second container to each operation station, the server first obtains the current state of each operation station.
  • the server can communicate with the warehouse-in line to obtain the current state of each operation station, and then The storage line is controlled to transport the second container to the operation station, or the storage line obtains the current status of each operation station through the server, and transports the second container to the operation station.
  • the current state of the console includes a working state and an idle state.
  • the working state is that the console is currently transferring containers;
  • the idle state is that the console is not currently transferring containers. Therefore, the warehousing line can transfer the second cargo Transport to an idle operation platform in the direction of cargo transmission, so that the operation platform can perform cargo transfer processing on the second container.
  • the warehousing line can carry out container transport one by one. For example, if the two operating platforms in FIG. Convey to the nearest operation platform in the direction of cargo transmission, that is, operation platform 2 in Figure 2, and then transport the other second cargo boxes to the next operation platform in the direction of cargo transmission, that is, operation platform 1 in Figure 2 .
  • the warehousing line can also perform container allocation in the reverse order of the above logic, for example, first transport the second container to the operation platform 1, and then transport the other second container to the operation platform 2, and so on.
  • the warehouse-in line may also distribute the containers in an out-of-order manner, which is not limited in this embodiment.
  • the operation platform also includes a buffer location (not shown in the figure); when there is no idle operation platform in at least two operation platforms, the warehouse-in line is used to transport the second container to the direction of goods transmission There are operating desks with free cache storage slots.
  • the server when transporting the second container to each operation station, may also obtain the status of the cached location of each operation station in addition to obtaining the current state of each operation station.
  • the server can communicate with the warehouse-in line to obtain the status of the buffer storage positions of each operation station, and then control the warehouse-incoming line to transport the second container to the buffer storage positions of each operation station, or to store The line obtains the status of the cache storage positions of each operation platform through the server, and transports the second container to the buffer storage positions of each operation platform.
  • the cache location when no container is cached in the cache location, the cache location is an idle cache location; when a container is cached in the cache location, the cache location is a non-idle cache location.
  • the warehousing line can carry out container transport one by one.
  • the warehouse-in line can first transport the second container to the free buffer storage space of the nearest operation platform in the direction of cargo transmission, that is, the free buffer storage space of operation platform 2 in Figure 2, and then transport the other second container To the free buffer storage space of the next operation platform in the direction of goods transmission, that is, the free buffer storage space of operation platform 1 in FIG. 2 .
  • the warehouse-in line can also perform container allocation in the reverse order of the above logic, for example, first transport the second container to the free buffer storage space of the operation station 1, and then transport the other second container to the operation The free cache location of station 2, etc.
  • cargo boxes may be distributed to the consoles in a random manner, which is not limited in this embodiment.
  • the number of operation consoles is at least two, and the operation consoles also include buffer locations; "Fill up”.
  • the warehousing line first obtains the second container quantity Mi corresponding to each operation station, and Mi is determined based on the state of the operation station and the buffer location; the specific value of Mi can be determined by the warehousing line, or can be It is determined by the server, and then sends the value to the storage line, or after the server determines, controls the storage line to transport the second container.
  • the idle cached goods, one container is used to transport to the operation table for processing.
  • Ni cargo boxes are used to fill up the idle buffered goods of the operation table.
  • the warehouse-in line After obtaining the number Mi of the second containers corresponding to each operating station, the warehouse-in line sequentially transports Mi second containers to each operating station, so that each operating station currently has containers for processing, and each operating station’s cache The cargo slots are all placed with the second container to be processed.
  • the storage line and the operating platform are communicated through a flap structure
  • Fig. 3 is a schematic diagram of the flap structure in the embodiment of the present application. As shown in Fig. 3, the flap structure is connected to the console at point O, and can be flipped up and down centered on point O.
  • the flap structure In the first flipping state, the flap structure is far away from the storage line. At this time, the flap structure can be flipped up to stay away from the warehouse-in line, such as the OC position in Figure 3 ; it can also be turned down to stay away from the warehouse-in line, such as the OB position in Figure 3 .
  • the turning plate structure is close to the storage line.
  • the flap structure can make the storage line communicate with the operating platform, such as the OA position in Figure 3.
  • the storage line transports the second cargo box to the operating platform through the flip structure; thus, based on the flipped state of the flip structure, the entry The warehouse line can also determine whether the operation station is currently in a normal working state, thereby facilitating the determination of whether to transfer a case to the operation station.
  • a sensor for detecting the flap structure can be provided at point A in the illustration.
  • the sensor detects the flap structure, it indicates that the flap structure is at position OA in the figure, that is, the flap structure is in The second flipping state; when the sensor does not detect the flap structure, it means that the flap structure is not in the OA position in the figure, such as in the OB position or OC position in the figure, that is, the flap structure is in the first flipping state. Therefore, by providing a sensor, automatic detection of the state of the inverted structure can be realized.
  • the flap structure when the flap structure is in the second flipped state, the flap structure is used as a storage space for the console.
  • the flap structure when the flap structure is in the second flipped state, can also be used as a buffer storage slot for the console, thereby increasing the buffer storage slots of each console Quantity, convenient to cache more second cargo boxes.
  • the conveying line includes a first empty container line 122 for conveying a third container that is not filled with goods to the operation station.
  • the first empty container line can be set at a position above or below the warehouse-in line, or it can also be set as a suspension type in the air.
  • the operation console is used to change the goods in the second container, that is, to transfer the goods in the second container to the third container whose container information meets the preset requirements, therefore, by setting the first empty
  • the box line can ensure that there is a sufficient number of third boxes that are not loaded with goods to be transported to the operation platform, so as to avoid the situation that the number of empty third boxes is insufficient and the operation platform cannot perform box replacement processing.
  • the first empty container line is connected to the packing table
  • the third container without goods includes the empty container from which the goods are taken out at the packing table
  • the packing table is used for packing the taken out goods.
  • the starting point of the first empty container line can be connected with the packing table, when the robot will load the container from the warehouse After the third container of the goods to be packed is transported to the packing table, the packing table will take out the goods to be packed from the third container for packing, so that the third container becomes an empty container, therefore, it can be processed by The first empty container line transports the third container that has become an empty container to the operation platform, thereby realizing the recycling of the third container.
  • the conveying line includes a box drop line for conveying the third container containing the goods to the storage location.
  • the goods in the second container are exchanged at the operating platform, that is, the goods in the second container are transferred to the third container whose container information meets the preset requirements, and the third container containing the goods flows into the drop box
  • the box drop line can transport the third container containing the goods to the storage location, so that the third container containing the goods can be processed in the warehouse.
  • the number of operating stations is at least two; the box transmission line of the box-dropping line passes through each operating station, and the box-dropping line is used to transport the third container containing goods processed by each operating station to the Storage location.
  • the operation console includes operation console 1 and operation console 2, and the container transmission line of the box drop line passes through operation console 1 and operation console 2, so that the box drop line can complete the processing of operation console 1 and operation console 2
  • the third container containing the goods is transported to the storage location.
  • the storage locations include a first storage location and a second storage location.
  • the box drop line can transport the third container filled with goods processed by each operation station to each storage location, and the status of the storage location can be divided into idle and non-idle.
  • the storage location if the storage location is not idle, it means that the storage location currently has a third container in storage; if the storage location is idle, it means that the storage location does not currently have a third container for storage deal with.
  • the box drop line can first obtain the current status of each storage location, and when there is an idle storage location, the box drop line is used to transport the third box containing the goods to the box transmission direction of the box drop line. Free storage location, so as to ensure that the third container with goods can be stored in time.
  • the storage location is provided with a cache storage location (not shown in the figure).
  • the box drop line can further obtain the current status of the buffer storage locations of each storage location. If there is an idle cache storage location, it means that the box drop line can temporarily place the third container containing the goods in the The free cache storage location.
  • the drop-in line can transport the third container with goods to the warehouse-in location that has an idle buffer storage location in the case transmission direction of the drop-in line, that is, through the drop-in line
  • the third container containing the goods is buffered in the free buffer inbound location of the warehouse location.
  • the drop line includes a first sub-drop line 123 and a second sub-drop line 124;
  • the second sub-box-dropping line communicates with the first sub-box-dropping line, and the second sub-box-dropping line is used to transfer the container to the downstream position of the first sub-box-dropping line
  • the third case is transferred to the upstream position of the first sub-drop line and/or to each storage location.
  • the first sub-drop box line in Fig. 2 is to carry out container transport according to the direction from console 1 to console 2 in the figure, then the second sub-box drop line can be transferred from console 2 to console 1 according to the figure
  • the direction of the third container that will be transferred to the downstream position of the first sub-dropping line is retransmitted to the upstream position of the first sub-dropping line, and/or, transferred to each storage location.
  • the second sub-drop box line can also be connected with the first sub-drop line.
  • the sub-drop box lines form a circular transmission line, and the boxes to be put into storage can be temporarily transported on the ring-shaped transmission line until there is a free buffer storage location or a free storage location, and then the storage process is carried out.
  • the second sub-drop box line is used to transport the third container to an idle storage location on the case transmission direction of the second sub-drop box line;
  • the second sub-dropping line is used to transport the third container to the storage location where there is an idle buffer storage location in the direction of the second sub-dropping line.
  • the storage location includes a first storage location and at least one second storage location sequentially arranged along the container transmission direction of the first sub-dropping line;
  • the drop box line also includes a case transfer device 125; the case transfer device is used to transfer the third case from the first sub-drop line to the second sub-line, and/or, transferring the third container from the second sub-drop line to the first sub-drop line.
  • the first sub-dropping line follows the The cargo transmission direction transmits the third container.
  • the container transfer device can transfer the third container from the first sub-dropping line To the second sub-drop box line, because the goods transmission direction of the second sub-drop box line is opposite to that of the first sub-box drop line, at this time, the third cargo box can be re-loaded under the transmission of the second sub-box drop line. Return to the first storage location, so that the third container can be stored at the first storage location.
  • container transfer devices there may be multiple container transfer devices, for example, one container transfer device may be provided between every two storage locations.
