CN112938283A

CN112938283A - Method and device for transporting material box, multi-layer elevator, system and storage medium

Info

Publication number: CN112938283A
Application number: CN202110175061.1A
Authority: CN
Inventors: 喻润方; 艾鑫
Original assignee: Shenzhen Kubo Software Co Ltd
Current assignee: Shenzhen Kubo Software Co Ltd
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2021-06-11
Anticipated expiration: 2041-02-09
Also published as: CN112938283B; CN115649726A

Abstract

The disclosure provides a bin transportation method, a device, a multilayer elevator, a system and a storage medium, wherein the bin transportation method is applied to the multilayer elevator, and the method comprises the following steps: receiving or carrying a material conveying box to be conveyed on each preset layer of the unloader based on each layer of the multilayer hoister; each layer based on multilayer lifting machine transports the workbin that waits of each layer of multilayer lifting machine, in order to incite somebody to action the workbin that waits of each layer of multilayer lifting machine transports respectively to each corresponding operation panel, wherein, the different layers of multilayer lifting machine correspond different operation panels, have realized in uninstallation once, uninstall a plurality of workbin simultaneously to transport these a plurality of workbin to different operation panels simultaneously, the unloading time of the workbin on the lifting machine that has significantly reduced has improved uninstallation efficiency, and then has improved storage system's order treatment effeciency.

Description

Method and device for transporting material box, multi-layer elevator, system and storage medium

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a method and a device for transporting a material box, a multilayer elevator, a system and a storage medium.

Background

The intelligent warehousing system based on the warehousing robot adopts an intelligent operating system, realizes automatic extraction, storage and transportation of goods through system instructions, can continuously operate for 24 hours, replaces manual management and operation, improves the warehousing efficiency, and is widely applied and favored.

When the containers of the intelligent storage system need to be transported to the operation platform for sorting or ex-warehouse, the containers in all the pack baskets of the storage robot need to be unloaded by the unloader, and the containers in the unloader are transported to the operation platform by the elevator or the conveyor line in sequence. Among the prior art, an unloader often corresponds an operation panel to after all packing boxes on it often need wait for the unloader all carry to the conveying line that this operation panel corresponds, the below can be unloaded next time, leads to unloading inefficiency, can't satisfy the demand.

Disclosure of Invention

The invention provides a bin conveying method and device, a multilayer lifting machine, a system and a storage medium.

In a first aspect, the disclosed embodiments provide a method for transporting a material box, where the method is applied to a multi-deck elevator, and the method includes:

receiving or carrying a material conveying box to be conveyed on each preset layer of the unloader based on each layer of the multilayer hoister; and transporting the bins to be transported of each layer of the multilayer hoister based on each layer of the multilayer hoister, so as to transport the bins to be transported of each layer of the multilayer hoister to each corresponding operating platform respectively, wherein different layers of the multilayer hoister correspond to different operating platforms.

Optionally, each preset layer is a continuous preset layer on the unloading machine, wherein the number of the continuous preset layers is less than or equal to that of the multilayer elevator.

Optionally, before each layer based on the multi-layer hoister receives or carries the material conveying boxes to be conveyed on each preset layer of the unloader, the method further includes:

acquiring the material box attributes of the material conveying boxes to be conveyed, which are placed on each layer of the unloader; and determining each preset layer according to the properties of the material boxes to be transported.

Optionally, the bin attribute includes an operation panel corresponding to the delivery bin to be transported.

Optionally, each layer based on multilayer lifting machine transports the workbin that waits to transport of each layer of multilayer lifting machine, in order to with each layer of multilayer lifting machine waits to transport the workbin respectively to each corresponding operation panel, includes:

and on the basis of each layer of the multilayer hoister, the bins to be transported of each layer of the multilayer hoister are respectively transmitted to corresponding conveying lines, so that the bins to be transported are respectively transmitted to corresponding operation platforms through the conveying lines.

Optionally, the multilayer lifting machine is two-layer, each predetermine the layer and include that first predetermines the layer and the second predetermines the layer, and the operation panel includes first operation panel and second operation panel, the first layer and the first operation panel of multilayer lifting machine correspond, the second floor and the second operation panel of multilayer lifting machine correspond.

In a second aspect, an embodiment of the present disclosure further provides a bin transportation method, where the bin transportation method is applied to a storage system, where the storage system includes an unloader and a multi-deck elevator, and the method includes:

based on the unloader or the multi-layer hoister, respectively carrying the to-be-transported material boxes of each preset layer of the unloader to each layer of the multi-layer hoister; and respectively transporting the bins to be transported of each layer of the multilayer hoister to each corresponding operation table based on the multilayer hoister.

Optionally, the warehousing system further includes a transfer robot corresponding to the plurality of target stations, and the method further includes:

obtaining each material box to be transported, wherein the material box to be transported comprises the material box corresponding to each target operation platform; carrying each bin to be transported to each layer of a storage shelf of a carrying robot based on the carrying robot; conveying the conveying boxes to be conveyed to the corresponding positions of the unloading machines based on the conveying robots; and unloading the material boxes to be transported placed on each layer of the transfer robot to the corresponding layer of the unloading machine based on the transfer robot or the unloading machine.

