CN115676194A

CN115676194A - Cargo processing method and device, robot, sorting device and warehousing system

Info

Publication number: CN115676194A
Application number: CN202110838422.6A
Authority: CN
Inventors: 周红霞; 单奕达; 任子佳; 张翠峰
Original assignee: Hai Robotics Co Ltd; Shenzhen Kubo Software Co Ltd
Current assignee: Hai Robotics Co Ltd; Shenzhen Kubo Software Co Ltd
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2023-02-03

Abstract

The embodiment of the disclosure provides a cargo processing method, a cargo processing device, a robot, a sorting device and a warehousing system, wherein the cargo processing method is applied to a transfer robot and comprises the following steps: the transfer robot transports the target goods corresponding to the processing instructions placed on the storage goods shelves to the position corresponding to the sorting device, wherein the temporary storage goods shelves of the transfer robot comprise at least one idle layer; when the first goods that finishes of processing exist on the first preset layer of the conveying goods shelf of the sorting device, the carrying robot carries the first goods to the idle layer of the temporary storage goods shelf, then the target goods are placed on the second preset layer of the conveying goods shelf of the sorting device, the conveying mechanism on the second preset layer of the conveying goods shelf transports the target goods to the working range of the mechanical arm, the target goods are processed based on the mechanical arm, bidirectional carrying of the goods is achieved through one robot, and the goods carrying efficiency is improved.

Description

Cargo processing method and device, robot, sorting device and warehousing system

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a cargo processing method, a cargo processing device, a robot, a sorting device and a warehousing system.

Background

The robot-based warehousing system adopts an intelligent operating system, realizes automatic taking out and storage of goods through system instructions, can continuously run for 24 hours, replaces manual management and operation, improves warehousing efficiency, and is widely applied and favored.

Goods handling process based on warehouse system needs to carry the goods that warehouse goods shelves were deposited to the transfer chain through the robot, and then transports goods to corresponding operation panel through the transfer chain to accomplish the processing of goods, when the goods needs the backward flow, then control the robot with the goods transportation that needs the backward flow to warehouse goods shelves of warehouse system in.

In prior art, often through a robot with freight in the storage goods shelves to transfer chain, and through another robot with freight on the transfer chain to storage goods shelves, freight occupies that the robot is in large quantity, and because the goods is handled and needs certain time, the robot need wait for the time of a longer time in the goods export of transfer chain, perhaps the robot need frequently come and go between transfer chain and storage goods shelves, the walking distance is longer, lead to the robot work efficiency lower, cargo handling efficiency is lower, the goods treatment cost is higher.

Disclosure of Invention

The utility model provides a goods processing method, device, robot, sorting device and warehouse system sets up the relatively less sorting device of size and replaces traditional transfer chain in warehouse system, has improved warehouse system's space utilization to carry out the drawing and depositing of goods on the sorting device based on same transfer robot, accelerated the speed of goods transport, improved goods processing efficiency.

In a first aspect, the disclosed embodiment provides a cargo handling method, which is applied to a transfer robot, wherein the transfer robot is used for carrying cargo in a warehousing system, the warehousing system comprises a warehousing shelf, a transfer robot and a sorting device, the sorting device comprises a conveying shelf and a manipulator, the conveying shelf is provided with at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the manipulator towards a direction far away from the manipulator and form a step shape; a conveying mechanism is arranged on the conveying layer and enables goods to move on the conveying layer along a conveying direction, and the method comprises the following steps: when a processing instruction is received, transporting the target goods which are placed on the storage shelf and correspond to the processing instruction to a position which corresponds to the sorting device through a transfer robot, wherein the temporary storage shelf of the transfer robot comprises at least one idle layer; when the first processed goods exist on the first preset layer of the conveying goods shelf of the sorting device, the first goods are conveyed to the idle layer of the temporary storage goods shelf by the conveying robot; after the first goods are placed on the idle layer of the temporary storage rack, the target goods are placed on a second preset layer of a conveying rack of the sorting device through the transfer robot, so that the target goods are conveyed to the working range of the manipulator through a conveying mechanism of the second preset layer of the conveying rack, and the target goods are processed based on the manipulator.

Optionally, the transporting, by the transfer robot, the target goods corresponding to the processing instruction placed on the storage rack to the position corresponding to the sorting device includes: determining a target storage position of the storage shelf for placing the target goods according to the processing instruction; after the transfer robot moves to the position corresponding to the target storage position, the target goods are transferred to a temporary storage rack of the transfer robot from the target storage position; and transporting the target cargo to a position corresponding to the sorting device through the carrying robot.

Optionally, after the transfer robot moves to the position corresponding to the target storage location, the method further includes:

acquiring library position detection information of the target library position; judging whether the goods placed in the target storage position are the target goods or not based on the storage position detection information; and if so, transporting the target goods from the target storage position to a temporary storage rack of the transporting robot.

Optionally, the obtaining of the library position detection information of the target library position includes: and acquiring a storage position detection image of the target storage position based on the image sensor of the transfer robot, and judging whether the goods placed in the target storage position are the target goods based on the storage position detection image.

Optionally, based on the storage location detection information, determining whether the goods placed in the target storage location are the target goods, including: determining goods identification of goods placed in the target storage position based on the storage position detection information; judging whether the goods identification is a preset identification or not; and if the goods identification is a preset identification, determining the goods placed in the target storage position as the target goods.

Optionally, when the goods placed in the target storage location are not the target goods, the method further includes: determining respective associated shipments associated with the target shipment; carrying each associated cargo to a cargo import and export of the warehousing system through a carrying robot so as to determine abnormal cargo from each associated cargo; placing each second goods in an original storage position corresponding to each second goods through a transfer robot, wherein the second goods are other related goods except the abnormal goods in the related goods; and/or if the target goods are included in the abnormal goods, the target goods are placed in the target storage position through a carrying robot, and the target goods are carried to the position corresponding to the sorting device through the carrying robot.

Optionally, when the goods placed in the target storage location are not the target goods, the method further includes: determining respective associated shipments associated with the target shipment; judging whether the target goods exist in the associated goods, wherein the target goods are placed in a first storage position of the storage shelf, and the goods corresponding to the first storage position are the goods placed in the target storage position; if so, the target goods are placed in the target storage position and the goods placed in the target storage position are placed in the first storage position through the transfer robot, so that the target goods are transferred to the position corresponding to the sorting device through the transfer robot.

Optionally, after obtaining the library position detection information of the target library position, the method further includes: judging the library position state of the target library position according to the library position detection information; and if the storage position state of the target storage position is an occupied state, judging whether the goods placed in the target storage position are the target goods or not based on the goods detection information in the storage position detection information.

Optionally, if the library bit state of the target library bit is an idle state, the method further includes: determining whether the target cargo is included in each of the recovered cargos, wherein the recovered cargos are empty containers which are carried to a production line by the manipulator; and if so, generating recovery prompt information.

Optionally, if the target cargo is not included in the recovered cargo, the method further includes: acquiring goods shelf detection information of each layer of a conveying goods shelf of the sorting device; judging whether the target goods are retained on the conveying goods shelf or not based on the goods shelf detection information; if yes, the target goods staying on the conveying goods shelf are conveyed to a goods entrance/exit through the conveying robot so as to detect whether the target goods are damaged or not.

Optionally, if the target cargo is not retained on the delivery rack, the method further includes: inspecting each storage position of the storage shelf; judging whether the target goods are stored in a second storage position of the storage shelf or not according to the inspection result; if yes, determining each associated cargo associated with the target cargo; performing exception checking based on the historical processing flows of the target goods and each associated goods to determine exception processing nodes; and generating first exception prompt information according to the exception handling node.

Optionally, the method further includes: and storing each goods to be warehoused, which are positioned at a goods inlet and a goods outlet of the warehousing system, in each preset warehouse position of the warehousing goods shelf according to the warehousing instruction based on the transfer robot, wherein the warehousing instruction comprises the preset warehouse position corresponding to each goods to be warehoused.

Optionally, according to the warehousing instruction, storing each to-be-warehoused goods located at the goods entrance and exit of the warehousing system in each preset warehouse location of the warehousing shelf, including: when the warehousing instruction is received, the transfer robot moves to the position corresponding to the goods entrance and exit, and sequentially transfers each goods to be warehoused, which are placed at each goods taking point of the goods entrance and exit and correspond to the warehousing instruction, to a temporary storage rack of the transfer robot; and storing each goods to be warehoused in a preset warehouse position corresponding to each goods to be warehoused based on the carrying robot.