  • the storage location of the third container can be flexibly adjusted according to the actual situation in conjunction with the first sub-box drop line and the second sub-box drop line, so as to ensure that the storage task is normal conduct.
  • an unloading machine is provided at the warehouse-in location; the unloading machine is used to transfer a plurality of third cargo boxes containing goods to the handling robot, so that the handling robot can handle the third cargo box containing goods. Three cargo boxes are put into storage.
  • the unloader is also used to transfer the first container transported to the storage location via the first branch to the handling robot, so that the handling robot performs storage processing on the first container.
  • the conveying line also includes a second empty box line 126, which is used to transport the second container without goods to the packing platform, and the second empty box line may be arranged on the first The upper position of the sub-drop line or the second sub-drop line, or the position below the first sub-drop line or the second sub-line, or it can also be set as a suspension type in the air.
  • the goods in the second container are changed, that is, after the goods in the second container are transferred to the third container whose container information meets the preset requirements, the original second container becomes For an empty container without cargo, although the container information of the second container does not meet the preset requirements, that is, it cannot be put into storage, but the second container without cargo can be used to pack the packaged cargo. Therefore, by setting the second empty container line, the second container without goods can be transported to the packing station through the second empty container line, thereby realizing the reuse of the second container.
  • a method for storing containers is provided, which is applied to the storage systems of the above-mentioned embodiments.
  • Fig. 4 is a schematic diagram of the container warehousing method provided by the embodiment of the present application. As shown in Fig. 4, the method mainly includes the following steps:
  • a measuring frame device for obtaining the size information and/or type information of the container is set, and then based on the size information and/or type information of the container, it is determined whether the container information meets the predetermined requirements. If the requirements are met, the container can be put into storage directly; if not, the goods in the container will be transferred to another container whose information meets the preset requirements, and then the container containing the goods will be transferred to another container. A container is put into storage. Through the solution of this embodiment, it can be ensured that the container information of all incoming containers satisfies the preset requirements, thereby facilitating the incoming management.
  • determining whether the container information meets preset requirements includes:
  • Carton type identification is carried out according to the image information of the container to be stored, and the type recognition result of the container to be stored is obtained;
  • the type identification result is that the type of the container to be stored belongs to the preset type
  • determining whether the container information meets preset requirements includes:
  • the size measurement result is within the preset size range, it is determined that the container information of the container to be stored meets the preset requirements.
  • the type identification of the container is performed according to the image information of the container to be stored, and the type identification result of the container to be stored is obtained;
  • the type identification result is that the type of the container to be stored belongs to the preset type, it is determined that the container information of the container to be stored meets the preset requirements;
  • the type identification result is that the type of the container does not belong to the preset type
  • the number of operating stations is at least two;
  • the second branch of the control conveyor line transports the second container whose information of the container to be stored does not meet the preset requirements to the operation platform, including:
  • the warehouse-in line of the second branch is controlled to transport the second container to the idle operating platform in the direction of goods transmission.
  • the operator station includes a buffer bay
  • Methods also include:
  • the warehouse-in line of the second branch is controlled to transport the second container to the operating platform with an idle buffer storage space in the cargo transmission direction.
  • the number of operation stations is at least two, and the operation stations include buffer storage positions;
  • the second branch of the control conveyor line transports the second container whose information of the container to be stored does not meet the preset requirements to the operation platform, including:
  • the operation platform includes a turnover panel structure, which is used to communicate with the operation platform and a warehouse-in line for transporting the boxes to be put into storage to the operation platform;
  • the second branch of the control conveyor line transports the second container whose information of the container to be stored does not meet the preset requirements to the operation platform, including:
  • the turning plate structure in the second turning state, is close to the storage line;
  • the turning plate structure In the first turning state, the turning plate structure is far away from the storage line.
  • the number of storage locations is at least two;
  • Transfer the third case to the storage location via the conveyor line including:
  • the first sub-dropping line controlling the box-dropping line in the conveying line transports the third container to the vacant warehousing location in the transport direction of the container.
  • the storage location is provided with a cache storage location
  • Methods also include:
  • the first sub-dropping line is controlled to transport the third container to a storage location with an idle buffer storage location in the transport direction of the container.
  • the conveying line includes a drop line for conveying the third container containing the goods to the storage location;
  • the method also includes:
  • the second sub-drop box line that controls the second branch transports the third container to the vacant warehousing location on the container transmission direction of the second sub-drop box line;
  • the second sub-dropping line that controls the second branch transports the third container to the storage location that has an idle buffer storage location in the direction of the second sub-dropping line.
  • the storage location includes a first storage location and at least one second storage location sequentially arranged along the container transmission direction of the first sub-dropping line;
  • Methods also include:
  • the method also includes:
  • the unloader installed at the storage location is controlled to transfer the first container and the third container at the storage location to the handling robot, so that the handling robot performs storage processing on the third container.
  • the method also includes:
  • the first empty container line is connected to the packing table, and the third container without goods and whose container information meets the preset requirements includes empty containers that are taken out of the goods at the packing table, and the packing table is used to pack the taken out goods deal with.
  • the method also includes:
  • a computer device including: a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor implements the program when executing the program. Steps of each method embodiment.
  • the memory and the processor are electrically connected directly or indirectly to realize data transmission or interaction.
  • these components may be electrically connected to each other through one or more communication buses or signal lines, for example, they may be connected through a bus.
  • Computer-executed instructions for implementing the data access control method are stored in the memory, including at least one software function module that can be stored in the memory in the form of software or firmware.
  • the processor runs the software programs and modules stored in the memory to execute various Functional application and data processing.
  • the memory can be, but not limited to, random access memory (Random Access Memory, RAM), read-only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable only Read memory (Erasable Programmable Read-Only Memory, EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc.
  • RAM Random Access Memory
  • ROM read-only memory
  • PROM programmable read-only memory
  • PROM Programmable Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electric Erasable Programmable Read-Only Memory
  • the memory is used to store programs, and the processor executes the programs after receiving execution instructions.
  • the software programs and modules in the memory may also include an operating system, which may include various software components and/or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may Communicate with various hardware or software components to provide an operating environment for other software components.
  • the processor can be an integrated circuit chip with signal processing capabilities.
  • the above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP) and the like.
  • CPU Central Processing Unit
  • NP Network Processor
  • Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • a computer-readable storage medium is provided, and computer-executable instructions are stored in the computer-readable storage medium, and the computer-executable instructions are used to implement the steps of various method embodiments of the present application when executed by a processor .
  • a computer program product including a computer program, and when the computer program is executed by a processor, the steps of the various method embodiments of the present application are implemented.
  • Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink, DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