Optionally, the handling of each to-be-transported bin to each layer of the storage rack of the handling robot includes:

determining the carrying sequence of each work bin to be transported and the position of the corresponding storage shelf according to the position of the work table and/or work bin corresponding to each work bin to be transported; and sequentially carrying the to-be-transported workbins to all layers of the storage goods shelf of the carrying robot based on the carrying sequence.

Optionally, obtaining each bin to be transported includes:

determining each task bin according to the order tasks; for each transfer robot, determining each target bin corresponding to each target operation platform from each task bin according to each target operation platform corresponding to the transfer robot; and determining a preset number of material conveying boxes to be conveyed from each target material box according to the bin fraction of each target material box, wherein the preset number is the number of layers of storage racks of the carrying robot.

Optionally, the method further includes:

and for each transfer robot, determining each target operation platform corresponding to the transfer robot according to the position of the transfer robot and the number of layers of the storage shelves.

Optionally, the bin fraction of the target bin is determined by at least one of a priority of the target bin, a bin position, and a corresponding station.

Optionally, the method further includes:

and aiming at each transfer robot, determining each target operation platform corresponding to the transfer robot according to the priority of each task material box and the operation corresponding to each task material box.

Optionally, the bins to be transported placed on the continuous set layers of the storage shelves of the transfer robot correspond to different operation platforms respectively, wherein the number of the continuous set layers is the same as that of the multilayer elevator.

In a third aspect, an embodiment of the present disclosure further provides a material box conveying device, where the device includes:

the first material box carrying module is used for receiving or carrying material conveying boxes to be conveyed on each preset layer of the unloader based on each layer of the multi-layer hoister; the first bin transportation module is used for transporting bins to be transported of each layer of the multilayer elevator based on each layer of the multilayer elevator, so that the bins to be transported of each layer of the multilayer elevator are respectively transported to corresponding operation platforms, wherein different layers of the multilayer elevator correspond to different operation platforms.

In a fourth aspect, an embodiment of the present disclosure further provides a material box conveying device, where the device includes:

the second material box carrying module is used for carrying the material boxes to be transported on each preset layer of the unloader to each layer of the multilayer hoister based on the unloader or the multilayer hoister; and the second material box transportation module is used for transporting the material boxes to be transported of each layer of the multilayer hoister to each corresponding operation platform respectively based on the multilayer hoister.

In a fifth aspect, an embodiment of the present disclosure further provides a multi-deck elevator, which includes a base, and a lifting structure, a multi-deck transportation structure, and a first transportation controller that are disposed on the base; the first transportation controller is used for generating a first control signal to control the lifting structure and the multi-layer transportation structure to execute the bin transportation method provided by any embodiment corresponding to the first aspect of the disclosure.

In a sixth aspect, an embodiment of the present disclosure further provides a warehousing system, where the warehousing system includes an unloader, a plurality of operation platforms, and the multi-tier elevator provided in the corresponding embodiment of the fifth aspect of the present disclosure.

In a seventh aspect, an embodiment of the present disclosure further provides a warehousing system, where the warehousing system includes a transfer robot, a discharger, a multi-level elevator, and a second transportation controller; the second transportation controller is used for controlling one or more of the handling robot, the unloader and the multi-deck elevator to realize the bin transportation method provided by any corresponding embodiment of the first aspect or the second aspect of the disclosure.

In an eighth aspect, the embodiment of the present disclosure further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the bin transportation method provided in any embodiment corresponding to the first aspect or the second aspect of the present disclosure is implemented.

In a ninth aspect, embodiments of the present disclosure further provide a computer program product, including a computer program, where the computer program, when executed by a processor of a multi-deck elevator or a warehousing system, implements the bin transportation method provided in any embodiment corresponding to the first aspect or the second aspect of the present disclosure.

The material box transportation method, the material box transportation device, the multilayer lifting machine, the material box transportation system and the storage medium are based on the multilayer lifting machine, when material boxes to be transported of all layers of a discharging machine are unloaded, the material boxes to be transported corresponding to different operation platforms of all preset layers of the discharging machine can be transported or received simultaneously, the material boxes to be transported placed on the multilayer lifting machine can be transported to the corresponding operation platforms at one time, the material boxes can be unloaded simultaneously, the unloading waiting time of the material boxes is reduced, the unloading efficiency of the material boxes of a transportation line is greatly improved, and the order processing efficiency of a storage system is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is an application scenario diagram of a bin transportation method provided in an embodiment of the disclosure;

FIG. 2 is a flow chart of a bin transportation method provided by an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of the multi-deck elevator shown in FIG. 2 according to the embodiment of the disclosure;

FIG. 4 is a flow chart of a bin transportation method provided by another embodiment of the disclosure;

FIG. 5 is a schematic illustration of the placement of the upper bin of the unloader in the embodiment of FIG. 4 according to the present disclosure;

FIG. 6 is a flow diagram of bin transportation provided by another embodiment of the present disclosure;

FIG. 7 is a schematic structural view of a bin transporting device provided by an embodiment of the disclosure;

FIG. 8 is a schematic structural view of a bin transporter according to another embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a multi-deck elevator according to an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of a warehousing system according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of a warehousing system according to another embodiment of the present disclosure.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The following describes the technical solutions of the present disclosure and how to solve the above technical problems in specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

The following explains an application scenario of the embodiment of the present disclosure:

fig. 1 is an application scenario diagram of a bin transportation method provided in an embodiment of the disclosure, as shown in fig. 1, a warehousing management device 10 of a warehousing system needs to transport one or more bins 130 on a warehousing shelf 120 corresponding to an order task to a vicinity of an unloader 140 through a robot 110, and then to be docked with the unloader 140, so as to unload the one or more bins 130 placed on the robot 110 to the unloader 140, and then to sequentially obtain the bins 130 on the unloader through a hoist 150, and transport the bins 130 to an operation console through a transport line, so that an operator sorts goods in the bins 130, or takes the goods out of the warehouse, and thereby completes the corresponding order task.