Optionally, after the transfer robot moves to a position corresponding to the cargo entrance/exit, the method further includes: determining the storage condition of each goods taking point of the goods import and export; judging whether redundant goods or abnormal goods taking points exist or not according to the storage condition of each goods taking point, wherein the abnormal goods taking points are idle goods taking points, and in the warehousing instruction, the abnormal goods taking points correspond to one goods to be warehoused; if the redundant cargoes exist, determining second associated cargoes associated with the redundant cargoes, wherein the second associated cargoes comprise one or more of cargoes which are associated with the redundant cargoes and are placed on the storage racks, cargoes which are associated with the redundant cargoes and are placed on the conveying racks and cargoes which are associated with the redundant cargoes and are placed on temporary storage racks of the handling robot; (ii) transporting each of the second associated shipments to the cargo import and export; performing exception checking based on the historical processing flow of each second associated cargo to determine an exception handling node; and generating second abnormal prompt information according to the abnormal processing node.

Optionally, if there is an abnormal pickup point, the method further includes: and generating third abnormal prompt information according to the abnormal goods taking points and goods to be warehoused corresponding to the abnormal goods taking points in the warehousing instruction.

Optionally, after the target goods are placed on the second preset layer of the conveying rack of the sorting device, the method further includes: receiving first abnormal information sent by the sorting device, wherein the first abnormal information comprises redundant goods on a second preset layer of a conveying shelf of the sorting device; and carrying the redundant cargos on the second preset layer to a production line through a carrying robot according to the first abnormal information, and generating fourth abnormal prompt information.

Optionally, after the target goods are placed on the second preset level of the conveying rack of the sorting device, the method further includes: receiving second abnormal information sent by the sorting device, wherein the second abnormal information comprises second target goods, and the second target goods are the target goods corresponding to the processing instruction which is not conveyed to a second preset layer of a conveying rack of the sorting device; according to the second abnormal information, the second target goods are placed on a second preset layer of a conveying goods shelf of the sorting device through a carrying robot, so that the second target goods are transported to the working range of the mechanical arm through the second preset layer of the conveying goods shelf, and the second target goods are processed based on the mechanical arm.

In a second aspect, the disclosed embodiment further provides a cargo processing method, which is applied to a sorting device, wherein the sorting device includes a conveying shelf and a manipulator, the conveying shelf has at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the manipulator toward a direction away from the manipulator and form a step shape; a conveying mechanism is arranged on the conveying layer and enables the goods to move on the conveying layer along the conveying direction, and the method comprises the following steps: when processed first goods exist on a first preset layer of a conveying goods shelf of the sorting device, the first goods are conveyed through a conveying mechanism of the first preset layer, so that the first goods are conveyed to an idle layer of a temporary storage goods shelf of a conveying robot through the conveying robot; after the carrying robot places the target goods on a second preset layer of a conveying goods shelf of the sorting device, the target goods are conveyed to a working range of the manipulator through a conveying mechanism of the second preset layer, wherein the target goods are goods corresponding to the processing instruction; processing the target cargo based on the manipulator; if the processed target goods are not empty containers, transferring the target goods to a first preset layer of the conveying goods shelf.

Optionally, the method further includes: if the processed goods are empty containers, determining the goods as recovered goods; and carrying the recovered goods to a production line through the manipulator, and recording the goods information of the recovered goods.

Optionally, the method further includes: when redundant goods exist on a second preset layer of a conveying goods shelf of the sorting device, first abnormal information is generated according to the redundant goods, and the first abnormal information is sent to the carrying robot.

Optionally, the method further includes: when second target goods do not exist on a second preset layer of a conveying rack of the sorting device, second abnormal information is generated according to the second target goods, and the second abnormal information is sent to a carrying robot, wherein the second target goods are the target goods which are not carried to the second preset layer of the conveying rack of the sorting device and correspond to the processing instruction.

In a third aspect, an embodiment of the present disclosure further provides a cargo handling apparatus, where the cargo handling apparatus is applied to a transfer robot, the transfer robot is used for carrying cargo of a warehousing system, the warehousing system includes a warehousing rack, a transfer robot, and a sorting apparatus, the sorting apparatus includes a conveying rack and a manipulator, the conveying rack has at least two conveying layers, and at least two conveying layers are sequentially retracted from bottom to top at one end near the manipulator toward a direction away from the manipulator and form a step shape; the conveying layer is provided with a conveying mechanism, the conveying mechanism enables goods to move on the conveying layer along a conveying direction, and the goods processing device comprises:

the goods transportation module is used for transporting the target goods which are placed on the storage shelf and correspond to the processing instruction to the position which corresponds to the sorting device through a transfer robot when the processing instruction is received, wherein the temporary storage shelf of the transfer robot comprises at least one idle layer; the first carrying module is used for carrying the first goods to the idle layer of the temporary storage rack through the carrying robot when the first goods which are processed exist on the first preset layer of the conveying rack of the sorting device; the first placing module is used for placing the target goods on a second preset layer of a conveying rack of the sorting device through the carrying robot after the first goods are placed on the idle layer of the temporary storage rack, so that the target goods are conveyed to the working range of the mechanical arm through a conveying mechanism of the second preset layer of the conveying rack, and the target goods are processed based on the mechanical arm.

In a fourth aspect, an embodiment of the present disclosure further provides a cargo processing apparatus, where the cargo processing apparatus is applied to a sorting apparatus, the sorting apparatus includes a conveying shelf and a manipulator, the conveying shelf has at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the manipulator toward a direction away from the manipulator and form a step shape; the conveying layer is provided with a conveying mechanism, the conveying mechanism enables goods to move on the conveying layer along a conveying direction, and the goods processing device comprises:

the second transportation module is used for transporting the first goods through the conveying mechanism of the first preset layer when the first goods which are processed exist on the first preset layer of the conveying goods shelf of the sorting device, so that the first goods are transported to the idle layer of the temporary storage goods shelf of the transfer robot through the transfer robot; the third transportation module is used for transporting the target goods to the working range of the manipulator through a transmission mechanism of a second preset layer after the target goods are placed on the second preset layer of the conveying goods shelf of the sorting device by the carrying robot, wherein the target goods are goods corresponding to the processing instruction; the goods processing module is used for processing the target goods based on the mechanical arm; and the goods returning module is used for transferring the target goods to a first preset layer of the conveying goods shelf if the processed target goods are not empty containers.

In a fifth aspect, an embodiment of the present disclosure further provides a transfer robot, including a robot main body, a temporary storage rack, a transfer device, and at least one processor; the temporary storage shelf is used for storing goods; the carrying device is used for carrying goods to the temporary storage shelf or extracting the goods stored in the temporary storage shelf; the at least one processor is configured to perform the cargo handling method provided in any corresponding embodiment of the first aspect of the disclosure.

In a sixth aspect, embodiments of the present disclosure further provide a sorting apparatus, including a conveying rack, a manipulator, and at least one processor; the conveying goods shelf is provided with at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the manipulator towards the direction far away from the manipulator and form a step shape; the conveying layer is provided with a conveying mechanism, and the conveying mechanism enables the goods to move on the conveying layer along the conveying direction; the at least one processor is configured to perform the cargo handling method according to any embodiment corresponding to the second aspect of the present disclosure.

In a seventh aspect, an embodiment of the present disclosure further provides a storage system, a storage rack, a transfer robot provided in an embodiment corresponding to the fifth aspect of the present disclosure, and a sorting apparatus provided in an embodiment corresponding to the sixth aspect of the present disclosure.

In an eighth aspect, the embodiment of the present disclosure further provides a computer-readable storage medium, where a computer executing instruction is stored in the computer-readable storage medium, and when a processor executes the computer executing instruction, the cargo processing method provided in any embodiment of the present disclosure is implemented.

In a ninth aspect, the present disclosure further provides a computer program product, including a computer program, where the computer program is executed by a processor to implement the cargo processing method provided in any embodiment of the present disclosure.

