WO2024022099A1

WO2024022099A1 - Product pickup method, product placing method, management terminal, and warehousing system

Info

Publication number: WO2024022099A1
Application number: PCT/CN2023/106643
Authority: WO
Inventors: 林翰; 徐圣东
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2022-07-27
Filing date: 2023-07-10
Publication date: 2024-02-01
Also published as: CN115092596A

Abstract

A product pickup method, a product placing method, a first robot, a second robot, a management terminal, a warehousing system, and a storage medium, relating to the technical field of warehousing management. The product pickup method comprises: a first robot (200) moving a target product from a storage layer (140) to a temporary storage layer (150), the storage layer (140) being used for product storage, and the temporary storage layer (150) being used for temporary product storage; and a second robot (300) moving the target product away from the temporary storage layer (150). The first robot (200) and the second robot (300) are both lifting robots, and can carry multiple products in one pass, thereby improving carrying efficiency.

Description

Pick-up methods, delivery methods, management terminals and warehousing systems

This application requires the priority of the Chinese patent application submitted to the China Patent Office on July 27, 2022, with the application number 202210892978.8 and the application name "pickup method, delivery method, management terminal and warehousing system", and its entire content has been approved This reference is incorporated into this application.

Technical field

The invention relates to the technical field of warehousing management, and in particular to a method of picking up goods, a method of placing goods, a first robot, a second robot, a management terminal, a warehousing system and a storage medium.

Background technique

In the field of warehousing, robots are often used to assist in the entry and exit of goods for automated warehousing management. In current warehousing systems, two robots are often used to work together to store and retrieve goods. However, the current solution for robots to pick and place goods has low handling efficiency.

Contents of the invention

Embodiments of the present invention provide a method of picking up goods, a method of placing goods, a first robot, a second robot, a management terminal, a warehousing system and a storage medium, which can improve the handling efficiency of the robot.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:

In a first aspect, embodiments of the present application provide a method for picking up goods, including:

The first robot moves the target goods from the storage layer to the cache layer, the storage layer is used to store the goods, and the cache layer is used to cache the goods;

The second robot moves the target goods away from the cache layer;

Wherein, the first robot and the second robot are lift-type robots.

In the second aspect, the embodiment of the present application also provides a method of releasing goods, including:

The second robot places the target goods on the cache layer, which is used to cache the goods;

The first robot moves the target goods from the cache layer to the storage layer, and the storage layer is used to store goods;

Wherein, the first robot and the second robot are lift-type robots.

In a third aspect, embodiments of the present application also provide a management terminal, including:

A processor and a memory communicatively connected to the processor;

Computer program instructions are stored in the memory, and when called by the processor, the computer program instructions cause the processor to execute the method as described above.

In a fourth aspect, embodiments of the present application also provide a first robot, including:

A processor and a memory communicatively connected to the processor;

Computer program instructions are stored in the memory, and when called by the processor, the computer program instructions cause the processor to execute the method performed by the first robot as described above.

In a fifth aspect, embodiments of the present application also provide a second robot, including:

A processor and a memory communicatively connected to the processor;

Computer program instructions are stored in the memory, and when called by the processor, the computer program instructions cause the processor to execute the method performed by the second robot as described above.

In a sixth aspect, embodiments of the present application also provide a warehousing system, including: multiple shelves, the above-mentioned management Terminal, first robot and second robot.

In a seventh aspect, embodiments of the present application further provide a storage medium that stores computer-executable instructions, and the computer-executable instructions are used to cause the electronic device to execute the method as described above.

In the embodiment of the present invention, the first robot and the second robot work together to pick up and place goods. The first robot is responsible for transporting the goods between the storage layer and the cache layer to perform the up and down positioning of the goods. The third robot is responsible for transporting the goods between the storage layer and the cache layer. The second robot is responsible for moving the goods to perform horizontal position translocation of the goods. Moreover, both the first robot and the second robot adopt lift-type robots, which can transport multiple goods at one time and have high transport efficiency.

Description of drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These illustrative illustrations do not constitute limitations to the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings are not intended to be limited to scale.

Figures 1a-1c are schematic diagrams of the warehousing system according to the embodiment of the present application;

Figures 2a-2c are structural schematic diagrams of storage shelves according to the embodiment of the present application;

Figure 3a is a schematic structural diagram of a support member in a storage shelf according to the embodiment of the present application;

Figures 3b to 3f are schematic diagrams of goods storage methods in storage racks according to the embodiment of the present application;

Figure 4a is a schematic structural diagram of the first robot according to the embodiment of the present application;

Figure 4b is a schematic structural diagram of the access mechanism in the first robot according to the embodiment of the present application;

Figure 5 is a schematic structural diagram of the second robot according to the embodiment of the present application;

Figure 6 is a schematic diagram of the picking method of the second robot according to the embodiment of the present application;

Figure 7 is a schematic diagram of the hardware structure of the management terminal according to the embodiment of the present application;

Figure 8 is a flow chart of the method of picking up goods according to the embodiment of the present application;