In order to ensure the safety of bin transportation, the bins 130 on the conveying line are often spaced at a certain distance, so that when the elevator 150 unloads the bin 130 on the elevator to the conveying line 160, the next bin 130 needs to be unloaded to the conveying line after the previous bin 130 is transported for a certain distance, the bin unloading efficiency is reduced, and the processing of orders with large task capacity cannot be met.

In order to improve the unloading efficiency of the material boxes, the material box transportation method provided by the embodiment of the disclosure is based on a multi-layer elevator and a multi-operation-platform mechanism, and realizes that the multi-layer elevator extracts a plurality of material boxes at one time and simultaneously transports the plurality of material boxes to different operation platforms to realize parallel transportation, so that the transportation or unloading efficiency of the material boxes is greatly improved, and the order processing efficiency of the storage system is improved.

Fig. 2 is a flowchart of a bin transportation method according to an embodiment of the disclosure, which may be performed by a multi-deck elevator of a warehousing system as shown in fig. 2. The bin transportation method provided by the embodiment comprises the following steps:

step S201, receiving or carrying the material conveying boxes to be conveyed on each preset layer of the unloader based on each layer of the multilayer hoister.

The multi-layer hoister is used for transferring and transporting the to-be-transported material boxes on the unloader to a conveying line or an operation platform. The unloading machine is used for unloading the work bin to be transported on the storage shelf of the transfer robot at one time. Each preset layer of the unloader corresponds to one layer of the multi-layer hoister.

Specifically, the goods access & exit of this multilayer lifting machine can dock with the one end of unloader to draw or carry the workbin that waits that each preset layer of unloader transported, perhaps transport each layer to multilayer lifting machine with the workbin that waits that each preset layer by the transport mechanism of unloader.

Specifically, the number of the bins to be transported of different operation platforms placed on the unloader is equal, or the difference value between the maximum value and the minimum value is 1, wherein the different operation platforms correspond to the same multi-layer hoister.

Further, after receiving the bin transportation task, the multi-layer hoister can extract or receive the material conveying boxes to be transported on the unloader according to a preset sequence, and extract or receive a plurality of material conveying boxes to be transported, wherein the number of the material conveying boxes to be transported is matched with or less than that of the layers of the multi-layer hoister each time.

Specifically, when the material is extracted or received each time, the multilayer hoister needs to butt joint each layer with the corresponding preset layer of the unloader, so that the material boxes to be transported of each corresponding preset layer are transported to each layer of the multilayer hoister, or the unloader transports the material boxes to be transported of each preset layer to each layer of the multilayer hoister. Each bin to be transported can be transported simultaneously from each preset level of the unloader to the corresponding level of the multi-level elevator.

The multilayer hoister can be 2 layers, 3 layers, 5 layers and the like.

Optionally, the multi-layer hoisting machine may be two layers, that is, a double-layer hoisting machine, each preset layer includes a first preset layer and a second preset layer, the operating platform includes a first operating platform and a second operating platform, the first layer of the multi-layer hoisting machine corresponds to the first operating platform, and the second layer of the multi-layer hoisting machine corresponds to the second operating platform.

Specifically, the first preset layer can be used for placing a material conveying box to be transported corresponding to the first operation platform, and the second preset layer can be used for placing a material conveying box to be transported corresponding to the second operation platform; the first layer of the double-layer hoister corresponds to the first preset layer, and the second layer of the double-layer hoister corresponds to the second preset layer, so that the material boxes to be transported on the first preset layer and the second preset layer are respectively transported to the first operating platform and the second operating platform.

Illustratively, where the multi-level elevator includes 3 levels, the multi-level elevator needs to receive or transport 3 bins to be transported at a time. The first layer of the multilayer hoister corresponds to a first preset layer, the second layer corresponds to a second preset layer, the third layer corresponds to a third preset layer, when the material box to be transported is extracted or received, all the layers of the multilayer hoister need to be controlled to be in butt joint with the corresponding preset layers of the unloader, after the butt joint is completed, the unloader or all the layers of the multilayer hoister carry the material box to be transported of the corresponding preset layers to all the layers of the multilayer hoister, namely the material box to be transported of the first preset layer is carried to the first layer of the multilayer hoister, the material box to be transported of the second preset layer is carried to the second layer of the multilayer hoister, and the material box to be transported of the third preset layer is carried to the third layer of the multilayer hoister.