The goods processing method, the device, the robot, the sorting device and the warehousing system provided by the embodiment of the disclosure are directed to the warehousing system comprising a warehousing shelf, a carrying robot and a sorting device, wherein the carrying robot carries target goods on the warehousing shelf to a position corresponding to the sorting device based on a received processing instruction, a free layer is reserved on the carrying robot, when first processed goods exist on a first preset layer of the sorting device, the carrying robot carries the first goods to the reserved free layer, then the target goods are placed on a second preset layer of the sorting device, so that the target goods are conveyed to a working range of a manipulator through a conveying mechanism of the second preset layer, the manipulator completes the processing of the target goods, and further, if the processed target goods need to return to the warehousing shelf, the target goods are conveyed to the first preset layer, the carrying goods are conveyed back to the warehousing shelf through the free layer of the temporary storage shelf of the carrying robot, the sorting device has a bidirectional conveying function, the carrying robot can finish the picking and picking in an alternative mode at the same position, the goods taking efficiency is reduced, and the goods processing efficiency of the carrying robot is improved, and the goods waiting time is further the goods is improved.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

Fig. 1 is a first structural schematic diagram of a sorting device according to an embodiment of the present disclosure;

fig. 2 is a second schematic structural diagram of a sorting device according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram three of a sorting device according to an embodiment of the present disclosure;

fig. 4 is a first schematic structural diagram of another sorting apparatus provided in the embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of another sorting apparatus according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram three of another sorting apparatus provided in the embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a warehousing system provided by an embodiment of the present disclosure;

FIG. 8 is a top view of a transfer robot interfacing with a conveyor rack in a warehousing system according to an embodiment of the present disclosure;

FIG. 9 is a side view of a transfer robot interfacing with a transport rack in a warehousing system provided by embodiments of the present disclosure;

fig. 10 is a view of an application scenario of the cargo handling method according to the embodiment of the present disclosure;

FIG. 11 is a flow chart of a cargo handling method provided by one embodiment of the present disclosure;

FIG. 12 is a flow chart of a cargo handling method provided by another embodiment of the present disclosure;

FIG. 13 is a flow chart of a cargo handling method provided by another embodiment of the present disclosure;

FIG. 14 is a flow chart of a cargo handling method provided by another embodiment of the present disclosure;

FIG. 15 is a flow chart of a cargo handling method according to another embodiment of the present disclosure;

FIG. 16 is a flow chart of a cargo handling method according to another embodiment of the present disclosure;

fig. 17 is a flow chart of a cargo handling method according to another embodiment of the present disclosure;

FIG. 18 is a flow chart of a cargo handling method according to another embodiment of the present disclosure;

fig. 19 is a schematic structural view of a cargo handling apparatus according to an embodiment of the present disclosure;

fig. 20 is a schematic structural view of a cargo handling apparatus according to another embodiment of the present disclosure;

fig. 21 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure;

fig. 22 is a schematic structural diagram of a sorting apparatus according to another embodiment of the present disclosure.

Description of the reference numerals:

1-conveying goods shelves; 12-a transport layer; 121-a conveying line; 1211-a transport mechanism; 1212-rolling the conveyor;

2-a manipulator; 21-a first connecting arm; 22-a second connecting arm; 23-a support base; 231-a stability augmentation base; 232-support column; 24-taking the component;

3-a transfer robot;

4-storage shelf; 41-cargo access;

and 5, conveying the material box.

Specific embodiments of the present disclosure have been shown by way of example in the drawings and will be 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 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 warehousing system generally comprises a management device, a robot, warehousing shelves, a conveying line and an operation platform, wherein the conveying line is often set to be a layer so as to convey goods of the warehousing shelves located in each place to the corresponding operation platform through the robot, or convey the goods on the operation platform to the corresponding position of each warehousing shelf, and then the robot carries the goods to the warehousing shelves. The conveying line is long, so that the occupied area is large, and the storage density of the storage system is reduced.

In order to solve the above problem, an embodiment of the present disclosure provides a sorting device, in which a conveying rack of the sorting device has at least two conveying layers, and one ends of the at least two conveying layers, which are close to a robot, are sequentially retracted from bottom to top toward a direction away from the robot and are formed into a step shape. First, at least two-layer transport layer not only can increase the space of putting of carrying goods shelves, can reduce the area who carries goods shelves moreover to be favorable to reducing the space that sorting device occupy, improve storage density, reduce the storage cost. Second, the one end that is close to the manipulator of conveying layer sets up to the step form and is convenient for the manipulator to take the goods from the one end that is close to the manipulator of each conveying layer, perhaps, places the goods to the one end that is close to the manipulator of each conveying layer to can avoid the manipulator to bump with the conveying layer and interfere at the in-process of getting the goods of putting, and realize the two-way circulation of goods and carry, improve goods conveying efficiency.

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Fig. 1 is a first schematic structural diagram of a sorting device according to an embodiment of the present disclosure; fig. 2 is a schematic structural diagram of a sorting device according to an embodiment of the present disclosure; fig. 3 is a schematic structural diagram three of a sorting device according to an embodiment of the present disclosure; fig. 4 is a first schematic structural diagram of another sorting apparatus provided in the embodiment of the present disclosure; fig. 5 is a schematic structural diagram of another sorting apparatus according to an embodiment of the present disclosure; fig. 6 is a schematic structural diagram three of another sorting apparatus provided in the embodiment of the present disclosure.

Referring to fig. 1 to 6, an embodiment of the present disclosure provides a sorting apparatus. The sorting device comprises a conveying goods shelf 1 and a mechanical arm 2, wherein the mechanical arm 2 is arranged at the first end of the conveying goods shelf 1 along the conveying direction. Carry goods shelves 1 and be used for carrying the goods, manipulator 2 is used for following the goods of taking on carrying goods shelves 1, perhaps, manipulator 2 is used for placing the goods of taking on carrying goods shelves 1.

Specifically, the conveying shelf 1 has at least two conveying layers 12, and one end of each of the at least two conveying layers 12, which is close to the manipulator 2, is sequentially retracted from bottom to top in a direction away from the manipulator 2 and is formed into a step shape. The conveying layer 12 can be provided with two layers, three layers, four layers or more layers according to actual needs. Illustratively, the conveying shelf 1 comprises supporting legs and conveying layers 12 mounted on the supporting legs, and at least two conveying layers 12 can share one group (for example, four) of the supporting legs; alternatively, the at least two transport layers 12 may each have a set (e.g., four) of support legs; alternatively, the at least two transport layers 12 may share part of the support legs at the end remote from the robot 2 and each have support legs at the end close to the robot.

The conveying layer 12 is provided with a conveying mechanism 1211, the conveying mechanism 1211 enables goods to move on the conveying layer 12 along the conveying direction, and the conveying mechanism 1211 can convey the goods from one end far away from the manipulator 2 to one end close to the manipulator 2 to facilitate the manipulator 2 to take the goods from the conveying shelf 1; alternatively, the transfer mechanism 1211 may transfer the goods placed on the conveying rack 1 by the robot 2 near the end of the robot 2 to the end far from the robot 2, so that the transfer robot, the worker, or other equipment takes the goods from the end of the conveying rack 1 far from the robot 2.

In the sorting device provided by the embodiment of the disclosure, the conveying shelf 1 has at least two conveying layers 12, and one ends of the at least two conveying layers 12, which are close to the manipulator 2, are sequentially retracted from bottom to top towards the direction away from the manipulator 2 and form a step shape. First, at least two-layer transport layer 12 not only can increase the object space of carrying goods shelves 1, can reduce the area of carrying goods shelves 1 moreover to be favorable to reducing the space that sorting device occupy. Secondly, the one end of the transport layer 12 close to the manipulator is set to the step-like one end which is convenient for the manipulator 2 to take the goods from the one end of each transport layer 12 close to the manipulator 2, or the goods are placed to the one end of each transport layer 12 close to the manipulator 2, thereby avoiding the interference of the manipulator 2 in the collision with the transport layer 12 in the process of taking and placing the goods.

Meanwhile, by providing the conveying mechanism 1211 on the conveying layer 12, the conveying mechanism 1211 moves the goods on the conveying layer 12 in the conveying direction. On one hand, the conveying mechanism can convey the goods on the conveying layer 12 towards one end close to the manipulator 2 so as to be convenient for the manipulator 2 to take; on the other hand, transport mechanism can place manipulator 2 and carry the one end of keeping away from manipulator 2 towards the goods of the one end that is close to manipulator 2 of transport layer 12 to in order to make way manipulator 2 and put the goods space, thereby be favorable to improving sorting device's work efficiency.