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Abstract

一种仓储系统及货箱入库方法，在仓储系统中，设置用于获取货箱的尺寸信息和/或类型信息的量框设备（200），再基于货箱的尺寸信息和/或类型信息确定货箱信息是否满足预设要求，若满足，则该货箱可以直接入库；若不满足，则先将该货箱的货物转移至货箱信息满足预设要求的另一货箱内，再对装有货物的另一货箱进行入库。该仓储系统及货箱入库方法可以保证所有入库货箱的货箱信息均满足预设要求，从而便于进行入库管理。

Description

仓储系统及货箱入库方法
本申请要求于2021年12月20日提交中国专利局、申请号为202111567405.X、申请名称为“仓储系统及货箱入库方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储技术领域，尤其涉及一种仓储系统及货箱入库方法。
背景技术
仓储系统通常用于存放多种不同类型的货物，货物通常放置于货箱中，货箱摆放在仓储系统的货架上。其中，基于货物的尺寸差异，导致放置货物的货箱的尺寸及类型也存在一定的差异。例如，对于大件货，相应的货箱尺寸也较大，而对于小件货，则货箱尺寸可以较小。另外，对于不同的货物，所采用的货箱的类型也可能不同，例如，货箱类型具体可以分为易形变货箱(例如纸箱等)以及不易形变货箱(例如胶箱、钢箱等)等。
其中，易形变货箱的尺寸可以有多种，以适应不同尺寸的货物。对于容易膨胀的货物，例如衣物、棉被等，可能会导致易形变货箱发生膨胀，从而导致易形变货箱的尺寸发生变化，即尺寸变得较大，进而导致易形变货箱不便于进行入库管理。相对而言，不易形变货箱由于尺寸不易发生变化，使其尺寸更加固定，因此，不易形变货箱更加便于进行入库管理。
对于仓储系统而言，在对装有货物的货箱进行入库处理时，由于货箱的尺寸差异以及类型差异，如何将各种类型的货箱进行入库，是需要解决的问题。
发明内容
本申请提供一种仓储系统及货箱入库方法，用以解决现有技术存在的问题。
第一方面，本申请提供一种仓储系统，包括：
输送线，用于输送货箱；
量框设备，设置于所述输送线，用于获取货箱信息；
其中，所述输送线包括第一分支以及第二分支，所述第一分支和所述第二分支相对于所述量框设备位于所述输送线的下游；
所述第一分支用于输送第一货箱至入库地点，所述第一货箱为待入库货箱中货箱信息满足预设要求的货箱；
所述第二分支用于输送第二货箱至操作台，所述第二货箱为待入库货箱中货箱信息不满足预设要求的货箱，所述操作台用于将所述第二货箱的货物转移至货箱信息满足预设要求的第三货箱，并将所述第三货箱经由所述输送线传输至入库地点，所述第三货箱为所述 输送线上除所述第一货箱和第二货箱之外的货箱。
在一些实施例中，仓储系统还包括：服务器；
量框设备包括：图像采集装置，用于获取待入库货箱的图像信息，并将图像信息发送至服务器；
服务器用于根据待入库货箱的图像信息进行货箱类型识别，得到待入库货箱的类型识别结果，并根据类型识别结果确定待入库货箱的货箱信息是否满足预设要求；
其中，当类型识别结果为待入库货箱的类型属于预设类型时，服务器用于确定待入库货箱的货箱信息满足预设要求。
在一些实施例中，量框设备还包括：3D传感器，用于对待入库货箱进行尺寸测量处理，并将得到的尺寸测量结果发送至服务器；
服务器用于当待入库货箱的类型识别结果为待入库货箱的类型不属于预设类型时，根据尺寸测量结果确定待入库货箱的货箱信息是否满足预设要求；
其中，若尺寸测量结果在预设尺寸范围内，服务器用于确定待入库货箱的货箱信息满足预设要求；
若尺寸测量结果超出预设尺寸范围，服务器用于确定待入库货箱的货箱信息不满足预设要求。
在一些实施例中，仓储系统还包括：服务器；
量框设备包括：3D传感器，用于对待入库货箱进行尺寸测量处理，并将得到的尺寸测量结果发送至服务器；
服务器用于根据尺寸测量结果确定待入库货箱的货箱信息是否满足预设要求；
其中，若尺寸测量结果在预设尺寸范围内，服务器用于确定待入库货箱的货箱信息满足预设要求。
在一些实施例中，量框设备还包括：图像采集装置，用于获取待入库货箱的图像信息，并将图像信息发送至服务器；
服务器用于当待入库货箱的尺寸测量结果超出预设尺寸范围时，根据待入库货箱的图像信息进行货箱类型识别，得到待入库货箱的类型识别结果，并根据类型识别结果确定待入库货箱的货箱信息是否满足预设要求；
其中，当类型识别结果为待入库货箱的类型属于预设类型时，服务器用于确定待入库货箱的货箱信息满足预设要求；
当类型识别结果为待入库货箱的类型不属于预设类型时，服务器用于确定待入库货箱的货箱信息不满足预设要求。
在一些实施例中，第二分支包括入仓线，用于将第二货箱输送至操作台。
在一些实施例中，操作台的数量为至少两个；
当至少两个操作台中存在空闲操作台时，入仓线用于将第二货箱输送至货物传输方向上的空闲操作台。
在一些实施例中，操作台还包括缓存货位；
当至少两个操作台中不存在空闲操作台时，入仓线用于将第二货箱输送至货物传输方向上的存在空闲缓存货位的操作台。
在一些实施例中，操作台的数量为至少两个，操作台还包括缓存货位；
入仓线用于将Mi个第二货箱输送至各操作台，Mi为基于操作台以及缓存货位的状态确定得到；
其中，当第i个操作台为空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni+1；
当第i个操作台为非空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni。
在一些实施例中，入仓线与操作台之间通过翻板结构连通；
当翻板结构由第一翻转状态切换为第二翻转状态时，入仓线通过翻板结构将第二货箱输送至操作台；
其中，在第二翻转状态下，翻板结构靠近入仓线；
在第一翻转状态下，翻板结构远离入仓线。
在一些实施例中，当翻板结构处于第二翻转状态时，翻板结构用于作为操作台的缓存货位。
在一些实施例中，输送线包括第一空箱线，用于将未装有货物的第三货箱输送至操作台。
在一些实施例中，第一空箱线与打包台连接，未装有货物的第三货箱包括在打包台将货物取出的空货箱，打包台用于将取出的货物进行打包处理。
在一些实施例中，输送线包括投箱线，用于将装有货物的第三货箱输送至入库地点。
在一些实施例中，操作台的数量为至少两个；
投箱线的货箱传输线路经过各操作台，投箱线用于将各操作台处理完成的装有货物的第三货箱输送至入库地点。
在一些实施例中，入库地点的数量为至少两个；
当存在空闲入库地点时，投箱线用于将装有货物的第三货箱输送至投箱线的货箱传输方向上的空闲入库地点。
在一些实施例中，入库地点设置有缓存入库位；
当不存在空闲入库地点时，投箱线用于将装有货物的第三货箱输送至投箱线的货箱传输方向上的存在空闲缓存入库位的入库地点。
在一些实施例中，投箱线包括第一子投箱线以及第二子投箱线；
第一子投箱线用于将装有货物的第三货箱输送至入库地点；
第二子投箱线与第一子投箱线连通，第二子投箱线用于按照与第一子投箱线相反的货箱传输方向，将传输至第一子投箱线下游位置的第三货箱传输至第一子投箱线的上游位置 和/或各入库地点。
在一些实施例中，当存在空闲入库地点时，第二子投箱线用于将第三货箱输送至第二子投箱线的货箱传输方向上的空闲入库地点；
当不存在空闲入库地点时，第二子投箱线用于将第三货箱输送至第二子投箱线的货箱传输方向上的存在空闲缓存入库位的入库地点。
在一些实施例中，入库地点包括沿第一子投箱线的货箱传输方向依次设置的第一入库地点以及至少一个第二入库地点；
投箱线还包括货箱转移设备；货箱转移设备用于将第三货箱由第一子投箱线转移至第二子投箱线，和/或，将第三货箱由第二子投箱线转移至第一子投箱线。
在一些实施例中，入库地点设置有卸料机；
卸料机用于将装有货物的多个第三货箱转移至搬运机器人，以使得搬运机器人对装有货物的第三货箱进行入库处理。
在一些实施例中，输送线还包括第二空箱线，用于将未装有货物的第二货箱输送至打包台。
第二方面，本申请提供一种货箱入库方法，应用于上述的仓储系统，包括：
当存在待入库货箱时，通过量框设备获取待入库货箱的货箱信息；
通过服务器确定所述货箱信息是否满足预设要求；
控制输送线的第一分支将所述待入库货箱中货箱信息满足预设要求的第一货箱输送至入库地点；
控制输送线的第二分支将所述待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，并控制操作台将所述第二货箱的货物转移至货箱信息满足预设要求的第三货箱，以及控制所述输送线将所述第三货箱传输至入库地点，所述第三货箱为所述输送线上除所述第一货箱和第二货箱之外的货箱。
在一些实施例中，操作台包括翻板结构，翻板结构用于连通操作台以及用于将待入库货箱输送至操作台的入仓线；
控制输送线的第二分支将待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，包括：
当检测到翻板结构由第一翻转状态切换为第二翻转状态时，控制第二分支的入仓线以及翻板结构将第二货箱输送至操作台；
其中，在第二翻转状态下，翻板结构靠近入仓线；
在第一翻转状态下，翻板结构远离入仓线。
在一些实施例中，确定货箱信息是否满足预设要求，包括：
获取量框设备的图像采集装置采集的待入库货箱的图像信息；
根据待入库货箱的图像信息进行货箱类型识别，得到待入库货箱的类型识别结果；
根据类型识别结果确定待入库货箱的货箱信息是否满足预设要求；
其中，当类型识别结果为待入库货箱的类型属于预设类型时，确定待入库货箱的货箱信息满足预设要求。
在一些实施例中，还包括：
获取量框设备的3D传感器通过对待入库货箱进行尺寸测量处理得到的尺寸测量结果；
当待入库货箱的类型不属于预设类型时，根据尺寸测量结果确定待入库货箱的货箱信息是否满足预设要求；
其中，若尺寸测量结果在预设尺寸范围内，确定待入库货箱的货箱信息满足预设要求；
若尺寸测量结果超出预设尺寸范围，确定待入库货箱的货箱信息不满足预设要求。
在一些实施例中，确定货箱信息是否满足预设要求，包括：
获取量框设备的3D传感器通过对待入库货箱进行尺寸测量处理得到的尺寸测量结果；
根据尺寸测量结果确定待入库货箱的货箱信息是否满足预设要求；
其中，若尺寸测量结果在预设尺寸范围内，确定待入库货箱的货箱信息满足预设要求。
在一些实施例中，还包括：
获取量框设备的图像采集装置采集的待入库货箱的图像信息；
当待入库货箱的尺寸测量结果超出预设尺寸范围时，根据待入库货箱的图像信息进行货箱类型识别，得到待入库货箱的类型识别结果；
根据类型识别结果确定待入库货箱的货箱信息是否满足预设要求；
其中，当类型识别结果为待入库货箱的类型属于预设类型时，确定待入库货箱的货箱信息满足预设要求；
当类型识别结果为货箱的类型不属于预设类型时，确定待入库货箱的货箱信息不满足预设要求。
在一些实施例中，操作台的数量为至少两个；
控制输送线的第二分支将待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，包括：
当至少两个操作台中存在空闲操作台时，控制第二分支的入仓线将第二货箱输送至货物传输方向上的空闲操作台。
在一些实施例中，操作台包括缓存货位；
方法还包括：
当至少两个操作台中不存在空闲操作台时，控制第二分支的入仓线将第二货箱输送至货物传输方向上的存在空闲缓存货位的操作台。
在一些实施例中，操作台的数量为至少两个，操作台包括缓存货位；
控制输送线的第二分支将待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，包括：
控制第二分支的入仓线将Mi个第二货箱输送至各操作台，Mi为基于操作台以及缓存货位的状态确定得到；
其中，当第i个操作台为空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni+1；
当第i个操作台为非空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni。
在一些实施例中，入库地点的数量为至少两个；
将第三货箱经由输送线传输至入库地点，包括：
当存在空闲入库地点时，控制输送线中投箱线的第一子投箱线将第三货箱输送至货箱传输方向上的空闲入库地点。
在一些实施例中，入库地点设置有缓存入库位；
方法还包括：
当不存在空闲入库地点时，控制第一子投箱线将第三货箱输送至货箱传输方向上的存在空闲缓存入库位的入库地点。