Specifically, fig. 3 is a schematic structural diagram of the multi-layer elevator shown in fig. 2 of the present disclosure, and fig. 3 illustrates two layers as an example, where the multi-layer elevator may include a base 310, and a lifting mechanism 320 and a conveying mechanism 330 that are disposed on the base 310. The conveying mechanism 330 includes a plurality of layers for conveying each bin to be conveyed; the lifting mechanism 320 is connected with the conveying mechanism 330, and is used for driving the conveying mechanism 330 to move up and down along the vertical direction of the base 310, so that each layer of the conveying mechanism 330 is butted with each preset layer of the unloader.

Further, the conveying structure of the unloading machine comprises a support and a conveying mechanism arranged on the support. The conveying structure can comprise an electric control rolling conveying piece, so that the material boxes to be conveyed on each preset layer of the unloader can be conveyed to each layer of the multilayer hoister. Or the conveying mechanism can adopt a mechanical mode to convey the bins to be conveyed of each preset layer to each layer of the multi-layer elevator, for example, the conveying mechanism is adjusted to form an inclined plane with an inclined angle. The present disclosure does not limit the manner in which the bins to be transported are transported from the unloader to the multi-tier elevator.

Further, the multi-layer elevator can comprise a cargo extraction structure so as to transport the bins to be transported of each preset layer of the unloader to each layer of the multi-layer elevator.

Wherein, the consecutive preset layers represent that the sequence numbers of two adjacent preset layers have a difference of 1.

For example, assuming that 2 preset layers of material boxes to be transported need to be transported, the 2 preset layers may be a first layer and a second layer of a discharging machine, or a fourth layer and a fifth layer, which need to be two adjacent layers on the discharging machine.

For example, assuming that 4 preset layers of material boxes to be transported need to be transported, the 4 preset layers may be the first to fourth layers of the unloader, or the second and fifth layers, which need to be the continuous four layers on the unloader. And the number of layers of the multi-layer elevator needs to be at least 4.

When each preset layer is a continuous preset layer on the unloader, the interval between each layer of the conveying mechanism 430 of the multilayer hoister can be set to be unadjustable, namely, the conveying mechanism 430 of the multilayer hoister can only be used as a whole to move up and down, and the layers inside the conveying mechanism cannot move relatively. The mechanical structure and the control logic of the multilayer hoister are simplified, and the cost is reduced.

And S202, transporting the bins to be transported of each layer of the multi-layer hoister based on each layer of the multi-layer hoister, so as to transport the bins to be transported of each layer of the multi-layer hoister to each corresponding operation table respectively.

And different layers of the multilayer hoister correspond to different operation platforms.

Specifically, after the to-be-transported bins placed on each preset layer of the unloader are transported to each layer of the multilayer hoister, the multilayer hoister transports the to-be-transported bins placed on the multilayer hoister to a conveying line or an operation table, so that operators at the operation table can sort the to-be-transported bins, or relevant equipment at the operation table can process the to-be-transported bins, such as detection and sorting, so as to complete corresponding orders.

The material box transportation method is based on the multilayer hoister, when material boxes to be transported of all layers of the unloader are unloaded, the material boxes to be transported corresponding to different operation platforms of all preset layers of the unloader can be transported or received simultaneously, and the material boxes to be transported placed on the multilayer hoister can be transported to the corresponding operation platforms at one time, so that the material boxes can be unloaded simultaneously, the waiting time for unloading the material boxes is shortened, the efficiency of unloading the material boxes of a transportation line is greatly improved, and the efficiency of order processing of a storage system is improved.

Fig. 4 is a flowchart of a bin transportation method according to another embodiment of the disclosure, in this embodiment, based on the embodiment shown in fig. 2, the step S202 is further detailed, and before the step S201, related steps for determining each preset layer are added, as shown in fig. 4, the bin transportation method according to this embodiment includes the following steps:

and S401, acquiring the properties of the material boxes of the material conveying boxes to be conveyed, which are placed on each layer of the unloader.

The bin properties may include the type and number of goods in the bin, and may also include the size, number, etc. of the bin.

Specifically, the bin attributes of all bins in the warehouse of the warehousing system can be stored in advance, or the bin attributes of each bin to be transported can be collected in real time, for example, each bin and the bin attributes thereof are stored in a first corresponding relation mode, or each bin to be transported and the bin attributes thereof are stored, then when a transportation task exists, each corresponding bin to be transported in the transportation task is placed on each layer of the unloader, and then the bin attributes of the bin to be transported placed on each layer of the unloader are obtained based on the first corresponding relation.

And S402, determining each preset layer according to the bin attribute of each delivery bin to be transported.

Specifically, each preset layer can be determined according to the operation console corresponding to each material conveying box to be conveyed.

Illustratively, fig. 5 is a schematic diagram of the placement of the material boxes on the unloading machine in the embodiment shown in fig. 4 of the present disclosure, as shown in fig. 5, the unloading machine 510 includes 6 layers, in which material boxes 501 to 506 to be transported are placed respectively, and material boxes to be transported corresponding to the first operation table 530 and the second operation table 540 are placed in turn from top to bottom, that is, the material boxes to be transported 501, 503 and 505 correspond to the first operation table 530, and the material boxes to be transported 502, 504 and 506 correspond to the second operation table 540. The double-deck elevator 520 needs to transport two bins to be transported at the same time, and the two bins to be transported correspond to different operation platforms, i.e., a first operation platform 530 and a second operation platform 540. Then, during each transportation, the double-layer hoister 520 may determine two preset layers according to the operation platforms corresponding to the bins to be transported, so as to meet the requirement that the transported bins to be transported correspond to different operation platforms. For example, any two adjacent layers, or any one of the odd and even layers may be selected.