Optionally, the conveying layer 12 includes at least two conveying lines 121, and the at least two conveying lines 121 are arranged side by side along a direction perpendicular to the conveying direction, and for example, the conveying lines 121 may be arranged in two, three, four, or more according to actual needs. The conveying mechanism 1211 is provided on the conveying lines 121, so that the conveying layer 12 can convey the goods through at least two conveying lines 121 at the same time, thereby facilitating improvement of conveying efficiency of the conveying rack 1, and further facilitating improvement of sorting efficiency of the sorting apparatus.

Optionally, the conveying line 121 is provided with a conveying bin 5, and the conveying bin 5 is used for accommodating goods, so that the goods can be conveyed conveniently, and clamping stagnation of small goods or goods with irregular shapes in the conveying process can be avoided. The width of transfer chain 121 perpendicular to direction of delivery is greater than or equal to the width of carrying workbin 5 perpendicular to direction of delivery to avoid carrying workbin 5 to stretch out the both sides of transfer chain 121 and take place to interfere with other structures, thereby be favorable to guaranteeing to carry workbin 5 whole all to be located transfer chain 121, and then be favorable to guaranteeing to carry workbin 5's smooth transport.

Optionally, in two adjacent conveying levels 12, compared with the end, close to the manipulator 2, of the conveying level 12 located on the upper level, the end, close to the manipulator 2, of the conveying level 12 located on the upper level is retracted by a first length value towards the direction away from the manipulator 2, where the first length value is greater than or equal to the width of the conveying bin 5 in the conveying direction. On the one hand, the one end that is close to manipulator 2 of guaranteeing the upper strata and carries the layer can not shelter from the transport workbin 5 that the one end that is close to manipulator 2 of lower floor's transport layer was placed to be convenient for manipulator 2 from carrying the goods in workbin 5, or, place the goods in carrying workbin 5. On the other hand, it is convenient for the robot arm 2 to remove the delivery magazines 5 directly from the end of the delivery layer 12 close to the robot arm 2, or to place the delivery magazines 5 directly on the end of the delivery layer 12 close to the robot arm 2.

In an alternative implementation, the conveying mechanism 1211 is provided with a rolling conveying member 1212, the rolling conveying member 1212 having an outer contour surface in rolling contact with a conveying object placed on the rolling conveying member 1212; the rolling conveyance member 1212 rotates about its own rotation axis toward the conveyance direction to convey the conveyance object in the conveyance direction. For example, the rolling conveyance member 1212 may be a rotating roller whose outer circumferential surface is in rolling contact with the conveyance object and conveys the conveyance object in the conveyance direction.

Further, the rolling conveying members 1212 may be plural, the plural rolling conveying members 1212 are arranged in parallel along the conveying direction, and the rotation axes of the plural rolling conveying members 1212 are parallel to each other, so that the goods placed on the conveying layer 12 can be conveyed more flexibly and smoothly.

In another alternative implementation, the conveying mechanism 1211 is provided with a reciprocating conveyor belt that reciprocates in a conveying direction to convey the conveyance object placed on the reciprocating conveyor belt in the conveying direction.

Optionally, the end of the at least two conveying layers 12 far away from the manipulator 2 is flush, so that the transfer robot is in butt joint with the end of the at least two conveying layers 12 far away from the manipulator 2, thereby being beneficial to ensuring that the transfer robot smoothly transfers goods on the transfer robot to the conveying layers 12, or transfers goods on the conveying layers 12 to the transfer robot.

Optionally, the manipulator 2 includes a support base 23, a first connection arm 21 and a fetching assembly 24, the first end of the first connection arm 21 is rotatably connected to the top end of the support base 23, and for example, the first end of the first connection arm 21 and the top end of the support base 23 may be rotatably connected through a universal shaft, and may also be rotatably connected through a ball joint, so as to facilitate increasing the flexibility of rotation of the first connection arm 21 relative to the support base 23. A picking assembly 24 is mounted at the second end of the first connecting arm 21, the picking assembly 24 being adapted to pick goods from an end of the at least two conveyor levels 12 adjacent the robot 2. During the concrete implementation, first connecting arm 21 rotates and adjusts the position relation of subassembly 24 of taking for between the goods of waiting to take to make subassembly 24 of taking can be smooth with the goods butt joint of waiting to take.

Further, the manipulator 2 further includes a second connecting arm 22, and a first end of the second connecting arm 22 is rotatably connected to a second end of the first connecting arm 21, for example, the first end of the second connecting arm 22 may be rotatably connected to the second end of the first connecting arm 21 through a universal shaft, and may also be rotatably connected through a ball hinge, so as to facilitate improving the flexibility of the second connecting arm 22 in rotating relative to the first connecting arm 21. A take-up assembly 24 is mounted to the second end of the second connecting arm 22. During the concrete realization, first linking arm 21 and second linking arm 22 all can rotate in a flexible way to the relative position relation between the subassembly 24 and the goods of waiting to take of taking is taken in the adjustment of more accuracy, thereby makes the subassembly 24 of taking smoothly and accurate and the goods butt joint of waiting to take.

In an alternative implementation, the taking component 24 is a suction cup component, the suction cup component includes a suction cup connecting piece and a suction cup, the top end of the suction cup connecting piece is rotatably connected to the second end of the second connecting arm 22, for example, the top end of the suction cup connecting piece and the second end of the second connecting arm 22 may be rotatably connected through a universal shaft or a spherical hinge, so as to facilitate the improvement of the flexibility of the suction cup connecting piece for the rotation of the second connecting arm 22. The sucking disc is installed in the bottom of sucking disc connecting piece, and the sucking disc is used for absorbing the goods. Optionally, the suction cup connector may be configured as a retractable structure to increase flexibility of adjustment of the suction cup.

In another alternative implementation, the fetching component 24 is a mechanical claw component, the mechanical claw component includes a mechanical claw connecting piece and a mechanical claw, a top end of the mechanical claw connecting piece is rotatably connected with the second end of the second connecting arm 22, for example, the top end of the mechanical claw connecting piece and the second end of the second connecting arm 22 may be rotatably connected through a universal shaft, and may also be rotatably connected through a ball joint, so as to facilitate improving the flexibility of the mechanical claw connecting piece in rotating relative to the second connecting arm 22. The mechanical claw is arranged at the bottom end of the mechanical claw connecting piece; the gripper has at least two mechanical fingers, and the gripper is used for snatching goods, and exemplarily, the gripper can set up two, three, four or more mechanical fingers according to actual need, and the mechanical finger can make the gripper more reliably snatch goods. Alternatively, the gripper linkage may be provided in a telescopic configuration to increase the flexibility of the gripper adjustment.

Optionally, the supporting base 23 includes a stability enhancing base 231 and a supporting column 232, a bottom end of the supporting column 232 is installed on the stability enhancing base 231, and a first end of the first connecting arm 21 is rotatably connected to a top end of the supporting column 232. For example, the stability augmentation base 231 may be laid flat on the ground, and the stability augmentation base 231 may be square, circular, or other shapes. The stability-enhancing pedestal 231 contributes to lowering the center of gravity of the manipulator 2, so that the stability and reliability of the manipulator 2 can be improved.

Optionally, the fetching component 24 is provided with a target object recognition device, and the target object recognition device is used for recognizing a target object to be fetched by the fetching component. For example, the object recognition device may be a code scanning device, an identification code, such as a bar code or a two-dimensional code, may be attached to the goods to be taken, and the code scanning device may identify the identification code on the goods to find out the object to be taken. Of course, the object recognition device may also be an image recognition device, and the image recognition device may directly find the object from the goods to be taken.

Optionally, the taking assembly 24 is provided with an anti-collision detection device, and the anti-collision detection device is used for preventing the taking assembly from colliding with the conveying goods shelf 1. Illustratively, the anticollision detection device includes range finding sensor and proximity sensor, and range finding sensor and proximity sensor can detect the distance of taking between subassembly 24 and the conveying goods shelves 1, and during concrete realization, when the distance of taking between subassembly 24 and the conveying goods shelves 1 is less than the default, can send out the police dispatch newspaper and remind operating personnel, perhaps, can pass back the distance to the major control system of manipulator 2, make the major control system of manipulator 2 control the removal of the subassembly 24 of taking of manipulator 2.