在一些实施例中，所述输送线包括用于将装有货物的第三货箱输送至入库地点的投箱线；
所述方法还包括：
控制投箱线中的第二子投箱线，按照与投箱线中第一子投箱线相反的货箱传输方向，将传输至第一子投箱线下游位置的第三货箱传输至第一子投箱线的上游位置和/或各入库地点。
在一些实施例中，还包括：
当存在空闲入库地点时，控制第二分支的第二子投箱线将第三货箱输送至第二子投箱线的货箱传输方向上的空闲入库地点；
当不存在空闲入库地点时，控制第二分支的第二子投箱线将第三货箱输送至第二子投箱线的货箱传输方向上的存在空闲缓存入库位的入库地点。
在一些实施例中，入库地点包括沿第一子投箱线的货箱传输方向依次设置的第一入库地点以及至少一个第二入库地点；
方法还包括：
控制投箱线的货箱转移设备，将第三货箱由第一子投箱线转移至第二子投箱线，和/或，将第三货箱由第二子投箱线转移至第一子投箱线。
在一些实施例中，方法还包括：
控制设置于入库地点的卸料机将入库地点的第一货箱以及第三货箱转移至搬运机器人，以使得搬运机器人对第三货箱进行入库处理。
在一些实施例中，方法还包括：
控制输送线的第一空箱线，将未装有货物的、货箱信息满足预设要求的第三货箱输送至操作台；
第一空箱线与打包台连接，未装有货物的、货箱信息满足预设要求的第三货箱包括在 打包台将货物取出的空货箱，打包台用于将取出的货物进行打包处理。
在一些实施例中，方法还包括：
控制第二分支的第二空箱线，将通过操作台完成货物转移后未装有货物的、货箱信息不满足预设要求的第二货箱输送至打包台。
本申请提供的仓储系统及货箱入库方法，在仓储系统中，设置用于获取货箱的尺寸信息和/或类型信息的量框设备，再基于货箱的尺寸信息和/或类型信息确定货箱信息是否满足预设要求，若满足，则该货箱可以直接入库；若不满足，则先将该货箱的货物转移至货箱信息满足预设要求的另一货箱内，再对装有货物的另一货箱进行入库。通过本实施例的方案，可以保证所有入库货箱的货箱信息均满足预设要求，从而便于进行入库管理。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1为本申请实施例提供的仓储系统的示意图；
图2为本申请实施例中第二分支的结构示意图；
图3为本申请实施例中翻板结构的示意图；
图4为本申请实施例提供的货箱入库方法的示意图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本申请实施例中所使用的单数形式的“一种”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“三种，一般表示前后关联对象是一种“或”的关系。
取决于语境，如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地，取决于语境，短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的商品或者系统中还存在另外的相同要素。
仓储系统通常用于存放多种不同类型的货物，货物通常放置于货箱中，货箱摆放在仓储系统的货架上。
其中，基于货物的尺寸差异，导致放置货物的货箱的尺寸及类型也存在一定的差异。例如，对于大件货，相应的货箱尺寸也较大，而对于小件货，则货箱尺寸可以较小。
另外，对于不同的货物，所采用的货箱的类型也可能不同，例如，货箱类型具体可以分为易形变货箱(例如纸箱等)以及不易形变货箱(例如胶箱、钢箱等)等。
其中，易形变货箱的尺寸可以有多种，以适应不同尺寸的货物。对于容易膨胀的货物，例如衣物、棉被等，可能会导致易形变货箱发生膨胀，从而导致易形变货箱的尺寸发生变化，即尺寸变得不规范，不便于机器人对货箱进行拿取搬运，因此不便于进行入库管理。
相对而言，不易形变货箱由于尺寸不易发生变化，使其尺寸更加固定，因此，不易形变货箱更加便于进行入库管理。
对于仓储系统而言，在对装有货物的货箱进行入库处理时，由于货箱的尺寸差异以及类型差异，如何将各种类型的货箱进行入库，是需要解决的问题。
本申请提供的仓储系统及货箱入库方法，旨在解决现有技术的如上技术问题。
本申请方案的主要构思为：在仓储系统中，设置用于获取货箱的尺寸信息和/或类型信息的量框设备，再基于货箱的尺寸信息和/或类型信息确定货箱信息是否满足预设要求，若满足，则该货箱可以直接入库；若不满足，则先将该货箱的货物转移至货箱信息满足预设要求的另一货箱内，再对装有货物的另一货箱进行入库。通过本申请的方案，可以保证所有入库货箱的货箱信息均满足预设要求，从而便于进行入库管理。
下面以具体地实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本申请的实施例进行描述。
图1为本申请实施例提供的仓储系统的示意图，如图1所示，该仓储系统包括：
输送线100，用于输送货箱，输送线的货物传输方向如图中箭头所示；
量框设备200，设置于输送线，用于获取货箱信息，按照输送线的货物传输方向，待入库的货箱首先经过量框设备，由量框设备测量获取相应的货箱信息，货箱信息用于判断货箱是否满足入库的预设要求；
其中，输送线包括第一分支110以及第二分支120，第一分支和第二分支相对于量框 设备位于输送线的下游；可以理解，在量框设备测量得到货箱信息后，该货箱信息可以用于判断货箱是否满足入库的预设要求，也就是说，经过量框设备的货箱被分为两种：货箱信息满足预设要求的第一货箱，例如图1中的货物31，以及，货箱信息不满足预设要求的第二货箱，例如图1中的货物32。
在经过量框设备后，货箱信息满足预设要求的第一货箱经由第一分支被输送至入库地点，由于第一货箱为货箱信息满足预设要求的货箱，因此可以直接在入库地点进行入库处理；
另外，第二货箱由第二分支进行传输，由于第二货箱的货箱信息不满足预设要求，因此，第二分支并非将第二货箱输送至入库地点，而是将第二货箱输送至操作台，该操作台可以对第二货箱内的货物进行换箱处理，即将第二货箱的货物转移至货箱信息满足预设要求的第三货箱，然后将第三货箱经由输送线传输至入库地点，例如图1中的货物33，第三货箱为输送线上除第一货箱和第二货箱之外的货箱。
可以理解，第一分支对应的入库地点以及第二分支对应的入库地点，可以设置为相同的入库地点，也可以设置为不同的入库地点，本申请对此不做具体限定。
基于本实施例的方案，在仓储系统中，设置用于获取货箱的尺寸信息和/或类型信息的量框设备，再基于货箱的尺寸信息和/或类型信息确定货箱信息是否满足预设要求，若满足，则该货箱可以直接入库；若不满足，则先将该货箱的货物转移至货箱信息满足预设要求的另一货箱内，再对装有货物的另一货箱进行入库。通过本实施例的方案，可以保证所有入库货箱的货箱信息均满足预设要求，从而便于进行管理，具体的，一方面，可以便于对货箱进行存储、摆放等入库管理，另一方面，也方便机器人对货箱进行搬运，从而便于进行货箱的自动化出入库处理。
在一些实施例中，仓储系统还包括：服务器(图1中未示出)；量框设备将测量得到的货箱信息发送至服务器，由服务器判断货箱信息是否满足预设要求。
本实施例中，服务器可以通过货箱类型来判断货箱信息是否满足预设要求。其中，货箱类型具体可以分为易形变货箱(例如纸箱等)以及不易形变货箱(例如胶箱、钢箱等)等。
具体的，量框设备包括：图像采集装置，例如摄像头等，图像采集装置用于拍摄得到货箱的图像信息，并将图像信息发送至服务器；
在接收到图像采集装置发送的图像信息后，服务器根据货箱的图像信息进行货箱类型识别，得到货箱的类型识别结果，并根据类型识别结果确定货箱的货箱信息是否满足预设要求；
其中，当类型识别结果为货箱的类型属于预设类型时，服务器用于确定货箱的货箱信息满足预设要求。
可选的，预设类型具体可以为不易形变货箱，例如胶箱，钢箱等，当货箱的类型为上 述预设类型时，即说明当前的货箱的尺寸不易发生变化，更加便于进行入库管理。因此，当货箱的类型属于预设类型时，服务器确定货箱的货箱信息满足预设要求，可以直接进行入库管理。
可选的，当类型识别结果为货箱的类型不属于预设类型时，服务器用于确定货箱的货箱信息不满足预设要求。
本实施例中，服务器可以通过“只看货箱类型”的判断方式来确定货箱信息是否满足预设要求，从而便于区分得到第一货箱以及第二货箱。
在一些实施例中，服务器也可以通过货箱类型以及货箱尺寸来判断货箱信息是否满足预设要求。
本实施例中，量框设备还包括：3D传感器，用于对货箱进行尺寸测量处理，并将得到的尺寸测量结果发送至服务器；
在接收到3D传感器发送的尺寸测量结果后，服务器在当货箱的类型识别结果为货箱的类型不属于预设类型时，根据尺寸测量结果确定货箱的货箱信息是否满足预设要求；
例如，若服务器确定货箱的类型识别结果为易形变货箱时，服务器可以进一步结合该货箱的尺寸测量结果来判断货箱信息是否满足预设要求。
其中，若尺寸测量结果在预设尺寸范围内，服务器用于确定货箱的货箱信息满足预设要求；若尺寸测量结果超出预设尺寸范围，服务器用于确定货箱的货箱信息不满足预设要求。
具体的，虽然货箱为易形变货箱，但是如果货箱的尺寸测量结果在预设尺寸范围内，则说明货箱的尺寸比较规范，可以便于机器人对货箱进行拿取搬运，因此仍然便于进行入库管理，因此，服务器可以确定货箱的货箱信息满足预设要求。
另外，当货箱为易形变货箱时，如果货箱的尺寸测量结果超出预设尺寸范围，则说明货箱的尺寸不规范，无法实现机器人对货箱进行拿取搬运，因此不利于进行入库管理，因此，服务器可以确定货箱的货箱信息不满足预设要求。
本实施例中，预设类型具体可以为不易形变货箱，例如胶箱，钢箱等，当货箱的类型为上述预设类型时，即说明当前的货箱的尺寸不易发生变化，更加便于进行入库管理。因此，当货箱的类型属于预设类型时，服务器确定货箱的货箱信息满足预设要求，可以直接进行入库管理。
本实施例中，服务器可以通过“先看货箱类型，再看货箱尺寸”的判断方式来确定货箱信息是否满足预设要求，从而便于区分得到第一货箱以及第二货箱。
在一些实施例中，服务器也可以通过货箱尺寸来判断货箱信息是否满足预设要求。
具体的，量框设备包括：3D传感器，用于对货箱进行尺寸测量处理，并将得到的尺寸测量结果发送至服务器；
在接收到3D传感器发送的尺寸测量结果后，服务器用于根据尺寸测量结果确定货箱的货箱信息是否满足预设要求；
其中，若尺寸测量结果在预设尺寸范围内，服务器用于确定货箱的货箱信息满足预设要求。
具体的，如果货箱的尺寸测量结果在预设尺寸范围内，则说明货箱的尺寸比较规范，可以便于机器人对货箱进行拿取搬运，便于进行入库管理，因此，服务器可以确定货箱的货箱信息满足预设要求。
可选的，若尺寸测量结果超出预设尺寸范围，服务器用于确定货箱的货箱信息不满足预设要求。
本实施例中，服务器可以通过“只看货箱尺寸”的判断方式来确定货箱信息是否满足预设要求，从而便于区分得到第一货箱以及第二货箱。
在一些实施例中，服务器也可以通过货箱尺寸以及货箱类型来判断货箱信息是否满足预设要求。
本实施例中，量框设备还包括：图像采集装置，用于获取货箱的图像信息，并将图像信息发送至服务器；
在接收到图像采集装置发送的图像信息后，服务器用于当货箱的尺寸测量结果超出预设尺寸范围时，根据货箱的图像信息进行货箱类型识别，得到货箱的类型识别结果，并根据类型识别结果确定货箱的货箱信息是否满足预设要求；
其中，当类型识别结果为货箱的类型属于预设类型时，服务器用于确定货箱的货箱信息满足预设要求；
当类型识别结果为货箱的类型不属于预设类型时，服务器用于确定货箱的货箱信息不满足预设要求。
具体的，预设类型具体可以为不易形变货箱，例如胶箱，钢箱等，当货箱的类型为上述预设类型时，即说明当前的货箱的尺寸不易发生变化，即使货箱的尺寸已经超出预设尺寸范围内，但是由于货箱的尺寸固定，因此仍然便于进行入库管理。因此，当货箱的类型属于预设类型时，服务器确定货箱的货箱信息满足预设要求，可以直接进行入库管理。
而如果货箱的类型不属于预设类型，例如货箱的类型为易形变货箱，说明货箱的尺寸后续容易发生变化，在货箱尺寸已经超出预设尺寸范围的情况下，不便于进行入库管理。因此，服务器确定货箱的货箱信息不满足预设要求。
本实施例中，服务器可以通过“先看货箱尺寸，再看货箱类型”的判断方式来确定货箱信息是否满足预设要求，从而便于区分得到第一货箱以及第二货箱。
在一些实施例中，对第二分支的具体结构进行解释说明。
图2为本申请实施例中第二分支的结构示意图，为便于理解，其他结构已省略，如图 2所示，第二分支包括入仓线121，用于将第二货箱输送至操作台。