Furthermore, each preset layer can be determined according to the operation platform and the bin priority corresponding to each material delivery box to be transported.

The bin priority can be pre-defined, or can be determined by the cut-off time of the order corresponding to the bin to be transported, or can be determined by the cut-off time and the order priority. The present disclosure does not limit the manner of determining the priority.

Specifically, when the number of the material boxes to be transported, which are placed on the unloading machine, corresponding to a certain operation table is multiple, that is, the number of the material boxes corresponding to at least one operation table is multiple in the material boxes to be transported, which are placed on the unloading machine. The operation platforms corresponding to the material boxes to be transported and the priority of the material boxes need to be based on, each preset layer is determined, and the material boxes with higher priority are preferentially transported on the premise that the material boxes to be transported corresponding to different operation platforms are extracted each time.

Further, each layer of the conveying mechanism of the multi-layer hoister can be controlled independently, so that each layer of the multi-layer hoister can be in butt joint with the corresponding preset layer. If the first layer of the multi-layer hoister is in butt joint with the first preset layer, the second layer of the multi-layer hoister is in butt joint with the fourth preset layer.

Taking the case shown in fig. 5 as an example, it is assumed that the corresponding station is the first station 530 of the bins to be transported 501, 505 and 503 with priorities from high to low, and the corresponding station is the second station 540 of the bins to be transported 504, 502 and 506 with priorities from high to low. The double-deck elevator 520 needs to transport the 6-deck transport boxes to be transported to a transport line or an operation table by 3 transports. During the first transportation, the two determined preset layers are the first layer and the fourth layer of the unloader so as to transport the to-be-transported material box 501 and the to-be-transported material box 504; during the second transportation, the determined two preset layers are the fifth layer and the second layer of the unloader so as to transport the material conveying box 505 to be transported and the material box 502 to be transported; in the third transportation, the two determined preset floors are the third floor and the sixth floor of the unloader to transport the to-be-transported bin 503 and the to-be-transported bin 506.

And S403, receiving or carrying the material conveying boxes to be conveyed on each preset layer of the unloader based on each layer of the multi-layer hoister.

And S404, respectively transmitting the bins to be transported of each layer of the multilayer hoister to corresponding conveying lines based on each layer of the multilayer hoister, and respectively transporting each bin to be transported to each corresponding operating platform through each conveying line.

Specifically, the conveying lines are located between the multilayer hoister and the corresponding operating platform, so that the bins to be conveyed, placed on each layer of the multilayer hoister, are conveyed to the corresponding operating platform on the basis of the conveying lines.

In the embodiment, each corresponding preset layer is determined to be transported each time through the bin attributes, and each layer of the multi-layer hoister is lifted to the corresponding preset layer so as to carry or receive the bin to be transported corresponding to each preset layer, so that the flexibility of the multi-layer hoister and the flexibility of bin transportation are improved; through transporting the workbin that waits to transport that a plurality of different operation panels correspond at every turn, latency when greatly reduced the workbin transportation has improved the efficiency of workbin transportation, and then has improved order treatment effeciency.

Fig. 6 is a flow chart of a bin transportation method performed by a warehousing system including an unloader and a multi-level elevator according to another embodiment of the disclosure. As shown in fig. 6, the bin transporting method comprises the following steps:

step S601, carrying the material boxes to be transported of each preset layer of the unloader to each layer of the multi-layer hoister based on the unloader or the multi-layer hoister.

And step S602, respectively transporting the bins to be transported of each layer of the multi-layer hoister to each corresponding operation table based on the multi-layer hoister.

In this embodiment, based on multilayer lifting machine, when the defeated workbin that waits of each layer of uninstallation unloader transported, the workbin that waits that the different operation panel that realizes carrying simultaneously or receiving each preset layer of unloader corresponds to once only wait to transport the workbin with each of placing on the multilayer lifting machine, carry to each operation panel that it corresponds, a plurality of workbin of having realized unloading simultaneously, the latency of workbin uninstallation has been reduced, the efficiency of transportation line uninstallation workbin has been improved greatly, the efficiency of storage system order processing has been improved.

Optionally, the warehousing system further includes a transfer robot, the transfer robot corresponds to the plurality of target operation platforms, and before the to-be-transported material boxes on each preset layer of the unloader are respectively transferred to each layer of the multilayer elevator, the method further includes:

obtaining each bin to be transported; carrying each bin to be transported to each layer of a storage shelf of a carrying robot based on the carrying robot; conveying the conveying boxes to be conveyed to the corresponding positions of the unloading machines based on the conveying robots; and unloading the material boxes to be transported placed on each layer of the transfer robot to the corresponding layer of the unloading machine based on the transfer robot or the unloading machine.

The bin to be transported comprises bins corresponding to the target operation platforms.