Fig. 7 is a schematic structural diagram of a warehousing system provided by the embodiment of the disclosure; FIG. 8 is a top view of a transfer robot interfacing with a conveyor rack in a warehousing system according to an embodiment of the present disclosure; fig. 9 is a side view of a transfer robot interfacing with a conveyor rack in a warehousing system according to an embodiment of the disclosure.

On the basis of the above embodiments, referring to fig. 7 to 9, an embodiment of the present disclosure provides a storage system. The warehousing system comprises a warehousing goods shelf 4, a carrying robot 3 and a sorting device, wherein the carrying robot 3 is used for carrying goods on the warehousing goods shelf 4 to a conveying goods shelf 1 of the sorting device, or carrying the goods on the conveying goods shelf 1 to the warehousing goods shelf 4.

Illustratively, the storage shelves 4, the transfer robot 3 and the sorting device are all arranged in a warehouse, the warehouse can be divided into an inventory area and a sorting area, the storage shelves 4 are arranged in the inventory area, and a tunnel for the transfer robot 3 to pass through is reserved between the storage shelves 4; the inventory area has a goods access opening 41 for transporting goods into and out of the inventory area. The sorting device is arranged between the stock area and the sorting area, so that goods in the stock area can be conveyed through the sorting device and sorted and stored in the sorting area, or goods in the sorting area can be sorted through the sorting device and conveyed and stored in the stock area.

Alternatively, the goods doorway of the transfer robot 3 may be butted against a second end of the conveying rack 1 in the conveying direction to transfer goods from the transfer robot 3 to the conveying rack 1, or transfer goods from the conveying rack 1 to the transfer robot 3. In connection with the description of the above embodiment, the second end of the conveying rack 1 in the conveying direction is the end of the conveying rack remote from the robot.

Optionally, there are at least two transfer robots 3, and for example, the transfer robots 3 may be two, three, four or more according to the scale of the warehousing system, so as to improve the work efficiency of the warehousing system.

Optionally, the sorting device has at least two sorting devices, and for example, the sorting device may be provided with two, three, four or more sorting devices according to the scale of the warehousing system, so as to facilitate the work efficiency of the sorting device. At least two sorting device intervals set up in same one side of storage goods shelves 4 to one side of keeping away from storage goods shelves 4 at sorting device sets up the letter sorting transfer chain, thereby is favorable to guaranteeing the compactness of letter sorting transfer chain, reduces the scope that sets up of letter sorting transfer chain, practices thrift the cost.

The warehousing system provided by the embodiment of the disclosure includes the sorting device of the above embodiment, and therefore, the sorting device of the above embodiment has the same advantages as the warehousing system, and specific reference may be made to the description of the above embodiment, which is not repeated herein.

The embodiment of the present disclosure further provides a cargo processing method, and an application scenario of an embodiment corresponding to the cargo processing method of the present disclosure is explained as follows:

fig. 10 is an application scenario diagram of the cargo handling method according to the embodiment of the disclosure, as shown in fig. 10, the cargo handling method according to the embodiment of the disclosure may be executed by the above transfer robot or sorting apparatus, generally, the warehousing system 100 mainly includes a management device 110, a warehousing shelf 120, a transfer robot 130, a conveying line 140 and an operation console, in fig. 10, taking 3 warehousing shelves 120 as an example, the management device 110 is used for recording information of each cargo stored on the warehousing shelf 120 and planning a path for the transfer robot 130; the conveying line 140 includes a robot docking interface I, and after the transfer robot 130 transfers the goods to the robot docking interface I, the conveying line 140 is used for conveying the goods from the robot docking interface I to the operation console for corresponding processing, such as sorting, packaging, and the like, if the goods need to be returned to the storage rack 120, the goods are conveyed to the goods outlet through the conveying line 140, and the goods are returned to the storage rack 120 through another transfer robot 130.

In the prior art, the transfer robots need to take and put goods respectively through different transfer robots, the number of the occupied robots is large, and when the goods are taken, due to the fact that goods processing needs a certain time, the transfer robots often need to wait for a long time at a goods outlet or need to frequently go and return between a conveying line and a storage shelf, and therefore the transfer efficiency of the transfer robot 130 is low.

In order to improve the efficiency of goods handling, the embodiment of the disclosure provides a goods handling method, by matching of a handling robot and a sorting device, when goods are handled, the handling robot handles a first goods which needs to return to a storage shelf after the first goods are processed on a first preset layer of the sorting device to an idle layer of the storage shelf, then target goods on other layers of the storage shelf are placed on a second preset layer of the sorting device, so that the target goods are handled by a manipulator of the sorting device, and after the handling is finished, if the target goods need to return to the storage shelf, the manipulator is used, so that the goods are transported bidirectionally based on the sorting device, and the goods are taken and placed alternately by the handling robot at the sorting device, so that the goods taking and placing by the same robot are completed, the walking distance and the waiting time of the handling robot are reduced, the efficiency of goods handling is improved, and the efficiency of goods handling is improved.

Fig. 11 is a flowchart of a cargo handling method according to an embodiment of the disclosure, and as shown in fig. 11, the cargo handling method is suitable for a warehousing system, which may be an unmanned warehousing system, that is, the cargo is not handled by people in the warehousing, sorting, ex-warehousing processes, and the like, and can be completed only by the warehousing system. The goods processing method can be executed by a transfer robot, the warehousing system comprises a warehousing goods shelf, the transfer robot and a sorting device, the sorting device comprises a conveying goods shelf and a mechanical arm, the conveying goods shelf is provided with at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the mechanical arm towards the direction far away from the mechanical arm and form a step shape; and the conveying layer is provided with a conveying mechanism, and the conveying mechanism enables the goods to move on the conveying layer along the conveying direction. The cargo processing method provided by the embodiment comprises the following steps:

step S201, when receiving the processing instruction, the handling robot transports the target goods corresponding to the processing instruction placed on the storage rack to a position corresponding to the sorting apparatus.

The temporary storage rack of the transfer robot is multi-layer, and comprises at least one idle layer when the transfer robot moves to the position corresponding to the sorting device.

In some embodiments, the free floor may be the lowest floor of the staging rack or the highest floor.

In some embodiments, the transfer robot may be the transfer robot 3 in the above-described embodiments.

In some embodiments, the number of the target goods may be multiple, and when one transfer robot carries the target goods, the number of the corresponding target goods should be less than the number of layers of the temporary storage rack of the transfer robot.

Specifically, the processing instruction may be issued by a management device, a scheduling device, or an order receiving device of the warehousing system, and the processing instruction may include each target good and may also include a target depot corresponding to each target good.

In some embodiments, the processing instruction may be a sorting instruction, and the sorting instruction may further include a sorting task for each target cargo.

Further, after the order taking equipment of the warehousing system receives the order, processing instructions of each transfer robot are generated based on the order so as to complete the order based on each transfer robot.

Specifically, after receiving the processing instruction, the transfer robot decodes the processing instruction to obtain each target cargo and a target storage position corresponding to each target cargo, and then moves to a position corresponding to each target storage position according to a set sequence, transfers each target cargo to each layer of the temporary storage rack of the transfer robot, and reserves an idle layer, and after each target cargo is transferred to the temporary storage rack of the transfer robot, the transfer robot moves to a position corresponding to the sorting device, so that the processing of each target cargo is performed based on the sorting device.

Step S202, when the first processed goods exist on the first preset layer of the conveying goods shelf of the sorting device, the first goods are conveyed to the idle layer of the temporary storage goods shelf through the conveying robot.

The first goods is the last target goods which are processed by the sorting device and need to be returned to the storage shelf.

The conveying goods shelf of the sorting device can comprise at least two layers, a first preset layer and a second preset layer, the first preset layer can be used for conveying first goods which need to be returned to the storage goods shelf after the processing is finished, and the second preset layer is used for conveying each target goods which need to be processed by the manipulator of the sorting device.

In some embodiments, the first preset level may also be used for conveying each target goods to be processed by the manipulator of the sorting device, the conveying direction of the first preset level may be changed, and the conveying direction of the first preset level may be identical to or opposite to the conveying direction of the second preset level.

In some embodiments, the sorting apparatus may be the sorting apparatus provided in any of the embodiments described above.