Figure 9 is a flow chart of the first robot moving goods from the storage layer to the cache layer in the goods picking method according to the embodiment of the present application;

Figures 10a-10d are schematic diagrams of the first robot taking goods from the cache layer or storage layer according to the embodiment of the present application;

Figures 11a-12f are schematic diagrams of the target cargo storage method;

Figure 13 is a flow chart of the first robot moving goods from the storage layer to the cache layer in the goods picking method according to the embodiment of the present application;

Figures 14a-17 are schematic diagrams of target cargo storage methods;

Figures 18a-19c are schematic diagrams of the first robot and the second robot cooperating to transport goods;

Figure 20 is a flow chart of the delivery method according to the embodiment of the present application;

21-22 are flow charts of the first robot moving goods from the cache layer to the storage layer in the goods placing method according to the embodiment of the present application.

Detailed ways

In order to facilitate understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is referred to as being "secured" to another element, it can be directly on the other element, or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element, or there may be one or more intervening elements present therebetween. The terms "upper", "lower", "inner", "outer" and "bottom" used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention. The invention and simplified description are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore are not to be construed as limitations of the invention. Furthermore, the terms “first”, “second”, “third”, etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings commonly understood by those skilled in the technical field belonging to the present invention. The terminology used in this specification in the description of the invention is for the purpose of describing the The specific examples described are not intended to limit the invention. As used in this specification, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Figure 1a shows a warehousing system 1000. The warehousing system 1000 spatially includes a storage area a and a public area b. The storage area a is used to store goods, and the public area b is an area outside the storage area and is used as a transition area. Access to entrances and/or exits, as well as placement of other equipment (e.g. robots, control equipment), etc.

A plurality of storage shelves 100 are provided in the storage area a. Between adjacent storage shelves 100 and between the storage shelves 100 and the public area b, a passage is formed for the robot to walk. The robot can store and retrieve goods through the passage. The passage is connected to the passage. Public area b is connected, and the robot can also reach public area b through this channel.

The warehousing system 1000 can also include robots, which can walk in aisles and public areas b, automatically store and retrieve goods, and assist in the entry and exit of goods.

The storage shelf 100 can be any structure that can store goods. In some applications, in order to store more goods, the storage shelf 100 is usually configured as a structure with multiple layers of shelves, and each layer of shelves is used to store goods.

In some of these embodiments, the storage rack 100 includes at least one storage layer and at least one cache layer. The storage layer has at least one storage location for storing goods. The cache layer has at least one cache location for caching goods. That is, the storage layer is the final storage area of the goods, and the cache layer serves as the intermediate transition area between the storage area and the target location, or the initial location and the target storage area.

Figure 2a shows a structure of a storage shelf 100. In the embodiment shown in Figure 2a, the storage shelf 100 includes a bracket 110, a first support structure 120 and a second support structure 130. The bracket 110 serves as a supporting component for supporting the first supporting structure 120 and the second supporting structure 130 disposed thereon.

The bracket 110 may include a plurality of vertical columns arranged at intervals along a preset circular trajectory. In this embodiment, the plurality of columns may surround a rectangular frame or a circular frame. The examples are not limited here.

In addition, the number of columns can be three, four or other. In the embodiment shown in Figures 2a and 2b, the number of uprights is four, the four uprights form a rectangular frame, and each upright is located at the four corners of the rectangle. In the embodiment shown in Figure 2c, the number of columns is eight, and every four adjacent columns form a rectangular frame, and each column is located at the four top corners of the rectangle.

The bracket 110 may also include a connecting mechanism (not shown) for connecting adjacent columns so that the columns can stand firmly on the ground or other flat surfaces.

The number of the first support structures 120 is at least one (four first support structures are taken as an example in Figure 2a), and each first support structure 120 is spaced on the bracket 110 along the height direction of the bracket 110. That is to say, the first A support structure 120 is arranged on the column at intervals along the extending direction of the column.

The first support structure 120 is used to carry goods. The upper area of the first support structure 120 forms a storage layer 140. The volumes of each storage layer may be the same or different.

The locations on the storage level can be divided evenly or unevenly, and physical separation (such as baffles, or cargo baskets, etc.) can be set up to define each storage location. Storage locations can have the same or different dimensions to accommodate goods of different sizes. In other embodiments, the storage layer does not need to be divided. The storage layer serves as a connected space. Goods can be placed in the storage layer at will, and the storage location is defined by the volume of the goods.

The first support structure 120 can be in various structural forms. For example, the first support structure 120 can include a support plate, and the edge of the support plate can be fixedly connected to the bracket 110 . For another example, the first support structure 120 may also include a support frame and a support plate connected to the support frame, wherein the support frame may be fixedly connected to the bracket 110 . For another example, the first support structure may also include a cross beam and a plurality of plates connected to the cross beam, where both ends of the cross beam may be connected to the bracket 110 respectively. Through the arrangement of the support frame and the cross beam, the strength of the connection between the first support structure 120 and the bracket 110 can be strengthened, and the structural strength of the storage shelf 100 can be improved.