可选的，操作台的数量为至少两个，例如，图2中的仓储结构中包括操作台1和操作台2共两个操作台；当至少两个操作台中存在空闲操作台时，入仓线用于将第二货箱输送至货物传输方向上的空闲操作台。
本实施例中，在向各操作台输送第二货箱时，服务器首先获取各操作台的当前状态，可选的，服务器可以通过与入仓线进行通信以获取各操作台的当前状态，进而控制入仓线将第二货箱输送至操作台，或者，入仓线通过服务器获取各操作台的当前状态，并将第二货箱输送至操作台。
操作台的当前状态包括工作状态以及空闲状态，其中，工作状态为操作台当前正在进行货箱转移处理；空闲状态为操作台当前未进行货箱转移处理，因此，入仓线可以将第二货物输送至货物传输方向上的空闲操作台，从而，使得操作台可以对第二货箱进行货物转移处理。
可以理解，在本实施例中，入仓线可以是逐个操作台进行货箱传输，例如，若图2中的两个操作台均为空闲操作台，则入仓线可以先将第二货箱输送至货物传输方向上最近的操作台，即图2中的操作台2，再将其他第二货箱输送至货物传输方向上的下一个操作台，即图2中的操作台1。
可选的，入仓线也可以按照与上述逻辑相反的顺序进行货箱分配，例如，先将第二货箱输送至操作台1，再将其他第二货箱输送至操作台2等。
可选的，当操作台数量大于2个时，入仓线也可以是采用乱序的方式进行货箱分配，本实施例对此不做限定。
在一些实施例中，操作台还包括缓存货位(图中未示出)；当至少两个操作台中不存在空闲操作台时，入仓线用于将第二货箱输送至货物传输方向上的存在空闲缓存货位的操作台。
本实施例中，在向各操作台输送第二货箱时，服务器除了获取各操作台的当前状态之外，还可以获取各操作台的缓存货位的状态。可选的，服务器可以通过与入仓线进行通信以获取各操作台的缓存货位的状态，进而，控制入仓线将第二货箱输送至各个操作台的缓存货位，或者，入仓线通过服务器获取各操作台的缓存货位的状态，并将第二货箱输送至各个操作台的缓存货位。
其中，当缓存货位上未缓存有货箱时，该缓存货位为空闲缓存货位；当缓存货位上缓存有货箱时，该缓存货位为非空闲缓存货位。
因此，在当前不存在空闲的操作台时，首先确定存在空闲缓存货位的操作台，然后将第二货箱传输至该操作台的空闲缓存货位，从而，操作台可以在完成当前的货箱转移处理工作后，再对放置在缓存货位上的第二货箱进行货物转移处理。
可以理解，在本实施例中，入仓线可以是逐个操作台进行货箱传输，例如，若图2中的两个操作台均不是空闲操作台，但是两个操作台均存在空闲缓存货位，则入仓线可以先将第二货箱输送至货物传输方向上最近的操作台的空闲缓存货位，即图2中的操作台2的空闲缓存货位，再将其他第二货箱输送至货物传输方向上的下一个操作台的空闲缓存货位，即图2中的操作台1的空闲缓存货位。
可选的，入仓线也可以按照与上述逻辑相反的顺序进行货箱分配，例如，先将第二货箱输送至操作台1的空闲缓存货位，再将其他第二货箱输送至操作台2的空闲缓存货位等。
可选的，当操作台数量大于2个时，可以是采用乱序的方式对操作台进行货箱分配，本实施例对此不做限定。
在一些实施例中，操作台的数量为至少两个，操作台还包括缓存货位；本实施例中，入仓线在进行货箱分配时，可以是一次性将操作台以及缓存货位全部“补满”。
具体的，入仓线首先获取各操作台对应的第二货箱数量Mi，Mi为基于操作台以及缓存货位的状态确定得到；Mi的具体数值，可以是由入仓线确定得到，也可以是由服务器确定，再将数值发送至入仓线，或者服务器确定以后，控制入仓线对第二货箱进行输送。
例如，当第i个操作台为空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni+1；其中，Ni个货箱用于填满操作台的空闲缓存货物，1个货箱用于输送至操作台进行处理。
另外，当第i个操作台为非空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni。其中，Ni个货箱用于填满操作台的空闲缓存货物。
可以理解，当第i个操作台为非空闲状态，且第i个操作台上没有状态为空的缓存货位时，即Ni＝0，此时，Mi＝Ni＝0，表示向该第i个操作台输送的第二货箱数量为0，即不向该第i个操作台输送第二货箱。
在获取各操作台对应的第二货箱数量Mi后，入仓线依次将Mi个第二货箱输送至各操作台，使得各操作台当前有货箱进行处理，且每个操作台的缓存货位均放置有待处理的第二货箱。
在一些实施例中，参考图2，入仓线与操作台之间通过翻板结构连通；
图3为本申请实施例中翻板结构的示意图，如图3所示，翻板结构在点O位置与操作台连接，并可以以点O为中心进行上下翻转。
参考图3，翻板结构的状态包括两种：
(1)在第一翻转状态下，翻板结构远离入仓线。此时，翻板结构可以是向上翻转以远离入仓线，比如图3中的OC位置；也可以是向下翻转以远离入仓线，比如图3中的OB位置。
(2)在第二翻转状态下，翻板结构靠近入仓线。此时，翻板结构可以使得入仓线与 操作台连通，比如图3中的OA位置。
本实施例中，当翻板结构由第一翻转状态切换为第二翻转状态时，入仓线通过翻板结构将第二货箱输送至操作台；从而，基于翻板结构的翻转状态，入仓线也可以确定操作台当前是否处于正常工作状态，从而便于确定是否向该操作台传输货箱。
可选的，参考图3，可以在图示A点位置设置用于检测翻板结构的传感器，当传感器检测到翻板结构时，说明翻板结构处于图中的OA位置，即翻板结构处于第二翻转状态；当传感器未检测到翻板结构时，说明翻板结构未处于图中的OA位置，如处于图中的OB位置或者OC位置等，即翻板结构处于第一翻转状态。从而，通过设置传感器，可以实现翻转结构的状态的自动检测。
在一些实施例中，当翻板结构处于第二翻转状态时，翻板结构用于作为操作台的缓存货位。
具体的，除了操作台本身设置的缓存货位外，当翻板结构处于第二翻转状态时，翻板结构也可以用于作为操作台的缓存货位，从而可以增加各操作台的缓存货位数量，方便缓存更多的第二货箱。
在一些实施例中，输送线包括第一空箱线122，用于将未装有货物的第三货箱输送至操作台。该第一空箱线可以设置于入仓线的上方位置或者下方位置等，或者，也可以设置为空中悬挂式等。
具体的，由于操作台用于对第二货箱内的货物进行换箱处理，即将第二货箱的货物转移至货箱信息满足预设要求的第三货箱，因此，通过设置第一空箱线，可以保证有充足数量的、未装有货物的第三货箱被输送至操作台，避免出现空的第三货箱数量不足而导致操作台无法进行换箱处理的情况。
在一些实施例中，第一空箱线与打包台连接，未装有货物的第三货箱包括在打包台将货物取出的空货箱，打包台用于将取出的货物进行打包处理。
具体的，参考图2，由于第一空箱线是用于输送未装有货物的第三货箱，因此，第一空箱线的起点可以是与打包台连接，当机器人从仓库中将装有待打包的货物的第三货箱搬运至打包台后，打包台将待打包的货物从第三货箱中取出进行打包处理，从而，该第三货箱变为空货箱，因此，可以通过第一空箱线将变为空货箱的第三货箱输送至操作台，从而，实现第三货箱的循环重复利用。
在一些实施例中，参考图2，输送线包括投箱线，用于将装有货物的第三货箱输送至入库地点。
在操作台对第二货箱内的货物进行换箱处理，即将第二货箱的货物转移至货箱信息满足预设要求的第三货箱后，装有货物的第三货箱流入投箱线，投箱线可以将装有货物的第三货箱输送至入库地点，从而可以对装有货物的第三货箱进行入库处理。
在一些实施例中，操作台的数量为至少两个；投箱线的货箱传输线路经过各操作台，投箱线用于将各操作台处理完成的装有货物的第三货箱输送至入库地点。
例如，参考图2，操作台包括操作台1以及操作台2，则投箱线的货箱传输线路经过操作台1以及操作台2，使得投箱线可以将操作台1以及操作台2处理完成的装有货物的第三货箱输送至入库地点。
在一些实施例中，入库地点的数量为至少两个；例如，参考图2，入库地点包括第一入库地点以及第二入库地点。
具体的，投箱线可以将各操作台处理完成的装有货物的第三货箱输送至各个入库地点，入库地点的状态可以分为空闲以及非空闲。其中，若入库地点处于非空闲状态，说明该入库地点当前有第三货箱正在进行入库处理；若入库地点处于空闲状态，说明该入库地点当前没有第三货箱进行入库处理。
因此，投箱线可以先获取各入库地点的当前状态，当存在空闲入库地点时，投箱线用于将装有货物的第三货箱输送至投箱线的货箱传输方向上的空闲入库地点，从而保证装有货物的第三货箱可以及时入库。
在一些实施例中，入库地点设置有缓存入库位(图中未示出)。
本实施例中，投箱线可以进一步获取各入库地点的缓存入库位的当前状态，若存在空闲缓存入库位，则说明投箱线可以将装有货物的第三货箱暂时放置在该空闲缓存入库位。
因此，当不存在空闲入库地点时，投箱线可以将装有货物的第三货箱输送至投箱线的货箱传输方向上的存在空闲缓存入库位的入库地点，即通过入库地点的空闲缓存入库位来缓存装有货物的第三货箱。
在一些实施例中，参考图2，投箱线包括第一子投箱线123以及第二子投箱线124；
第二子投箱线与第一子投箱线连通，第二子投箱线用于按照与第一子投箱线相反的货箱传输方向，将传输至第一子投箱线下游位置的第三货箱传输至第一子投箱线的上游位置和/或各入库地点。
例如，图2中的第一子投箱线是按照图中从操作台1向操作台2的方向进行货箱传输，则第二子投箱线可以按照图中从操作台2向操作台1的方向，将传输至第一子投箱线下游位置的第三货箱，重新传输至第一子投箱线的上游位置，和/或，传输至各入库地点。
此外，在第一子投箱线的待入库货箱较多时，若所有入库地点都处于非空闲状态，且不存在空闲缓存入库位，则第二子投箱线也可以与第一子投箱线组成环形传输线路，待入库货箱可以暂时在该环形传输线路上进行传输，直至出现空闲缓存入库位或者空闲入库地点后，再进行入库处理。
可选的，当存在空闲入库地点时，第二子投箱线用于将第三货箱输送至第二子投箱线的货箱传输方向上的空闲入库地点；当不存在空闲入库地点时，第二子投箱线用于将第三 货箱输送至第二子投箱线的货箱传输方向上的存在空闲缓存入库位的入库地点。
在一些实施例中，入库地点包括沿第一子投箱线的货箱传输方向依次设置的第一入库地点以及至少一个第二入库地点；
投箱线还包括货箱转移设备125；所述货箱转移设备用于将所述第三货箱由所述第一子投箱线转移至所述第二子投箱线，和/或，将所述第三货箱由所述第二子投箱线转移至所述第一子投箱线。
例如，假设第一子投箱线上的第三货箱传输至第一入库地点对应的位置时，该第一入库地点无法接收该第三货箱，因此，第一子投箱线按照货物传输方向对该第三货箱进行传输。
当第三货箱经过第一入库地点、且未达到第二入库地点对应的位置时，若货箱转移设备检测到第二入库地点无法接收该第三货箱，但是第一入库地点此时可以接收该第三货箱，比如第一入库地点出现空闲缓存入库位或者执行完入库任务，则货箱转移设备可以将该第三货箱由第一子投箱线转移至第二子投箱线上，由于第二子投箱线的货物传输方向与第一子投箱线相反，此时，该第三货箱可以在第二子投箱线的传输下，重新返回至第一入库地点，从而，使得该第三货箱可以在第一入库地点进行入库处理。
可以理解，货箱转移设备的数量可以是多个，例如可以是在每两个入库地点之间都设置一个货箱转移设备。
本实施例中，通过设置货箱转移设备，可以根据实际情况，配合第一子投箱线以及第二子投箱线对第三货箱的入库地点进行灵活调整，以保证入库任务正常进行。
在一些实施例中，参考图2，入库地点设置有卸料机；卸料机用于将装有货物的多个第三货箱转移至搬运机器人，以使得搬运机器人对装有货物的第三货箱进行入库处理。
可以理解，卸料机还用于将经由第一分支输送至入库地点的第一货箱转移至搬运机器人，以使得搬运机器人对第一货箱进行入库处理。
在一些实施例中，参考图2，输送线还包括第二空箱线126，用于将未装有货物的第二货箱输送至打包台，该第二空箱线可以是设置于第一子投箱线或者第二子投箱线的上方位置，或者，设置于第一子投箱线或者第二子投箱线的下方位置，或者，也可以设置为空中悬挂式等。
具体的，在操作台对第二货箱内的货物进行换箱处理，即将第二货箱的货物转移至货箱信息满足预设要求的第三货箱后，原来的第二货箱变为未装有货物的空货箱，虽然第二货箱的货箱信息不满足预设要求，即无法进行入库处理，但是，未装有货物的第二货箱可以用来装打包的货物，因此，通过设置第二空箱线，使得未装有货物的第二货箱可以通过第二空箱线被传输至打包台，从而实现第二货箱的重复利用。
在一些实施例中，提供一种货箱入库方法，应用于上述各实施例的仓储系统。
图4为本申请实施例提供的货箱入库方法的示意图，如图4所示，该方法主要包括以下步骤：