In some embodiments, the first predetermined level of the conveying rack of the sorting apparatus may be opposite to the conveying direction of the second predetermined level, and the first predetermined level is located below the second predetermined level.

Specifically, sorting device predetermines the layer through the second and carries out first freight, with the working range of first freight to the manipulator, and then carry out first goods by the manipulator and handle, like goods letter sorting, packing etc, after handling, if this first goods need return warehouse system, still have article or first goods not empty packing box in the first goods, then carry this first goods to first predetermineeing the layer to draw this first goods through transfer robot, and deposit this first goods in storage goods shelves.

Specifically, when the first goods are processed, the first goods can be carried to the first preset layer of the conveying goods shelf of the sorting device through the mechanical arm of the sorting device.

Specifically, the transfer robot can place the first goods on the idle layer of the temporary storage rack through the goods taking and placing device.

Step S203, after the first goods are placed on the idle layer of the temporary storage rack, the target goods are placed on a second preset layer of a conveying rack of the sorting device through the transfer robot, so that the target goods are transported to a working range of the manipulator through a transfer mechanism of the second preset layer of the conveying rack, and the target goods are processed based on the manipulator.

Specifically, if a plurality of first goods and a plurality of target goods exist, the carrying device places a first goods on the reserved idle layer of the temporary storage goods shelf of the carrying device, a target goods can be placed on the second preset layer of the conveying goods shelf of the sorting device through the goods taking and placing device, so that a new idle layer appears on the temporary storage goods shelf of the carrying robot, namely a layer for placing the target goods originally is formed, the carrying robot then places a first goods on the new idle layer, the rest is done in the same order, the carrying robot adopts an alternative mode, extracts a first goods from the first preset layer and places a target goods of the temporary storage goods shelf on the second preset layer, the carrying of goods in two transportation directions in which the goods flow back after being delivered out of a warehouse and sorted is finished simultaneously is met, the time for goods processing is greatly shortened, and the goods processing efficiency is improved.

Specifically, after the target goods are placed on a second preset layer of a conveying shelf of the sorting device, the target goods are conveyed through a transmission mechanism of the second preset layer, after the target goods are conveyed to the working range of a manipulator of the sorting device, the manipulator processes the target goods based on a processing instruction corresponding to the target goods, for example, the target goods are sorted based on a sorting task in the sorting instruction, after the processing is finished, if the target goods are not empty containers, the target goods are conveyed to a first preset layer of the conveying shelf of the sorting device through the manipulator, so that the target goods are placed back to a storage shelf through a conveying robot, and the original positions or the redistributed positions of the target goods can be placed back.

Fig. 12 is a flowchart of a cargo processing method according to another embodiment of the present disclosure, where the cargo processing method according to this embodiment is based on the embodiment shown in fig. 11, and further details of step S201, and adds a step related to target cargo determination, as shown in fig. 12, the cargo processing method according to this embodiment may include the following steps:

step S301, when a processing instruction is received, a carrying robot determines a target storage position of the storage shelf for placing the target goods according to the processing instruction.

Specifically, the processing instruction may be decoded, and then based on the decoded processing instruction, each target good and a target library position corresponding to each target good are determined.

Specifically, each target cargo may be determined according to the processing instruction, for example, a cargo identifier of each target cargo is obtained, and then a target storage location corresponding to each target cargo is determined according to the cargo identifier of each target cargo based on the stored first corresponding relationship. The first corresponding relation is used for describing the corresponding relation between each storage position of a storage shelf of the storage system and the goods identification.

Step S302, after the carrying robot moves to the position corresponding to the target storage position, the storage position detection information of the target storage position is obtained.

The storage position detection information may be an identification result of the goods identifier of the goods stored in the target storage position.

In some embodiments, the storage location detection information may be a cargo identifier, size information of the cargo, a cargo type, and the like, and may also be a type, a number, and the like of the items stored in the cargo.

Specifically, after the target storage position of the target cargo is determined, the walking path is obtained, and the current position is moved to the position corresponding to the target storage position based on the walking path.

Specifically, the transfer robot may perform path planning based on a pre-established map of the warehousing system, the current position of the transfer robot, and the target warehouse location, thereby determining the walking path.

Specifically, after the transfer robot moves or walks to a position corresponding to the target storage location, sensors, such as an infrared sensor, an ultrasonic sensor, an image sensor, and the like, provided on the transfer robot are turned on, and storage location detection information of the target storage location is acquired.

Further, after the transfer robot moves or walks to the position corresponding to the target storage position, position calibration can be performed, and after or during calibration, a sensor arranged on the transfer robot is started to acquire the storage position detection information of the target storage position.

Step S303, based on the storage position detection information, judging whether the goods placed in the target storage position are the target goods.

Specifically, whether the warehouse location detection information meets preset information corresponding to the target goods or not can be judged, and if yes, the goods placed in the target warehouse location are determined to be the target goods. And if the cargo type in the storage position detection information is not consistent with the preset cargo type of the target cargo, determining that the cargo placed in the target storage position is not the target cargo.

In some embodiments, the size information corresponding to different types of cargo spaces is different, and the storage space detection information may be size information, such as width, length, and the like, of the cargo placed in the target storage space, so as to determine whether the cargo placed in the target storage space is the target cargo based on the size information.

Specifically, the storage location detection information may be a cargo identifier of the cargo placed in the target storage location, and whether the cargo placed in the target storage location is the target cargo is determined based on the cargo identifier.

Specifically, the goods identification code can be pasted in the set area of the target goods, the form of the goods identification code can be two-dimensional code, bar code, code and the like, and the set area can be identified through a sensor arranged on the transfer robot, so that the goods identification of the goods placed in the target storage position can be obtained.

Optionally, the obtaining of the library position detection information of the target library position includes:

and acquiring a storage position detection image of the target storage position based on the image sensor of the transfer robot, and judging whether the goods placed in the target storage position are the target goods based on the storage position detection image.

The image sensor may be a 2D or 3D image sensor, among others.

Specifically, whether goods placed in the target storage location are the target goods or not can be judged based on the recognition result by recognizing the storage location detection image of the target storage location.

Furthermore, after the storage position detection image of the target storage position is collected, the storage position detection image can be subjected to image segmentation, so that a segmentation image of a set area including goods placed in the target storage position is obtained, the goods identification code in the segmentation image is identified, a goods identification of the goods placed in the target storage position is obtained, and whether the goods placed in the target storage position are the target goods is judged based on the goods identification.

Optionally, based on the storage location detection information, determining whether the goods placed in the target storage location are the target goods, including:

determining goods identification of goods placed in the target storage position based on the storage position detection information; judging whether the goods identification is a preset identification or not; and if the goods identification is a preset identification, determining the goods placed in the target storage position as the target goods.

Wherein the preset mark is a goods mark of the target goods.

Specifically, when the goods identifier corresponding to the bin position detection information corresponding to the target bin position is a preset identifier, it is determined that the goods placed in the target bin position are the target goods, otherwise, that is, the goods identifier is not the preset identifier, it is determined that the goods placed in the target bin position are not the target goods.

And step S304, if yes, the target goods are transported from the target storage position to a temporary storage rack of the transporting robot.

Specifically, after the goods placed on the target storage position are determined to be the target goods, the target goods are conveyed from the target storage position to one layer of the temporary storage rack of the conveying robot through the goods taking and placing device.

Through the verification to the goods that place on the target storehouse position, avoided because system failure, lead to transporting wrong goods to sorting device to lead to goods letter sorting to make mistakes, influence the completion of order, cause customer's loss.

Step S305, the target cargo is transported to a position corresponding to the sorting apparatus via the transfer robot.

Step S306, when the first processed goods exist on the first preset layer of the conveying goods shelf of the sorting device, the first goods are conveyed to the idle layer of the temporary storage goods shelf through the conveying robot.

Step S307, after the first goods are placed on the idle layer of the temporary storage rack, the target goods are placed on a second preset layer of a conveying rack of the sorting device through the transfer robot, so that the target goods are transported to a working range of the manipulator through a transfer mechanism of the second preset layer of the conveying rack, and the target goods are processed based on the manipulator.