Specifically, an order can correspond a plurality of workbins, and the transfer robot can only carry the workbins to be transported of the quantity corresponding to the number of the storage racks once, and then needs to make a transfer plan for each order, so that each workbin corresponding to the order is transported through an unloader and a multilayer elevator in a mode of carrying the workbins for many times through a robot or carrying the workbins for many times through a plurality of robots, and the order is completed.

Specifically, for each robot, before the robot carries out the transportation, each to-be-transported material box to be transported needs to be determined or acquired. And then, the carrying robot carries the work bin to be transported to each layer of the storage shelf of the work bin according to the work bin position of the work bin to be transported, and transports the work bin to the position corresponding to the unloader, so that the subsequent transportation process is carried out.

Specifically, the two adjacent layers of storage racks of the transfer robot are provided with to-be-transported work boxes corresponding to different operation platforms.

Specifically, the material boxes to be transported, which are placed on each layer of the storage shelf of the transfer robot, adopt an alternate placement principle to evenly place the material boxes to be transported, which correspond to the operation platforms.

Specifically, the number of the material conveying boxes to be conveyed, which are placed on the storage shelf and correspond to each target operation platform, is equal, or the difference value between the maximum value and the minimum value is 1.

For example, the storage shelves of the transfer robot have 4 layers, and the corresponding target operation platforms are an operation platform a and an operation platform B, so that the storage shelves can be used for sequentially placing the operation platform a, the operation platform B, the bins to be transported corresponding to the operation platform a and the operation platform B, or sequentially placing the bins to be transported corresponding to the operation platform B, the operation platform a, the operation platform B and the operation platform a from top to bottom. By analogy, the placement situation in other situations can be obtained. Namely, the material boxes to be transported corresponding to each target operation platform are alternately placed so as to evenly place the material boxes to be transported corresponding to each target operation platform as much as possible.

Specifically, when the order task is issued, the operation platform corresponding to each bin to be transported is planned in advance. In order to improve the unloading efficiency of the bins, the position of the storage shelf where the bin to be transported corresponding to each operation table is placed, namely, which layer of the storage shelf is located, can be preset. After each corresponding to-be-transported material box is obtained for each transfer robot, the position of the corresponding storage shelf is determined according to the operation platform corresponding to each to-be-transported material box, and then the optimal transfer sequence is formulated by combining the positions of the material boxes, so that each to-be-transported material box is transferred to each layer corresponding to the storage shelf, the operation time of the transfer robot is shortened, and the operation efficiency is improved.

Illustratively, the transfer robot needs to transfer 4 to-be-transferred bins a, B, c and d, which correspond to the operation table a, the operation table B, the operation table a and the operation table B, respectively. When the carrying robot carries the materials to be transported to the first layer to the fourth layer of the storage shelf, operation platforms corresponding to the first layer to the fourth layer of the storage shelf are an operation platform A, an operation platform B, an operation platform A and an operation platform B respectively. The bins a, b, c, and d to be transported may correspond to the first to fourth layers of the storage racks, respectively, and the transporting order may be defaulted to the bins a, b, c, and d to be transported, or the transporting order with the highest transporting efficiency may be determined according to the positions of the bins to be transported, for example, the transporting order with the shortest route of the transporting robot.

Optionally, obtaining each bin to be transported includes:

determining each task bin according to the order tasks; for each transfer robot, determining each target bin corresponding to each target operation platform from each task bin according to each target operation platform corresponding to the transfer robot; and determining a preset number of material boxes to be transported from each target material box according to the fraction of the material box of each target material box.

The preset number is the number of layers of storage racks of the transfer robot.

Specifically, an order task may include multiple task bins, such as 10, 20, 50, or other values. The number of task bins that can be handled by each handling robot at a time is limited, and is determined by the number of layers of the storage racks.

In order to determine each transport box to be transported, which each transfer robot needs to transport, it is necessary to first acquire each target console corresponding to the transfer robot, that is, one transfer robot may correspond to at least two designated target consoles. Then, each target bin corresponding to each target console is screened from the task bins based on each target console corresponding to the transfer robot. When the number of the target bins is larger than the number of layers of the storage racks of the transfer robot, the preset number of the target bins with the highest bin fraction is determined to be the bins to be transported from the target bins according to the bin fractions of the target bins. When the number of the target bins is less than or equal to the number of layers of the storage racks of the transfer robot, namely the preset number, the target bins are directly regarded as the bins to be transported without executing subsequent steps.

Wherein the priority of the target bin may be determined by the cutoff time of the target bin.

Optionally, after determining each task bin according to the task of the order, the method further includes:

Specifically, the number of storage racks of the transfer robot may be 2, 3, 6, or another number of layers, and the number of layers of the multi-layer hoist may be 2, 3, 4, or another number of layers. Because the number of layers of the unloading machines is the same as that of the storage goods shelves of the transfer robot, each unloading machine corresponds to one multilayer lifting machine, and each layer of the multilayer lifting machine corresponds to one operating platform. In order to improve the conveying efficiency, it is necessary to consider the matching problem between the number of layers of the conveying robot and the number of layers of the multi-layer elevator. And when the ratio of the number of layers of the transfer robot to the number of layers of the multilayer elevator is an integer, determining that the number of layers of the transfer robot is matched with that of the multilayer elevator. Therefore, it is necessary to identify each target operation table corresponding to each transfer robot.