Figures 2a, 2b and 2c exemplarily illustrate the structure of the first support structure 120. In the embodiment shown in Figures 2a and 2b, the first support structure 120 is a support plate.

In the embodiment shown in Figure 2c, the first support structure 120 includes a plurality of support members 121, and the storage location is defined by at least two support members 121 (for example, 2, 3 or 4, etc.). In the embodiment shown in Figure 2c, along the length direction of the storage shelf, an intermediate column is also provided between the columns on both sides, and each support member is fixed on each column respectively. In this embodiment, the length direction of the storage shelf is the X direction in Figure 2a, and the height direction of the storage shelf is the Z direction in Figure 2a.

The storage location is defined by at least two supports, that is, the support structure below the storage location is not a complete structure. In this way, a free space can be left below the storage location to form a pick-up space for the robot's picking device to extend into. cargo channel. As shown in Figure 2c, the supports 121 that define the storage location are respectively distributed on the left and right sides of the storage location. Then, there is a space area between the support on the left and the support on the right, or in other words, A pick-up channel is formed between the left support member and the right support member.

Taking the storage location having two supporting members as an example, please refer to Figure 3a. The storage location is defined by the first supporting member 131a and the second supporting member 131b. Viewed from the width direction of the storage shelf 100 (ie, the Y direction in Figure 3), the first support member 131a and the second support member 131b each include a first end and a second end arranged oppositely, and the first support member 131a has a first end and a second end. A first opening 132 is formed between one end and the first end of the second support member 131b, and a second opening 133 is formed between the second end of the first support member 131a and the second end of the second support member 131b.

That is, there is an idle area between the first support member 131a and the second support member 131b, or in other words, a pickup channel 134 is formed between the first support member 131a and the second support member 131b. In practical applications, the first support member 131a and the second support member 131b can be fixed on the upright column.

Then, the robot's pick-up device, such as a lifting mechanism or a fork mechanism, can reach below the storage location from the first opening or the second opening to access the goods. The arrangement of the first support structure can be applied to a variety of robots for depositing and retrieving goods, such as lift-type robots, holding-type robots, etc.

It should be noted that Figure 2c is only a schematic diagram. In practical applications, a connecting mechanism can be provided between each column, such as a reinforcing beam to connect two adjacent columns respectively, so that the storage shelf can stand stably.

The number of the second support structure 130 is at least one (one second support structure is taken as an example in Figure 2a).

When more than two second support structures 130 are included, each second support structure 130 is arranged on the bracket 110 at intervals along the height direction of the bracket 110 . The second support structure 130 is used to carry goods, and the upper area of the second support structure 130 forms the cache layer 150 .

The cache layer may be disposed above the storage layer, may be disposed below the storage layer, or may be disposed between the storage layers. That is, the second support structure 130 may be disposed above each first support structure 120 , may be disposed below each first support structure 120 , or may be disposed between each first support structure 120 . In the embodiment shown in FIGS. 2 a - 2 c , the cache layer 150 is disposed under each storage layer 140 , that is, at the bottom of the storage shelf 100 .

The second support structure 130 may adopt the same structure as the first support structure 120 , or may adopt a different structure from the first support structure 120 . In principle, any structure applicable to the first support structure 120 may be applicable to the second support structure 130 .

The second support structure 130 can be fixed on the column, or can be suspended on the first support structure 130 located above it. In the embodiment shown in Figures 2a and 2c, the second support structure 130 is fixed on the column. In the embodiment shown in Figure 2b, the second support structure 130 is suspended on the first support structure 120 at the lowest level.

In the storage shelf 100 shown in Figures 2a to 2c, a moving area is provided at the bottom of the shelf, that is, below the cache location, for the robot to walk.

It should be noted that the above-mentioned storage layer, cache layer, storage location, cache location, etc. are not the specific structures in the storage shelf 100, but are the storage carriers (such as storage layer boards, cache layer boards, support layers) in the storage shelf 100. The storage space defined by the structure, the first support member and the second support member).

When using the storage layer and cache layer of the storage shelf 100 to store goods, any suitable storage method can be used. For example, a single-deep bit storage mode, a double-deep bit storage mode, a multi-deep bit storage mode, or a hybrid storage mode, etc. are used. The embodiments of the present application do not limit the storage mode.

The above-mentioned single-depth storage method means that for a certain cargo A, only one cargo A can be stored along the width direction of the storage shelf, or only one cargo can be placed. The double-deep storage method means that only two goods A can be stored along the width of the storage shelf, or only one goods A and other goods can be placed, or only two goods can be placed. Multi-depth storage means that three or more goods A can be stored along the width of the storage shelf, or a total of three or more goods A and other goods can be stored, or three or more goods A can be stored. of goods.

Taking the shelf structure shown in Figure 3a as an example, Figure 3b shows a single-deep storage mode, Figure 3c shows a double-deep storage mode, and Figure 3d, Figure 3e and Figure 3f all show a multi-deep storage mode. Deep bit storage mode (three deep bit storage mode).