After the manipulator of the sorting device finishes the sorting task of the target goods in the historical time, whether the objects in the target goods are all taken out or not can be judged, whether the target goods are empty containers or not can be judged, if yes, the target goods can be recycled through the sucker assembly of the manipulator of the sorting device, if the empty containers are transferred to a production line through the manipulator, and the empty containers can be recycled through the production line.

After the target goods are processed, for example, after the target goods are packaged, the target goods need to be transferred to a production line through a manipulator of the sorting device for delivery of the target goods. Specifically, the manipulator can take the target goods by the sucker assembly and place the target goods on the production line.

In some embodiments, a failure of the robot, a software failure or a hardware failure may cause a failure in sucking the target goods that need to be transferred to the production line, thereby causing the target goods to become redundant goods and to be retained on the second preset layer of the conveying rack of the sorting device. If the empty box is not recovered, namely the suction disc assembly fails to suck the empty box, the empty box is retained at the second preset layer of the conveying shelf of the sorting device. The sorting device generates first anomaly information based on the excess goods.

Optionally, after the target goods are placed on the second preset level of the conveying rack of the sorting device, the method further includes:

receiving first abnormal information sent by the sorting device; and carrying redundant cargos on the second preset layer to a production line through a carrying robot according to the first abnormal information, and generating fourth abnormal prompt information.

The first abnormal information includes redundant goods on a second preset layer of a conveying shelf of the sorting device, such as goods identification, positions and the like of the redundant goods. The redundant goods can be empty containers which are not recovered by the mechanical arm, and can also be first goods which are not moved by the previous transfer robot. And the fourth abnormal prompt message is used for reminding an operator of checking the sorting device according to the abnormal condition of the redundant goods so as to determine the abnormal reason. The fourth abnormal prompt message may include information corresponding to the redundant goods, such as a goods identifier, and may further include a timestamp, so as to perform backtracking to determine the reason for the abnormality.

Specifically, the manipulator of the sorting device can detect whether redundant goods exist on the second preset layer of the conveying goods shelf or not, if so, first abnormal information is generated based on the redundant goods, and the first abnormal information is sent to the carrying robot. And after receiving the first abnormal information, the carrying robot carries the redundant goods on the second preset layer to a production line based on the goods identification or position of the redundant goods in the first abnormal information, so that the abnormal treatment of the redundant goods is completed.

receiving second abnormal information sent by the sorting device; according to the second abnormal information, the second target goods are placed on a second preset layer of a conveying rack of the sorting device through a carrying robot, so that the second target goods are conveyed to the working range of the mechanical arm through the second preset layer of the conveying rack, and the second target goods are processed based on the mechanical arm.

The second abnormal information comprises a second target cargo, and the second target cargo is the target cargo which is not conveyed to the second preset layer of the conveying shelf of the sorting device and corresponds to the processing instruction. That is, the second target goods are the target goods corresponding to the processing instruction and needing to be transported to the second preset layer of the sorting device, but the sorting device does not detect the second target goods in the second preset layer, that is, the transporting robot does not transport the second target goods to the second preset layer of the sorting device when responding to the processing instruction.

Specifically, the manipulator of the sorting device processes each target cargo placed on the second preset layer corresponding to the processing instruction based on the processing instruction, and when it is determined that one of the target cargos is absent, that is, the second target cargo is present, or when the second preset layer does not have the second target cargo, second abnormal information is generated based on the second target cargo, and the second abnormal information is sent to the transfer robot. The transfer robot may be any one of robots, such as a robot corresponding to a processing instruction corresponding to processing the second target cargo or another robot. After receiving the second abnormal information, the transfer robot determines a second target storage location of the second target goods based on the second target goods in the second abnormal information, such as the goods identification of the second target goods, and transfers the second target goods placed in the second target storage location to a second preset layer of a conveying shelf of the sorting device, so that the second target goods are processed through a manipulator of the sorting device, and therefore smooth completion of each order is guaranteed.

In this embodiment, after the transfer robot moves to the target storage location based on the processing instruction, the storage location detection information of the target storage location is acquired, so that whether goods placed on the target storage location are the preset target storage location is judged based on the storage location detection information, that is, the target goods are checked, if yes, the target goods are transferred to the position corresponding to the sorting device through the transfer robot, the accuracy of goods transfer is improved, and order errors caused by processing of wrong goods are avoided; after the transfer robot extracts each target goods, at least one idle layer is reserved on the temporary storage shelf of the transfer robot, so that the transfer robot is supported to extract a first goods and place a target goods in an alternate mode, two tasks of picking and placing the goods of the sorting device are completed by one transfer robot, the time for carrying the goods is greatly shortened, and the goods carrying and processing efficiency is improved.

Optionally, fig. 13 is a flowchart of a cargo processing method according to another embodiment of the present disclosure, where this embodiment is based on the previous embodiment, that is, the embodiment corresponding to fig. 12, and for a case that a cargo placed at a target storage location is not a target cargo, as shown in fig. 13, when the cargo placed at the target storage location is not the target cargo, the cargo processing method may further include the following steps:

step S401, determining each related cargo related to the target cargo.

The associated goods may be each goods warehoused or processed in the same batch as the target goods, or each goods warehoused in a preset time period before the time when the target goods are warehoused, for example, 10min.

Specifically, when the transfer robot determines that the goods placed in the target storage location are not the target goods, the goods identifiers of the associated goods associated with the target goods may be determined according to the goods identifiers of the target goods.

Step S402, the associated goods are transported to a goods entrance/exit of the warehousing system by a transport robot, so as to determine abnormal goods from the associated goods.

Wherein, the goods import and export is the window that warehouse system received and exported the goods. The anomalous shipments may include each associated shipment with a non-compliance stock location, such as a shipment placed at a target stock location.

Specifically, after each associated cargo is determined, each associated cargo can be transported to a cargo import/export of the warehousing system through the transport robot and the storage location where each associated cargo is stored. The storage position where the associated goods are stored can be determined based on the operation record of the warehousing system, and the process of processing each goods, including the original storage position corresponding to warehousing and the new storage position corresponding to subsequent goods processing, is recorded in the operation record.

Further, restoration of the processing flow can be performed on each associated cargo based on the operation record, so as to determine one or more abnormal cargos.

Further, after the transfer robot transfers each associated cargo to the cargo entrance/exit, the abnormal cargo may be determined from each associated cargo by the operator.

Step S403, placing each second cargo in the original storage location corresponding to each second cargo via the transfer robot.

And the second goods are other related goods except the abnormal goods in the related goods.

Specifically, for each associated cargo with an accurate storage location, that is, the second cargo, the associated cargo is returned to the original storage location by the transfer robot.

Step S404, if the abnormal goods include the target goods, the target goods are placed in the target storage location by the transfer robot, so that the target goods are transferred to a position corresponding to the sorting device by the transfer robot.

Aiming at abnormal goods in the associated goods, namely associated goods with inconsistent storage positions, if the associated goods comprise target goods corresponding to the target storage positions in the processing instruction, the target goods are placed in the target storage positions through the carrying robot, then the target goods placed on the target storage positions are carried to the positions corresponding to the sorting devices through the robot, the target goods are conveyed to the working range of the manipulator through a second preset layer of a conveying shelf of the sorting devices, and the target goods are processed through the manipulator.

If the target goods do not exist in the abnormal goods, the warehousing goods shelves of the warehousing system need to be integrally checked to determine more abnormal goods and judge whether the target goods exist, if yes, the target goods are placed in the target storage position through the carrying robot, and then the target goods position placed on the target storage position is carried to the position corresponding to the sorting device through the robot.

Furthermore, fifth abnormal prompt information can be generated based on each abnormal goods and the storage position where each abnormal goods is stored, so that abnormal screen inspection can be performed on the warehousing system based on the abnormal information, and the abnormal reason can be determined.

Optionally, fig. 14 is a flowchart of a cargo processing method according to another embodiment of the present disclosure, and this embodiment is based on the embodiment corresponding to fig. 12, and for a case that a cargo placed at a target storage location is not a target cargo, as shown in fig. 14, when the cargo placed at the target storage location is not the target cargo, the cargo processing method may further include the following steps:

step S501, determining each related cargo related to the target cargo.

Step S502, judging whether the target goods exist in the associated goods.

The target goods are placed in a first storage position of the storage shelf, and the goods corresponding to the first storage position are the goods placed in the target storage position.

Specifically, after determining each associated good associated with the target good, based on the goods identifier, whether the target good exists is searched for in each associated good.