Further, each of the operation stages, in which the number of layers of the corresponding multi-layer hoist matches the number of layers of the storage racks of the transfer robot, may be selected as each of the target operation stages corresponding to the transfer robot.

Illustratively, the warehousing system comprises a double-layer hoister and a three-layer hoister, wherein the double-layer hoister corresponds to an operation table A and an operation table B, and the three-layer hoister corresponds to an operation table B, an operation table C and an operation table D. If the number of 4 layers of the storage racks of the transfer robot R matches the number of layers of the double-deck elevator, the corresponding target stations are station a and station B.

Specifically, when the number of layers of each multi-layer elevator of the warehousing system is the same and is matched with the number of layers of storage shelves of the transfer robot, when each target console corresponding to the transfer robot is determined, it is necessary to determine one or more task bins with the highest priority as one or more to-be-transported material bins of the transfer robot according to the priority of each task bin, and determine the console corresponding to the one or more task bins with the highest priority as one or more target consoles of the transfer robot.

Furthermore, a target multi-layer hoister can be determined according to the priority of each task bin and the operation platform corresponding to each task bin, and each operation platform corresponding to the target multi-layer hoister comprises an operation platform corresponding to the task bin with the highest priority.

Further, a matched multi-layer hoister can be determined based on the operation platform corresponding to the task bin with the highest priority, and each operation platform corresponding to the multi-layer hoister is a target operation platform corresponding to the transfer robot. And if a plurality of matched multilayer hoists exist, acquiring each operating platform corresponding to each matched multilayer hoist for each matched multilayer hoist, acquiring the priority of the task bin corresponding to each operating platform, and regarding the multilayer hoist corresponding to the operating platform with the highest priority of the task bin as the target multilayer hoist.

Fig. 7 is a schematic structural diagram of a bin conveying device according to an embodiment of the disclosure, where the bin conveying device includes: a first bin handling module 710 and a first bin transport module 720.

The first material box carrying module 710 is used for receiving or carrying material boxes to be transported on each preset layer of the unloader based on each layer of the multi-layer hoister; first workbin transportation module 720 for based on each layer of multilayer lifting machine, transport the workbin that waits of each layer of multilayer lifting machine, in order to with each layer of multilayer lifting machine waits to transport the workbin and transports respectively to each corresponding operation panel, wherein, the different layers of multilayer lifting machine correspond different operation panels.

Optionally, the apparatus further comprises:

the system comprises a preset layer determining module, a material box determining module and a material box determining module, wherein the preset layer determining module is used for acquiring the material box attributes of material boxes to be transported placed on each layer of a unloader before the material boxes to be transported on each preset layer of the unloader are received or transported on each layer of a multi-layer elevator; and determining each preset layer according to the properties of the material boxes to be transported.

Optionally, the first bin transporting module 720 is specifically configured to:

The bin transporting device provided by the embodiment of the disclosure can execute the bin transporting method provided by any embodiment corresponding to the first aspect of the disclosure, and has the corresponding functional modules and beneficial effects of the executing method.

Fig. 8 is a schematic structural diagram of a bin conveying device according to another embodiment of the disclosure, where the bin conveying device includes: a second bin handling module 810 and a second bin transport module 820.

The second material box carrying module 810 is configured to carry material boxes to be transported on each preset layer of the unloader to each layer of the multi-layer hoister based on the unloader or the multi-layer hoister; and the second bin transportation module 820 is used for transporting bins to be transported of each layer of the multi-layer hoister to each corresponding operation platform respectively based on the multi-layer hoister.

Optionally, the apparatus further comprises:

the to-be-transported material box acquisition module is used for acquiring each to-be-transported material box, wherein each to-be-transported material box comprises a material box corresponding to each target operation platform; the third material box carrying module is used for carrying each material box to be transported to each layer of a storage shelf of the carrying robot based on the carrying robot, wherein the carrying robot corresponds to a plurality of target operation platforms; the third material box transportation module is used for transporting each material box to be transported to a position corresponding to the unloader based on the transfer robot; and the material box unloading module is used for unloading the material boxes to be transported placed on each layer of the carrying robot to the corresponding layer of the unloading machine based on the carrying robot or the unloading machine.

Optionally, the third bin handling module is specifically configured to:

Optionally, the to-be-transported bin obtaining module is specifically configured to:

Optionally, the apparatus further comprises:

and the first target operation platform determining module is used for determining each target operation platform corresponding to each transfer robot according to the position of the transfer robot and the number of layers of the storage shelves.

Optionally, the apparatus further comprises:

and the second target operation platform determining module is used for determining each target operation platform corresponding to the handling robot according to the priority of each task bin and the operation corresponding to each task bin for each handling robot.

The bin transporting device provided by the embodiment of the disclosure can execute the bin transporting method provided by any embodiment corresponding to the second aspect of the disclosure, and has corresponding functional modules and beneficial effects of the executing method.

Fig. 9 is a schematic structural diagram of a multi-deck elevator according to an embodiment of the present disclosure, and as shown in fig. 9, the multi-deck elevator includes: a base 910, a lifting structure 920 disposed on the base 910, a multi-layer transport structure 930, and a first transport controller 940.