When the robot stores and retrieves goods, in addition to moving the goods, it also needs to move the goods between the storage layer and the cache layer. Therefore, the robot needs to have the ability to climb and move.

Robots with excellent climbing and mobility capabilities are more expensive. In some applications, in order to improve handling efficiency without increasing costs, robots with climbing capabilities and robots with mobility capabilities are used to work together to store and retrieve goods. The robot with the ability to climb performs the up and down positioning of goods, and the robot with the ability to move performs the horizontal positioning of the goods.

The warehousing system 1000 shown in Figure 1b also includes a first robot 200 and a second robot 300. The first robot 200 is a robot with climbing capabilities and is mainly responsible for the up and down positioning of goods. The second robot 300 is a robot with mobile capabilities and is mainly responsible for horizontal position shifting of goods.

It should be noted that the embodiment of the present application does not limit the capabilities of each robot. In this embodiment, the description of the robot's capabilities is only used to illustrate the main purpose of the robot in the warehousing system. Of course, the first robot 200 also It may have the ability to move, and the second robot 300 may also have the ability to climb.

The first robot 200 is used to transport goods between the cache layer and the storage layer, and the second robot 300 is used to access goods in the cache layer. The first robot 200 and the second robot 300 cooperate with each other to transport goods. For example, when goods are shipped out of the warehouse, the first robot 200 can first transport the goods from the storage layer to the cache layer, and then the second robot 300 can transport the goods from the cache layer away. When the goods are put into storage, the second robot 300 transports the goods to the cache layer, and then the first robot 200 transports the goods from the cache layer to the storage layer.

The first robot 200 can be any suitable robot with climbing capabilities, for example, a holding robot with a lifting function, or a lifting robot with a lifting function. Relatively speaking, the pick-up robot can only carry one piece of goods at a time, while the lift-type robot can carry multiple goods at one time, and the handling efficiency is higher.

Figure 4a shows a structure of the first robot 200. In the embodiment shown in Figure 4a, the first robot 200 is a lifting robot. It includes a first robot body 210, a temporary storage mechanism 220 and an access mechanism 230. The first robot body 210 further includes a lifting mechanism 211 and a base 212.

Please refer to FIG. 4b , the first robot 200 further includes a first lifting mechanism 231 , and the first lifting mechanism 231 can extend out of the access mechanism 230 , or retract into the storage mechanism 230 . When the first lifting mechanism extends out of the access mechanism 230, the first lifting mechanism 231 is exposed outside the access mechanism 230. When the first lifting mechanism 231 retracts into the access mechanism 230, the first lifting mechanism 231 is exposed outside the access mechanism 230. Hidden within the access mechanism 230.

The temporary storage mechanism 220 can be a shelf structure and is used to temporarily store goods. The first lifting mechanism 231 can be used to lift goods to store and retrieve goods.

The lifting mechanism 211 can move up and down relative to the base 212. When transporting goods from the buffer layer to the storage layer, the access mechanism 230 can be raised by the lifting mechanism 211, and then the first lifting mechanism 230 can be used to place the goods on the storage layer. . When transporting goods from the storage layer to the cache layer, the first lifting mechanism 230 can be lowered through the lifting mechanism 211, and then the first lifting mechanism 230 is used to place the goods on the cache layer.

Figures 4a and 4b only illustrate a structure of the first robot. In other embodiments, the first robot may also adopt other structures. For example, the temporary storage mechanism 220 may be omitted or other mechanisms may be added.

When the first robot adopts a lift-type robot, the first robot can adopt a single-depth handling method. In order to make the first robot The robot can transport more goods at one time. The first robot can also adopt a double-depth handling method or a multi-depth handling method (depth greater than or equal to 3).

The above-mentioned single-deep handling method means that for a certain cargo A, the first lifting mechanism of the first robot can only carry one cargo A at a time, or only one cargo at a time; the double-deep handling method means The first lifting mechanism can only carry two goods A at a time, or two goods at a time; the multi-depth handling method means that the first lifting mechanism can carry three or more goods A at a time.

The second robot 300 can be any suitable robot with mobile capabilities, such as an automatic guided vehicle (AGV) with a second lifting mechanism 320 shown in Figure 5. The second lifting mechanism 320 can Disposed on the second robot body 310. The second lifting mechanism 320 is used to lift goods, and the second lifting mechanism 320 may have lifting capabilities.

In some embodiments, the second lifting mechanism 320 can be hidden or exposed on the second robot body 310 , and when the second lifting mechanism 320 is exposed on the second robot body 310 , it can be used to lift goods.

When the second robot adopts a lift-type robot, the second robot can adopt a single-deep handling method. In order to enable the second robot to transport more goods at one time, the second robot can also adopt a double-deep handling method or a multi-deep handling method. Bit transfer method. Figure 6 shows the situation where the second robot adopts the double-deep handling method.