S100、当存在待入库货箱时，通过量框设备获取待入库货箱的货箱信息；
S200、通过服务器确定货箱信息是否满足预设要求；
S300、控制输送线的第一分支将所述待入库货箱中货箱信息满足预设要求的第一货箱输送至入库地点；
S400、控制输送线的第二分支将所述待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，并控制操作台将所述第二货箱的货物转移至货箱信息满足预设要求的第三货箱，以及控制输送线将所述第三货箱传输至入库地点，所述第三货箱为所述输送线上除所述第一货箱和第二货箱之外的货箱。
基于本实施例的方案，在仓储系统中，设置用于获取货箱的尺寸信息和/或类型信息的量框设备，再基于货箱的尺寸信息和/或类型信息确定货箱信息是否满足预设要求，若满足，则该货箱可以直接入库；若不满足，则先将该货箱的货物转移至货箱信息满足预设要求的另一货箱内，再对装有货物的另一货箱进行入库。通过本实施例的方案，可以保证所有入库货箱的货箱信息均满足预设要求，从而便于进行入库管理。
在一些实施例中，确定货箱信息是否满足预设要求，包括：
获取量框设备的图像采集装置采集的待入库货箱的图像信息；
根据待入库货箱的图像信息进行货箱类型识别，得到待入库货箱的类型识别结果；
根据类型识别结果确定待入库货箱的货箱信息是否满足预设要求；
其中，当类型识别结果为待入库货箱的类型属于预设类型时，确定待入库货箱的货箱信息满足预设要求。
在一些实施例中，还包括：
获取量框设备的3D传感器通过对待入库货箱进行尺寸测量处理得到的尺寸测量结果；
当待入库货箱的类型不属于预设类型时，根据尺寸测量结果确定待入库货箱的货箱信息是否满足预设要求；
其中，若尺寸测量结果在预设尺寸范围内，确定待入库货箱的货箱信息满足预设要求；
若尺寸测量结果超出预设尺寸范围，确定待入库货箱的货箱信息不满足预设要求。
在一些实施例中，确定货箱信息是否满足预设要求，包括：
获取量框设备的3D传感器通过对待入库货箱进行尺寸测量处理得到的尺寸测量结果；
根据尺寸测量结果确定待入库货箱的货箱信息是否满足预设要求；
其中，若尺寸测量结果在预设尺寸范围内，确定待入库货箱的货箱信息满足预设要求。
在一些实施例中，还包括：
获取量框设备的图像采集装置采集的待入库货箱的图像信息；
当待入库货箱的尺寸测量结果超出预设尺寸范围时，根据待入库货箱的图像信息进行货箱类型识别，得到待入库货箱的类型识别结果；
根据类型识别结果确定待入库货箱的货箱信息是否满足预设要求；
其中，当类型识别结果为待入库货箱的类型属于预设类型时，确定待入库货箱的货箱信息满足预设要求；
当类型识别结果为货箱的类型不属于预设类型时，确定待入库货箱的货箱信息不满足预设要求。
在一些实施例中，操作台的数量为至少两个；
控制输送线的第二分支将待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，包括：
当至少两个操作台中存在空闲操作台时，控制第二分支的入仓线将第二货箱输送至货物传输方向上的空闲操作台。
在一些实施例中，操作台包括缓存货位；
方法还包括：
当至少两个操作台中不存在空闲操作台时，控制第二分支的入仓线将第二货箱输送至货物传输方向上的存在空闲缓存货位的操作台。
在一些实施例中，操作台的数量为至少两个，操作台包括缓存货位；
控制输送线的第二分支将待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，包括：
控制第二分支的入仓线将Mi个第二货箱输送至各操作台，Mi为基于操作台以及缓存货位的状态确定得到；
其中，当第i个操作台为空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni+1；
当第i个操作台为非空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni。
在一些实施例中，操作台包括翻板结构，翻板结构用于连通操作台以及用于将待入库货箱输送至操作台的入仓线；
控制输送线的第二分支将待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，包括：
当检测到翻板结构由第一翻转状态切换为第二翻转状态时，控制第二分支的入仓线以及翻板结构将第二货箱输送至操作台；
其中，在第二翻转状态下，翻板结构靠近入仓线；
在第一翻转状态下，翻板结构远离入仓线。
在一些实施例中，入库地点的数量为至少两个；
将第三货箱经由输送线传输至入库地点，包括：
当存在空闲入库地点时，控制输送线中投箱线的第一子投箱线将第三货箱输送至货箱传输方向上的空闲入库地点。
在一些实施例中，入库地点设置有缓存入库位；
方法还包括：
当不存在空闲入库地点时，控制第一子投箱线将第三货箱输送至货箱传输方向上的存在空闲缓存入库位的入库地点。
在一些实施例中，所述输送线包括用于将装有货物的第三货箱输送至入库地点的投箱线；
所述方法还包括：
控制投箱线中的第二子投箱线，按照与投箱线中第一子投箱线相反的货箱传输方向，将传输至第一子投箱线下游位置的第三货箱传输至第一子投箱线的上游位置和/或各入库地点。
在一些实施例中，还包括：
当存在空闲入库地点时，控制第二分支的第二子投箱线将第三货箱输送至第二子投箱线的货箱传输方向上的空闲入库地点；
当不存在空闲入库地点时，控制第二分支的第二子投箱线将第三货箱输送至第二子投箱线的货箱传输方向上的存在空闲缓存入库位的入库地点。
在一些实施例中，入库地点包括沿第一子投箱线的货箱传输方向依次设置的第一入库地点以及至少一个第二入库地点；
方法还包括：
控制投箱线的货箱转移设备，将第三货箱由第一子投箱线转移至第二子投箱线，和/或，将第三货箱由第二子投箱线转移至第一子投箱线。
在一些实施例中，方法还包括：
控制设置于入库地点的卸料机将入库地点的第一货箱以及第三货箱转移至搬运机器人，以使得搬运机器人对第三货箱进行入库处理。
在一些实施例中，方法还包括：
控制输送线的第一空箱线，将未装有货物的、货箱信息满足预设要求的第三货箱输送至操作台；
第一空箱线与打包台连接，未装有货物的、货箱信息满足预设要求的第三货箱包括在打包台将货物取出的空货箱，打包台用于将取出的货物进行打包处理。
在一些实施例中，方法还包括：
控制第二分支的第二空箱线，将通过操作台完成货物转移后未装有货物的、货箱信息不满足预设要求的第二货箱输送至打包台。
关于货箱入库方法的具体限定可以参见上文中对于仓储系统的限定，在此不再赘述。
在一些实施例中，提供一种计算机设备，包括：存储器，处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现本申请各方法实施例的步骤。
在上述计算机设备中，存储器和处理器之间直接或间接地电性连接，以实现数据的传输或交互。例如，这些元件相互之间可以通过一条或者多条通信总线或信号线实现电性连接，如可以通过总线连接。存储器中存储有实现数据访问控制方法的计算机执行指令，包括至少一个可以软件或固件的形式存储于存储器中的软件功能模块，处理器通过运行存储在存储器内的软件程序以及模块，从而执行各种功能应用以及数据处理。
存储器可以是，但不限于，随机存取存储器(Random Access Memory，RAM)，只读存储器(Read Only Memory，ROM)，可编程只读存储器(Programmable Read-Only Memory，PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，EEPROM)等。其中，存储器用于存储程序，处理器在接收到执行指令后，执行程序。进一步地，上述存储器内的软件程序以及模块还可包括操作系统，其可包括各种用于管理系统任务(例如内存管理、存储设备控制、电源管理等)的软件组件和/或驱动，并可与各种硬件或软件组件相互通信，从而提供其他软件组件的运行环境。
处理器可以是一种集成电路芯片，具有信号的处理能力。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，CPU)、网络处理器(Network Processor，NP)等。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
在一些实施例中，提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现本申请各方法实施例的步骤。
在一些实施例中，提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现本申请各方法实施例的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)、DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
本领域技术人员在考虑说明书及实践这里公开的申请后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者 适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求书指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求书来限制。

Claims (39)

  1. 一种仓储系统，其特征在于，包括：
    输送线，用于输送货箱；
    量框设备，设置于所述输送线，用于获取货箱信息；
    其中，所述输送线包括第一分支以及第二分支，所述第一分支和所述第二分支相对于所述量框设备位于所述输送线的下游；
    所述第一分支用于输送第一货箱至入库地点，所述第一货箱为待入库货箱中货箱信息满足预设要求的货箱；
    所述第二分支用于输送第二货箱至操作台，所述第二货箱为待入库货箱中货箱信息不满足预设要求的货箱，所述操作台用于将所述第二货箱的货物转移至货箱信息满足预设要求的第三货箱，并将所述第三货箱经由所述输送线传输至入库地点，所述第三货箱为所述输送线上除所述第一货箱和第二货箱之外的货箱。
  2. 根据权利要求1所述的仓储系统，其特征在于，所述仓储系统还包括：服务器；
    所述量框设备包括：图像采集装置，用于获取待入库货箱的图像信息，并将所述图像信息发送至所述服务器；
    所述服务器用于根据所述待入库货箱的图像信息进行货箱类型识别，得到所述待入库货箱的类型识别结果，并根据所述类型识别结果确定所述待入库货箱的货箱信息是否满足预设要求；
    其中，当所述类型识别结果为所述待入库货箱的类型属于预设类型时，所述服务器用于确定所述待入库货箱的货箱信息满足预设要求。
  3. 根据权利要求2所述的仓储系统，其特征在于，所述量框设备还包括：3D传感器，用于对所述待入库货箱进行尺寸测量处理，并将得到的尺寸测量结果发送至所述服务器；
    所述服务器用于当所述待入库货箱的所述类型识别结果为所述待入库货箱的类型不属于预设类型时，根据所述尺寸测量结果确定所述待入库货箱的货箱信息是否满足预设要求；
    其中，若所述尺寸测量结果在预设尺寸范围内，所述服务器用于确定所述待入库货箱的货箱信息满足预设要求；
    若所述尺寸测量结果超出预设尺寸范围，所述服务器用于确定所述待入库货箱的货箱信息不满足预设要求。
  4. 根据权利要求1所述的仓储系统，其特征在于，所述仓储系统还包括：服务器；
    所述量框设备包括：3D传感器，用于对待入库货箱进行尺寸测量处理，并 将得到的尺寸测量结果发送至所述服务器；
    所述服务器用于根据所述尺寸测量结果确定所述待入库货箱的货箱信息是否满足预设要求；
    其中，若所述尺寸测量结果在预设尺寸范围内，所述服务器用于确定所述待入库货箱的货箱信息满足预设要求。
  5. 根据权利要求4所述的仓储系统，其特征在于，所述量框设备还包括：图像采集装置，用于获取待入库货箱的图像信息，并将所述图像信息发送至所述服务器；
    所述服务器用于当所述待入库货箱的尺寸测量结果超出预设尺寸范围时，根据所述待入库货箱的图像信息进行货箱类型识别，得到所述待入库货箱的类型识别结果，并根据所述类型识别结果确定所述待入库货箱的货箱信息是否满足预设要求；
    其中，当所述类型识别结果为所述待入库货箱的类型属于预设类型时，所述服务器用于确定所述待入库货箱的货箱信息满足预设要求；