The first transportation controller 940 is configured to generate a first control signal to control the lifting structure 920 and the multi-layer transportation structure 930 to perform the bin transportation method provided in any of the embodiments of fig. 2 or 4 of the present disclosure.

The related description may be understood by referring to the related description and effect corresponding to the step in fig. 2 or fig. 4, and redundant description is not repeated here.

Fig. 10 is a schematic structural diagram of a warehousing system according to an embodiment of the present disclosure, as shown in fig. 10, the warehousing system includes: a unloader 1010, a plurality of stations 1020, and a multi-level lift 1030.

The multi-deck elevator 1030 is the multi-deck elevator provided in the embodiment shown in fig. 9.

Fig. 11 is a schematic structural diagram of a warehousing system according to another embodiment of the present disclosure, as shown in fig. 11, the warehousing system includes: a transfer robot 1110, a discharger 1120, a multi-deck lifter 1130, and a second transport controller 1140;

the second transportation controller 1140 is configured to control one or more of the handling robot 1110, the unloader 1120, and the multi-level lift 1130, so as to implement the bin transportation method provided in any embodiment of fig. 2, 4, or 6 of the present disclosure.

The related description may be understood by referring to the related description and effect corresponding to the step in fig. 2, fig. 4, or fig. 6, and will not be described in detail herein.

In some embodiments, the warehousing system also includes warehousing shelves, warehouse management equipment, and the like.

One embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored, where the computer program is executed by a processor to implement the bin transportation method provided by any one of the embodiments corresponding to fig. 2, fig. 4, or fig. 6 of the present disclosure.

The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

The present disclosure also provides a program product comprising executable instructions stored in a readable storage medium. The at least one processor of the multi-level elevator or the warehousing system may read the execution instructions from the readable storage medium, and the at least one processor executes the execution instructions to cause the bin transporting device to implement the bin transporting method provided by the various embodiments described above.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present disclosure may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (english: processor) to execute some steps of the methods according to the embodiments of the present disclosure.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (enhanced Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present disclosure are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A method for transporting a bin, the method being applied to a multi-level elevator, the method comprising:

receiving or carrying a material conveying box to be conveyed on each preset layer of the unloader based on each layer of the multilayer hoister;

and transporting the bins to be transported of each layer of the multilayer hoister based on each layer of the multilayer hoister, so as to transport the bins to be transported of each layer of the multilayer hoister to each corresponding operating platform respectively, wherein different layers of the multilayer hoister correspond to different operating platforms.

2. The method of claim 1, wherein each of the predetermined levels is a consecutive predetermined level on the unloader, wherein the number of consecutive predetermined levels is less than or equal to the number of levels of the multi-level elevator.

3. The method as claimed in claim 1, wherein before receiving or carrying the to-be-transported hopper of each preset floor of the unloader on each floor of the multi-floor hoist, the method further comprises:

acquiring the material box attributes of the material conveying boxes to be conveyed, which are placed on each layer of the unloader;

and determining each preset layer according to the properties of the material boxes to be transported.

4. The method of claim 1, wherein transporting the bins to be transported for each of the tiers of the multi-tier hoist based on each of the tiers of the multi-tier hoist to transport the bins to be transported for each of the tiers of the multi-tier hoist to each respective station comprises:

5. A method for transporting a bin, the method being applied to a warehousing system including an unloader and a multi-level elevator, the method comprising:

based on the unloader or the multi-layer hoister, respectively carrying the to-be-transported material boxes of each preset layer of the unloader to each layer of the multi-layer hoister;

and respectively transporting the bins to be transported of each layer of the multilayer hoister to each corresponding operation table based on the multilayer hoister.

6. The method of claim 5, wherein the warehousing system further comprises a transfer robot corresponding to the plurality of target stations, the method further comprising:

obtaining each material box to be transported, wherein the material box to be transported comprises the material box corresponding to each target operation platform;

carrying each bin to be transported to each layer of a storage shelf of a carrying robot based on the carrying robot;

conveying the conveying boxes to be conveyed to the corresponding positions of the unloading machines based on the conveying robots;

and unloading the material boxes to be transported placed on each layer of the transfer robot to the corresponding layer of the unloading machine based on the transfer robot or the unloading machine.

7. Method according to claim 6, characterized in that obtaining each bin to be transported comprises:

determining each task bin according to the order tasks;

for each transfer robot, determining each target bin corresponding to each target operation platform from each task bin according to each target operation platform corresponding to the transfer robot;

and determining a preset number of material conveying boxes to be conveyed from each target material box according to the bin fraction of each target material box, wherein the preset number is the number of layers of storage racks of the carrying robot.

8. A multi-level hoist, comprising: the device comprises a base, a lifting structure, a multi-layer transportation structure and a first transportation controller, wherein the lifting structure, the multi-layer transportation structure and the first transportation controller are arranged on the base;

wherein the first transport controller is configured to generate first control signals to control the lifting structure and the multi-level transport structure to perform the bin transport method of any one of claims 1-4.

9. A warehousing system comprising an unloader, a plurality of stations, and the multi-tier hoist of claim 8.

10. A warehousing system, comprising: the conveying robot, the unloader, the multi-layer hoister and the second transportation controller;

wherein the second transport controller is configured to control one or more of the handling robot, the unloader and the multi-level lift to implement the bin transport method of any one of claims 1-7.