It should be noted that “first” and “second” in the above embodiments are only used to distinguish similar devices and do not constitute a structural limitation.

In other embodiments, please refer to Figure 1c. The warehousing system 1000 also includes a management terminal 400. Figure 7 schematically shows the hardware structure of the management terminal 400. As shown in Figure 7, the management terminal 400 includes a memory 41 and a processing unit. Device 42.

Among them, the memory 41 serves as a non-volatile computer-readable storage medium and can be used to store non-volatile software programs and non-volatile computer-executable program instructions. The memory 41 may include a stored program area and a stored data area, where the stored program area may store an operating system and an application program required for at least one function; the stored data area may store data created according to the use of the management terminal, etc.

In addition, the memory 41 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 41 optionally includes memories remotely located relative to the processor 42, and these remote memories can be connected to the management terminal through a network.

Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.

The processor 42 uses various interfaces and lines to connect various parts of the entire management terminal 40, and executes various functions and processes of the management terminal by running or executing software programs stored in the memory 41 and calling data stored in the memory 41. Data, for example, implements the method described in any embodiment of this application.

The number of processors 42 may be one or more. In FIG. 7 , one processor 42 is taken as an example. The processor 42 and the memory 41 may be connected through a bus or other means. In FIG. 7 , the connection through a bus is taken as an example.

Processor 42 may include a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) device, or the like. Processor 22 may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.

Those skilled in the art can understand that the above is only an example of the structure of the warehousing system. In practical applications, more equipment or areas can be added to the warehousing system according to actual functional needs. Of course, it can also be omitted according to functional needs. One or more of these devices or areas.

The embodiment of the present application also provides a method of picking up goods and a method of placing goods respectively. The picking method and the placing method are applied to the above-mentioned warehousing system, and the first robot and the second robot can be respectively instructed by the above-mentioned management terminal 400 to perform corresponding operations. A step of. In other embodiments, there is no need for management control by the management terminal 400, and the first robot and the second robot can perform corresponding steps by themselves.

Each embodiment of the picking method and the placing method is described below. In order to improve the handling efficiency, the picking method and the placing method are In various embodiments of the cargo method, both the first robot and the second robot are lift-type robots.

Please refer to Figure 8. The method of picking up goods provided by the embodiment of this application includes:

101: The first robot moves the target goods from the storage layer to the cache layer. The storage layer is used to store goods, and the cache layer is used to cache goods.

Among them, the target cargo can be a single cargo, two cargoes, or more than two cargoes. The target goods can be stored in single-deep storage, double-deep storage or multi-deep storage.

When the side of the target cargo facing the first robot is not blocked by other cargo, the first robot can use the following handling method A as shown in Figure 9 to transport the target cargo:

101a: The first robot uses the first lifting mechanism to take out the target goods from the storage layer.

Figures 10a-10d schematically illustrate the picking process of the first robot using the first lifting mechanism 231. Figure 10a shows that the first robot is preparing to pick up goods, and the first lifting mechanism 231 is hidden in the access mechanism 230; Figure 10b shows that the first robot stretches out the first lifting mechanism 231; Figure 10c shows that The first robot uses the first lifting mechanism 231 to lift the target cargo; Figure 10d shows that the first lifting mechanism retracts the first lifting mechanism, and the storage mechanism 230 obtains the target cargo.

101b: The first robot uses the first lifting mechanism to place the target goods on the cache layer.

That is, when the side of the target cargo facing the first robot is not blocked by other cargo, the first robot can directly use the first lifting mechanism to take out the target cargo from the storage layer and place it on the cache layer.

At this time, the possible placement method of the target cargo may be that the target cargo is a single cargo, using a single-deep storage method, a double-deep storage method, or a multi-deep storage method, and the single cargo has no side facing the first robot. For other goods, please refer to Figures 11a-11k, in which the grid-filled rectangle represents the target goods, the unfilled rectangle represents other goods, A is the side facing the first robot, and B is the other side opposite to A.

In addition, the target goods can also be placed in such a way that the target goods are two or more goods, the target goods adopt a double-deep storage method or a multi-depth storage method, and there is no gap between at least two goods. Other goods and the target goods are not blocked by other goods on the side facing the first robot. Please refer to Figure 12a-Figure 12f. It should be noted that Figures 12a to 12f are only illustrative examples and are not intended to be an exhaustive list of placement methods of target goods.

When the side of the target cargo facing the first robot is blocked by other cargo, the first robot can use the following handling method B as shown in Figure 13 to transport the target cargo:

101c: The first robot uses the first lifting mechanism to take out the target goods and other goods from the storage layer.

In actual application, the picking process can be referred to Figure 10a-Figure 10d.

101d: The first robot places the target goods and other goods in the free cache location of the cache layer.

101e: The first robot uses the first lifting mechanism to place other goods on the storage layer.

Specifically, the first robot can first place other goods and target goods on the free cache location of the cache layer, and then retrieve the other goods and place them on the storage layer, such as placing them at their original positions on the storage layer, or placing them on the storage layer. Other free storage locations in the tier.