    当所述类型识别结果为所述待入库货箱的类型不属于预设类型时，所述服务器用于确定所述待入库货箱的货箱信息不满足预设要求。
  6. 根据权利要求1所述的仓储系统，其特征在于，所述第二分支包括入仓线，用于将所述第二货箱输送至所述操作台。
  7. 根据权利要求6所述的仓储系统，其特征在于，所述操作台的数量为至少两个；
    当至少两个操作台中存在空闲操作台时，所述入仓线用于将所述第二货箱输送至货物传输方向上的空闲操作台。
  8. 根据权利要求7所述的仓储系统，其特征在于，所述操作台还包括缓存货位；
    当至少两个操作台中不存在空闲操作台时，所述入仓线用于将所述第二货箱输送至货物传输方向上的存在空闲缓存货位的操作台。
  9. 根据权利要求6所述的仓储系统，其特征在于，所述操作台的数量为至少两个，所述操作台还包括缓存货位；
    所述入仓线用于将Mi个第二货箱输送至各操作台，Mi为基于操作台以及缓存货位的状态确定得到；
    其中，当第i个操作台为空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni+1；
    当第i个操作台为非空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni。
  10. 根据权利要求6-9任一项所述的仓储系统，其特征在于，所述入仓线与 所述操作台之间通过翻板结构连通；
    当所述翻板结构由第一翻转状态切换为第二翻转状态时，所述入仓线通过所述翻板结构将所述第二货箱输送至所述操作台；
    其中，在所述第二翻转状态下，所述翻板结构靠近所述入仓线；
    在所述第一翻转状态下，所述翻板结构远离所述入仓线。
  11. 根据权利要求10所述的仓储系统，其特征在于，当所述翻板结构处于第二翻转状态时，所述翻板结构用于作为所述操作台的缓存货位。
  12. 根据权利要求1-9任一项所述的仓储系统，其特征在于，所述输送线包括第一空箱线，用于将未装有货物的第三货箱输送至所述操作台。
  13. 根据权利要求12所述的仓储系统，其特征在于，所述第一空箱线与打包台连接，所述未装有货物的第三货箱包括在所述打包台将货物取出的空货箱，所述打包台用于将取出的货物进行打包处理。
  14. 根据权利要求1-9任一项所述的仓储系统，其特征在于，所述输送线包括投箱线，用于将装有货物的第三货箱输送至入库地点。
  15. 根据权利要求14所述的仓储系统，其特征在于，所述操作台的数量为至少两个；
    所述投箱线的货箱传输线路经过各所述操作台，所述投箱线用于将各所述操作台处理完成的装有货物的第三货箱输送至入库地点。
  16. 根据权利要求14所述的仓储系统，其特征在于，所述入库地点的数量为至少两个；
    当存在空闲入库地点时，所述投箱线用于将所述装有货物的第三货箱输送至所述投箱线的货箱传输方向上的空闲入库地点。
  17. 根据权利要求16所述的仓储系统，其特征在于，所述入库地点设置有缓存入库位；
    当不存在空闲入库地点时，所述投箱线用于将所述装有货物的第三货箱输送至所述投箱线的货箱传输方向上的存在空闲缓存入库位的入库地点。
  18. 根据权利要求16所述的仓储系统，其特征在于，所述投箱线包括第一子投箱线以及第二子投箱线；
    所述第一子投箱线用于将装有货物的第三货箱输送至入库地点；
    所述第二子投箱线与所述第一子投箱线连通，所述第二子投箱线用于按照与所述第一子投箱线相反的货箱传输方向，将传输至所述第一子投箱线下游位置的第三货箱传输至所述第一子投箱线的上游位置和/或各所述入库地点。
  19. 根据权利要求18所述的仓储系统，其特征在于，当存在空闲入库地点时，所述第二子投箱线用于将所述第三货箱输送至所述第二子投箱线的货箱传输方向上的空闲入库地点；
    当不存在空闲入库地点时，所述第二子投箱线用于将所述第三货箱输送至所述第二子投箱线的货箱传输方向上的存在空闲缓存入库位的入库地点。
  20. 根据权利要求18所述的仓储系统，其特征在于，所述入库地点包括沿所述第一子投箱线的货箱传输方向依次设置的第一入库地点以及至少一个第二入库地点；
    所述投箱线还包括货箱转移设备；所述货箱转移设备用于将所述第三货箱由所述第一子投箱线转移至所述第二子投箱线，和/或，将所述第三货箱由所述第二子投箱线转移至所述第一子投箱线。
  21. 根据权利要求1-9任一项所述的仓储系统，其特征在于，所述入库地点设置有卸料机；
    所述卸料机用于将装有货物的多个第三货箱转移至搬运机器人，以使得所述搬运机器人对所述装有货物的第三货箱进行入库处理。
  22. 根据权利要求1-9任一项所述的仓储系统，其特征在于，所述输送线还包括第二空箱线，用于将未装有货物的第二货箱输送至打包台。
  23. 一种货箱入库方法，应用于权利要求1-22任一项所述的仓储系统，其特征在于，包括：
    当存在待入库货箱时，通过量框设备获取待入库货箱的货箱信息；
    通过服务器确定所述货箱信息是否满足预设要求；
    控制输送线的第一分支将所述待入库货箱中货箱信息满足预设要求的第一货箱输送至入库地点；
    控制输送线的第二分支将所述待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，并控制操作台将所述第二货箱的货物转移至货箱信息满足预设要求的第三货箱，以及控制所述输送线将所述第三货箱传输至入库地点，所述第三货箱为所述输送线上除所述第一货箱和第二货箱之外的货箱。
  24. 根据权利要求23所述的方法，其特征在于，所述操作台包括翻板结构，所述翻板结构用于连通所述操作台以及用于将待入库货箱输送至操作台的入仓线；
    控制输送线的第二分支将所述待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，包括：
    当检测到所述翻板结构由第一翻转状态切换为第二翻转状态时，控制所述第二分支的入仓线以及所述翻板结构将所述第二货箱输送至所述操作台；
    其中，在所述第二翻转状态下，所述翻板结构靠近所述入仓线；
    在所述第一翻转状态下，所述翻板结构远离所述入仓线。
  25. 根据权利要求23所述的方法，其特征在于，确定所述货箱信息是否满足预设要求，包括：
    获取所述量框设备的图像采集装置采集的所述待入库货箱的图像信息；
    根据所述待入库货箱的图像信息进行货箱类型识别，得到所述待入库货箱的类型识别结果；
    根据所述类型识别结果确定所述待入库货箱的货箱信息是否满足预设要求；
    其中，当所述类型识别结果为所述待入库货箱的类型属于预设类型时，确定所述待入库货箱的货箱信息满足预设要求。
  26. 根据权利要求25所述的方法，其特征在于，还包括：
    获取所述量框设备的3D传感器通过对所述待入库货箱进行尺寸测量处理得到的尺寸测量结果；
    当所述待入库货箱的类型不属于预设类型时，根据所述尺寸测量结果确定所述待入库货箱的货箱信息是否满足预设要求；
    其中，若所述尺寸测量结果在预设尺寸范围内，确定所述待入库货箱的货箱信息满足预设要求；
    若所述尺寸测量结果超出预设尺寸范围，确定所述待入库货箱的货箱信息不满足预设要求。
  27. 根据权利要求23所述的方法，其特征在于，确定所述货箱信息是否满足预设要求，包括：
    获取所述量框设备的3D传感器通过对所述待入库货箱进行尺寸测量处理得到的尺寸测量结果；
    根据所述尺寸测量结果确定所述待入库货箱的货箱信息是否满足预设要求；
    其中，若所述尺寸测量结果在预设尺寸范围内，确定所述待入库货箱的货箱信息满足预设要求。
  28. 根据权利要求27所述的方法，其特征在于，还包括：
    获取所述量框设备的图像采集装置采集的所述待入库货箱的图像信息；
    当所述待入库货箱的尺寸测量结果超出预设尺寸范围时，根据所述待入库货箱的图像信息进行货箱类型识别，得到所述待入库货箱的类型识别结果；
    根据所述类型识别结果确定所述待入库货箱的货箱信息是否满足预设要求；
    其中，当所述类型识别结果为所述待入库货箱的类型属于预设类型时，确定所述待入库货箱的货箱信息满足预设要求；
    当所述类型识别结果为所述货箱的类型不属于预设类型时，确定所述待入库货箱的货箱信息不满足预设要求。
  29. 根据权利要求23所述的方法，其特征在于，所述操作台的数量为至少两个；
    控制输送线的第二分支将所述待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，包括：
    当至少两个操作台中存在空闲操作台时，控制所述第二分支的入仓线将所述第二货箱输送至货物传输方向上的空闲操作台。
  30. 根据权利要求29所述的方法，其特征在于，所述操作台包括缓存货位；
    所述方法还包括：
    当至少两个操作台中不存在空闲操作台时，控制所述第二分支的入仓线将所述第二货箱输送至货物传输方向上的存在空闲缓存货位的操作台。
  31. 根据权利要求23所述的方法，其特征在于，所述操作台的数量为至少两个，所述操作台包括缓存货位；
    控制输送线的第二分支将所述待入库货箱中货箱信息不满足预设要求的第二货箱输送至操作台，包括：
    控制所述第二分支的入仓线将Mi个第二货箱输送至各操作台，Mi为基于操作台以及缓存货位的状态确定得到；
    其中，当第i个操作台为空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni+1；
    当第i个操作台为非空闲状态，且第i个操作台上状态为空的缓存货位的数量为Ni时，Mi＝Ni。
  32. 根据权利要求23所述的方法，其特征在于，所述入库地点的数量为至少两个；
    将所述第三货箱经由所述输送线传输至入库地点，包括：
    当存在空闲入库地点时，控制所述输送线中投箱线的第一子投箱线将所述第三货箱输送至货箱传输方向上的空闲入库地点。
  33. 根据权利要求32所述的方法，其特征在于，所述入库地点设置有缓存入库位；
    所述方法还包括：
    当不存在空闲入库地点时，控制所述第一子投箱线将所述第三货箱输送至货箱传输方向上的存在空闲缓存入库位的入库地点。
  34. 根据权利要求23所述的方法，其特征在于，所述输送线包括用于将装有货物的第三货箱输送至入库地点的投箱线；
    所述方法还包括：
    控制投箱线中的第二子投箱线，按照与所述投箱线中第一子投箱线相反的货箱传输方向，将传输至所述第一子投箱线下游位置的第三货箱传输至所述第一子投箱线的上游位置和/或各所述入库地点。
  35. 根据权利要求34所述的方法，其特征在于，还包括：
    当存在空闲入库地点时，控制所述第二分支的第二子投箱线将所述第三货箱输送至所述第二子投箱线的货箱传输方向上的空闲入库地点；
    当不存在空闲入库地点时，控制所述第二分支的第二子投箱线将所述第三货箱输送至所述第二子投箱线的货箱传输方向上的存在空闲缓存入库位的入库地点。
  36. 根据权利要求35所述的方法，其特征在于，所述入库地点包括沿所述第一子投箱线的货箱传输方向依次设置的第一入库地点以及至少一个第二入库地点；
    所述方法还包括：
    控制所述投箱线的货箱转移设备，将所述第三货箱由所述第一子投箱线转移至所述第二子投箱线，和/或，将所述第三货箱由所述第二子投箱线转移至所述第一子投箱线。
  37. 根据权利要求23所述的方法，其特征在于，所述方法还包括：
    控制设置于所述入库地点的卸料机将所述入库地点的第一货箱以及第三货箱转移至搬运机器人，以使得所述搬运机器人对所述第三货箱进行入库处理。
  38. 根据权利要求23所述的方法，其特征在于，所述方法还包括：
    控制所述输送线的第一空箱线，将未装有货物的、货箱信息满足预设要求的第三货箱输送至所述操作台；
    所述第一空箱线与打包台连接，所述未装有货物的、货箱信息满足预设要求的第三货箱包括在所述打包台将货物取出的空货箱，所述打包台用于将取出的货物进行打包处理。
  39. 根据权利要求23所述的方法，其特征在于，所述方法还包括：
    控制所述第二分支的第二空箱线，将通过操作台完成货物转移后未装有货物的、货箱信息不满足预设要求的第二货箱输送至打包台。
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