When the first robot adopts a lifting robot, since the first robot can carry other goods and the target goods at the same time, when the target goods are blocked by other goods, the handling speed is faster.

In other embodiments, after the first robot uses the first lifting mechanism to take out the target goods and other goods, the first lifting mechanism may only extend part of the first lifting mechanism to place the target goods first and then other goods. For example, the first robot can also use the following method to move goods from the storage layer to the cache layer:

101f: The first robot uses the first lifting mechanism to take out the target goods and other goods from the storage layer.

101g: The first robot places the target goods on the cache layer.

101h: The first robot uses the first lifting mechanism to place other goods on the storage layer.

For another example, the first robot can also use the following method to move goods from the storage layer to the cache layer:

101i: The first robot uses the first lifting mechanism to take out the target goods and other goods from the storage layer.

101j: The first robot places the target goods in the temporary storage mechanism of the first robot.

101k: The first robot uses the first lifting mechanism to place other goods on the storage layer.

101l: The first robot uses the first lifting mechanism to place the target goods on the cache layer.

Specifically, in some embodiments, after the first robot uses the first lifting mechanism to take out the target goods and other goods from the storage layer, it first lowers the first lifting mechanism to a position slightly higher than the target temporary storage layer of the temporary storage mechanism. height, and then extend the first lifting mechanism and continue to lower the first lifting mechanism, placing the target cargo in the temporary storage mechanism. After that, the first robot places other goods on the storage layer and places the target goods on the cache layer.

In addition, after the first robot takes out the target goods and other goods from the storage layer, it can also place the target goods and other goods in the temporary storage mechanism or the free storage location of the storage layer, and then place the other goods on the storage layer ( For example, the original location of the storage layer), place the target goods on the cache layer.

The first robot can also first place other goods in the temporary storage mechanism, or a free storage location or a free cache location, then place the target goods on the free cache location on the cache layer, and then put the other goods back The original location of the storage layer.

At this time, the possible placement method of the target cargo can be that the target cargo is a single cargo, using a double-deep storage method or a multi-deep storage method, and there are other cargoes on the side of the single cargo facing the first robot. Please refer to the figure. 14a-14f.

In addition, the target cargo can also be placed in such a way that the target cargo is two or more cargoes, the target cargo adopts a multi-depth storage method, and at least there are no other cargoes between the two cargoes, and the target cargo is the whole The side facing the first robot is blocked by other cargo, please refer to Figure 15.

It should be noted that Figures 14a-14f and Figure 15 are only illustrative examples and are not intended to be an exhaustive list of placement methods of target goods.

It is possible to use other placement methods for target goods. For example, if there are two or more target goods, and at least two target goods, some of the target goods are blocked by other goods, and some of the target goods are not blocked by other goods. Use a combination of transportation method A and transportation method B. If each target cargo is blocked by other cargo, a combination of handling method B and handling method B can be used.

For example, when the target goods are placed as shown in Figure 16, they can be divided according to the dotted line. The first target goods are located on the left side of the dotted line, using handling method A, and the second target goods are located on the right side of the dotted line, using handling method B.

As shown in Figure 17, when there are other goods blocking the first target cargo, a combination of handling method B and handling method B can be used, that is, the first target cargo adopts handling method B, and the second target cargo also adopts handling method B. B.

102: The second robot moves the target goods away from the cache layer.

Specifically, the second robot uses the second lifting mechanism to take out the target cargo from the cache layer, and the second robot transports the target cargo to the target location, where the target cargo may be a single cargo or at least two cargoes.

That is, when it is necessary to pick up goods from the warehousing system, the first robot first moves the target goods from the storage layer to the cache layer, and then the second robot takes the goods from the cache layer to transport them to the target location. Among them, the target location is, for example, a sorting table or a location outside the warehousing system.

Figures 18a-18b show the situation in which the first robot and the second robot cooperate to carry the target goods when the target goods are not blocked by other goods. Figure 18a shows that the first robot uses the first lifting mechanism to take out the target goods from the storage layer, and then places the target goods on the cache layer (not shown). Figure 18b shows that the second robot takes the target goods from Cache layer moved out.

Figures 19a-19c show the situation in which the first robot and the second robot cooperate to carry the target goods when the target goods are blocked by other goods. Figure 19a shows that the first robot uses the first lifting mechanism to take out the target goods and other goods from the storage layer, and then places the target goods and other goods on the cache layer (not shown). Figure 19b shows that the first One robot then puts other goods back into the storage layer, and Figure 19c shows that the second robot moves the target goods away from the cache layer.

The delivery method can be considered as the reverse operation of the pickup method. If the description of the delivery method is unclear, please refer to the pickup method in the embodiment of this application.

Please refer to Figure 20. The delivery method provided by the embodiment of this application includes:

201: The second robot places the target goods on the cache layer.

Specifically, the second robot carries the target goods to the cache layer, and the second robot uses the second lifting mechanism to place the target goods on the cache layer.

202: The first robot moves the target goods from the cache layer to the storage layer.

When the goods need to be stored in the warehousing system, the second robot first places the target goods on the cache layer, and then the first robot moves the target goods from the cache layer to the storage layer.

When the target cargo is located on the buffer layer and there is no other cargo blocking the side facing the first robot, the first robot can transport the target cargo using the handling method C shown in Figure 21 below.

202a: The first robot uses the first lifting mechanism to take out the target goods from the cache layer.

In practical applications, please refer to Figure 10a-Figure 10d for the pickup process.

202b: The first robot uses the first lifting mechanism to place the target goods on the storage layer.

That is, when the side of the target cargo facing the first robot is not blocked by other cargo, the first robot can directly use the first lifting mechanism to take out the target cargo from the cache layer and place it on the storage layer.

At this time, the possible placement method of the target goods can be that the target goods are single goods, and on the cache layer, single-deep storage, double-deep storage, or multi-deep storage are used, and the single goods faces the first There is no other cargo on one side of the robot, please refer to Figures 11a-11k.

When the side of the target cargo facing the first robot is blocked by other cargo, the first robot can use the following handling method D as shown in Figure 22 to transport the target cargo:

202c: The first robot uses the first lifting mechanism to take out the target goods and other goods from the cache layer.

202d: The first robot places the target goods and the other goods in the free storage location of the storage layer.

202e: The first robot uses the first lifting mechanism to place other goods on the cache layer.

That is, when the side of the target cargo facing the first robot is blocked by other cargo, the first robot needs to use the first lifting mechanism to move the other cargo away first, and then pick up and place the target cargo.

Specifically, the first robot can first place other goods and the target goods on the free storage location of the storage layer, and then retrieve the other goods and place them on the cache layer (for example, place them at their original positions on the cache layer).

In other embodiments, after the first robot uses the first lifting mechanism to take out the target goods and other goods, the first lifting mechanism may only extend part of the first lifting mechanism to place the target goods first and then other goods. For example, the first robot can also use the following method to move goods from the cache layer to the storage layer:

202f: The first robot uses the first lifting mechanism to take out the target goods and other goods from the cache layer.

202g: The first robot places the target goods on the storage layer.

202h: The first robot uses the first lifting mechanism to place other goods on the cache layer.

For another example, the first robot can also use the following method to move goods from the cache layer to the storage layer:

202i: The first robot uses the first lifting mechanism to take out the target goods and other goods from the cache layer.

202j: The first robot places the target goods in the temporary storage mechanism of the first robot.

202k: The first robot uses the first lifting mechanism to place other goods on the cache layer.

202l: The first robot uses the first lifting mechanism to place the target goods on the storage layer.

Specifically, in some embodiments, after the first robot uses the first lifting mechanism to take out the target goods and other goods from the cache layer, it first makes the first lifting mechanism rise to a level slightly higher than the target temporary storage layer of the temporary storage mechanism. height, and then extend the first lifting mechanism and lower the first lifting mechanism to place the target cargo in the temporary storage mechanism. After that, the first robot places other goods on the cache layer and places the target goods on the storage layer.

In addition, after the first robot takes out the target goods and other goods from the cache layer, it can also move the target goods and other goods The goods are placed together in the temporary storage mechanism or in the free storage location of the storage layer, and then other goods are placed in the cache layer, and the target goods are placed in the storage layer.

The first robot can also first place other goods in the temporary storage mechanism, or a free storage location or a free cache location, then place the target goods on the free storage location on the storage layer, and then put the other goods back The original location of the cache layer.

It is possible to use other placement methods for target goods. For example, if there are two or more target goods, and at least two target goods, some of the target goods are blocked by other goods, and some of the target goods are not blocked by other goods. Use a combination of transportation method C and transportation method D. If each target cargo is blocked by other cargo, a combination of handling method D and handling method D can be used.

For example, when the target goods are placed as shown in Figure 16, they can be divided according to the dotted line. The first target goods are located on the left side of the dotted line, using handling method C, and the second target goods are located on the right side of the dotted line, using handling method D.

As shown in Figure 17, when there are other goods blocking the first target cargo, a combination of handling method D and handling method D can be used, that is, the first target cargo adopts handling method D, and the second target cargo also adopts handling method D. D.

It should be noted that the labels of each step above are only used to identify the step and are not used to indicate the order of each step. In addition to the order in which the text is presented, there can be other orders between steps.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps may be performed in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, one of ordinary skill in the art Skilled persons should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the implementation of the present invention. Example scope of technical solutions.

Claims

A method of picking up goods, characterized by including:

The first robot moves the target goods from the storage layer to the cache layer, the storage layer is used to store the goods, and the cache layer is used to cache the goods;

The second robot moves the target goods away from the cache layer;

Wherein, the first robot and the second robot are lift-type robots.
The method according to claim 1, characterized in that when there is no other goods on the side of the target goods facing the first robot, the first robot moves the target goods from the storage layer to the cache layer, including:

The first robot uses a first lifting mechanism to take out the target goods from the storage layer;

The first robot uses the first lifting mechanism to place the target goods on the cache layer.
The method according to claim 2, wherein the target cargo includes a single cargo, and the target cargo adopts a single-deep storage method, a double-deep storage method, or a multi-deep storage method;

Alternatively, the target goods include at least two goods, and there are no other goods between the at least two goods, and the target goods adopt a double-deep storage method or a multi-deep storage method.
The method according to any one of claims 1 to 3, characterized in that when there are other goods on the side of the target goods facing the first robot, the first robot moves the target goods from the storage layer to Caching layer, including:

The first robot uses a first lifting mechanism to take out the target goods and the other goods from the storage layer;

The first robot places the target goods on the cache layer;

The first robot uses a first lifting mechanism to place the other goods on the storage layer;

or,

The first robot uses a first lifting mechanism to take out the target goods and the other goods from the storage layer;

The first robot places the target goods in the temporary storage mechanism of the first robot;

The first robot uses a first lifting mechanism to place the other goods on the storage layer;

The first robot uses a first lifting mechanism to place the target goods on the cache layer;

or,

The first robot uses a first lifting mechanism to take out the target goods and the other goods from the storage layer;

The first robot places the target goods and the other goods on the cache layer;

The first robot uses a first lifting mechanism to place the other goods on the storage layer.
The method according to claim 4, characterized in that the target cargo includes a single cargo, and the target cargo adopts a double-deep storage method or a multi-deep storage method;

Alternatively, the target goods include at least two goods, there are no other goods between the at least two goods, and the target goods adopt a multi-depth storage method.
The method of claim 1, wherein the second robot moves the target goods away from the cache layer, including:

The second robot uses a second lifting mechanism to take out the target goods from the cache layer;

The second robot transports the target cargo to the target location;

Wherein, the target cargo includes a single cargo or at least two cargoes.
A method of releasing goods, which is characterized by including:

The second robot places the target goods on the cache layer, which is used to cache the goods;

The first robot moves the target goods from the cache layer to the storage layer, and the storage layer is used to store goods;

Wherein, the first robot and the second robot are lift-type robots.
The method according to claim 7, characterized in that the second robot places the target goods in the cache layers, including:

The second robot reaches the cache layer;

The second robot uses the second lifting mechanism to place the target goods on the cache layer.
The method according to claim 7, characterized in that when there is no other goods on the side of the target goods facing the first robot, the first robot moves the target goods from the cache layer to the storage layer. layers, including:

The first robot uses a first lifting mechanism to take out the target goods from the cache layer;

The first robot uses the first lifting mechanism to place the target goods on the storage layer.
The method according to claim 9, wherein the target cargo includes a single cargo, and the target cargo adopts a single-deep storage method, a double-deep storage method, or a multi-deep storage method;

Alternatively, the target cargo includes at least two cargoes, there is no other cargo between the at least two cargoes, and the target cargo adopts a double-deep storage method or a multi-deep storage method.
The method according to any one of claims 7-10, characterized in that when there are other goods on the side of the target goods facing the first robot, the first robot moves the target goods from the cache layer to Storage tiers, including:

The first robot uses a first lifting mechanism to take out the target goods and the other goods from the cache layer;

The first robot places the target goods on the storage layer;

The first robot uses a first lifting mechanism to place the other goods on the cache layer;

or,

The first robot uses a first lifting mechanism to take out the target goods and the other goods from the cache layer;

The first robot places the target goods in the temporary storage mechanism of the first robot;

The first robot uses a first lifting mechanism to place the other goods on the cache layer;

The first robot uses a first lifting mechanism to place the target goods on the storage layer;

or,

The first robot uses a first lifting mechanism to take out the target goods and the other goods from the cache layer;

The first robot places the target goods and the other goods on the storage layer;

The first robot uses a first lifting mechanism to place the other goods on the cache layer.
The method according to claim 11, characterized in that the target cargo includes a single cargo, and the target cargo adopts a double-deep storage method or a multi-deep storage method;

Alternatively, the target goods include at least two goods, there are no other goods between the at least two goods, and the target goods adopt a multi-depth storage method.
A management terminal, characterized by including:

A processor and a memory communicatively connected to the processor;

Computer program instructions are stored in the memory, and when called by the processor, the computer program instructions cause the processor to execute the method according to any one of claims 1-12.
A first robot, characterized by including:

A processor and a memory communicatively connected to the processor;

Computer program instructions are stored in the memory, and when called by the processor, the computer program instructions cause the processor to execute the method described in any one of claims 2-5 and 9-12.
A second robot, characterized by including:

A processor and a memory communicatively connected to the processor;

Computer program instructions are stored in the memory, and when called by the processor, the computer program instructions cause the processor to execute the method according to any one of claims 6 and 8.
A warehousing system, characterized by comprising: a plurality of shelves, the management terminal according to claim 13, the first robot according to claim 14 and the second robot according to claim 15.
A storage medium, characterized in that the storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause an electronic device to execute the method according to any one of claims 1-12.