Step S503, if yes, the target goods is placed in the target storage location and the goods placed in the target storage location are placed in the first storage location by the transfer robot, so that the target goods is transferred to a position corresponding to the sorting device by the transfer robot.

If the target goods exist in the associated goods, the storage position where the target goods are stored is determined, namely the first storage position, the carrying robot exchanges the first storage position with the goods placed on the target storage position, namely the goods placed on the target storage position are placed on the first storage position, and the target goods are placed on the target storage position, so that the goods placed on the target storage position are accurate.

After the target goods are placed in the target storage position, namely, the target goods are returned, the transfer robot transfers the target goods to a position corresponding to the sorting device, so that the target goods are placed on a second preset layer of the sorting device after the first goods are placed on an idle layer of a temporary storage rack of the transfer robot, and the target goods are processed through a manipulator of the sorting device, namely sorting, packaging and the like.

Fig. 15 is a flowchart of a cargo processing method according to another embodiment of the present disclosure, where the cargo processing method according to this embodiment is based on the embodiment shown in fig. 12, and adds a step related to judgment of the stock location state after step S302, as shown in fig. 15, the cargo processing method according to this embodiment includes the following steps:

step S601, when a processing instruction is received, a carrying robot determines a target storage position of the storage shelf for placing the target goods according to the processing instruction.

Step S602, after the transfer robot moves to the position corresponding to the target storage location, obtaining storage location detection information of the target storage location.

The storage position detection information may be the storage position weight of the target storage position, or may be a storage position detection image of the target storage position.

Step S603, judging the library position state of the target library position according to the library position detection information; if the bin position status of the target bin position is an occupied status, executing step S604; if the bin state of the target bin is an idle state, step S608 is executed.

Goods are stored in the target storage position in the occupied state, and no goods are stored in the target storage position in the idle state, so that the target storage position is an idle storage position.

Specifically, if the weight of the storage location in the storage location detection information is greater than the reference weight, the storage location state of the target storage location is determined to be the occupied state, otherwise, the storage location state of the target storage location is determined to be the idle state, that is, the weight of the storage location of the target storage location is less than or equal to the reference weight.

The reference weight can be an average value of the weights of the plurality of groups of target storage positions in the idle state, which are acquired at historical time.

Specifically, whether goods are stored in the target storage location can be judged based on the storage location detection image for identifying the target storage location; if yes, determining the library position state of the target library position as an occupied state; if not, determining that the library bit state of the target library bit is an idle state.

Step S604, if the position state of the target position is an occupied state, determining whether the goods placed in the target position are the target goods based on the goods detection information in the position detection information.

Step S605, if yes, the target goods are transported from the target storage position to a temporary storage rack of the transporting robot; and transporting the target cargo to a position corresponding to the sorting device through the carrying robot.

Step S606, when the first processed goods exist on the first preset layer of the conveying goods shelf of the sorting device, the first goods are conveyed to the idle layer of the temporary storage goods shelf through the conveying robot.

Step S607, after the first goods are placed on the free layer of the temporary storage rack, placing the target goods on a second preset layer of a conveying rack of the sorting device via the transfer robot, so as to transport the target goods to a working range of the manipulator through a transfer mechanism of the second preset layer of the conveying rack, so as to process the target goods based on the manipulator.

Step S608, if the position status of the target position is an idle status, determining whether each recycled item includes the target item.

Wherein the recovered goods are empty containers which are transported to a production line by the manipulator. The recovered goods are the target goods processed by the sorting device in the historical time, and after the processing is finished, the recovered goods are empty containers.

Specifically, when the manipulator of the sorting device sorts the goods, if the objects stored in the current target goods are all taken out by the manipulator, the target goods are determined to be empty containers, and the target goods are recovered by the manipulator.

Specifically, whether the target goods are empty containers after the target goods are processed or not can be judged according to the storage information of the target goods and the task information in the processing instruction, namely the storage quantity of the objects in the storage information is equal to the sorting quantity in the task information, and then the target goods are determined to be the empty containers after the target goods are sorted.

If 100 pieces of clothes C are stored in the target goods and the sorting instruction of the target goods is to sort 100 pieces of clothes C, the target goods is an empty box after the sorting is completed.

In some embodiments, the sorting device may be provided with an image acquisition device, and it may be determined whether each target cargo is an empty container after the processing is completed through an image acquired by the image acquisition device, and if so, the target cargo is recovered through the manipulator.

Specifically, when the manipulator recovers empty containers or goods each time, the recovery record is updated, and the goods information of the recovered goods, such as goods identification and recovery time, which are recovered each time is recorded in the recovery record.

Specifically, whether the target goods are included in the recovered goods or not can be judged based on the recovery record and the goods identification of the target goods, namely the preset identification.

And step S609, if so, generating recovery prompt information.

And if the target goods is one of the recovered goods, namely the target goods is an empty container recovered by the manipulator, generating recovery prompt information to prompt that the target goods are recovered, so that an operator determines new target goods based on the recovery prompt information and issues a new processing instruction based on the new target goods to complete a corresponding order.

Further, if the target goods do not exist in each recovered goods, the warehouse shelf and the conveying shelf need to be subjected to full-scale inspection so as to judge whether the target goods exist on other storage positions of the warehouse shelf and whether the target goods exist on the conveying shelf.

If the target goods exist on other storage positions of the storage shelf, such as the second storage position, determining each associated goods associated with the target goods, determining abnormal goods from the associated goods based on the operation records, and generating sixth abnormal prompt information based on the second storage position, each abnormal goods and the corresponding storage position thereof. And carrying the target goods on the second storage position to the target storage position through the carrying robot, and returning each related goods with the abnormal goods removed from the related goods to the original storage position. And then, the carrying robot carries the target goods on the target storage location to the position corresponding to the sorting device to process the target goods, and specific manner may refer to description of corresponding part in fig. 11, which is not described herein again.

If the target goods exist on the conveying goods shelf, goods retention prompt information is generated, and the target goods retained on the conveying goods shelf are conveyed to a goods entrance/exit through the conveying robot so as to detect whether the target goods are damaged.

In this embodiment, after moving to the target storage location based on the processing instruction, the transfer robot first determines the storage location state of the target storage location, and when there is a cargo on the target storage location, that is, the storage location state is an occupied state, determines whether the cargo placed in the target storage location is the target cargo, and if so, transfers the target cargo to the sorting device for processing, so as to implement verification of the target cargo and avoid that the order cannot be completed due to wrong goods transfer; if the target storage position is in an idle state, the target goods are searched from the recovered goods, if the target goods are recovered, recovery prompt information is generated, so that the target goods can be replaced in time, smooth completion of orders is ensured, and meanwhile, the abnormal processing efficiency and the intelligent degree of the unmanned warehousing system are improved.

Optionally, fig. 16 is a flowchart of a cargo processing method according to another embodiment of the present disclosure, where this embodiment is based on the previous embodiment, that is, the embodiment corresponding to fig. 15, and for a case that the recovered cargo does not include the target cargo, as shown in fig. 16, when the recovered cargo does not include the target cargo, the cargo processing method may further include the following steps:

step S701, shelf detection information of each layer of the conveying shelves of the sorting device is obtained.

The shelf detection information may be shelf detection images of the layers of the conveying shelf, or the shelf detection information may be the goods identification of the transported goods of the layers of the conveying shelf.

Specifically, the goods shelf detection information of each layer of the goods conveying shelf can be detected through the detection equipment arranged on the manipulator or the conveying shelf.

Step S702 of determining whether the target cargo is retained on the conveyance rack based on the rack detection information; if yes, go to step S703; if not, go to step S704.

Specifically, whether the target goods exist on the conveying goods shelf or not can be judged through recognizing the goods shelf detection image, and if yes, the target goods are determined to be retained on the conveying goods shelf.

Specifically, whether the goods identification of the target goods exists in the goods identification in the goods shelf detection information or not can be judged, namely the preset identification is judged, if yes, the target goods are determined to be retained on the conveying goods shelf, and if not, the target goods are determined not to be retained on the conveying goods shelf.

In step S703, if yes, the target cargo retained on the conveying rack is conveyed to a cargo entrance/exit via a conveying robot to detect whether the target cargo is damaged.

And step S704, if not, patrolling each storage position of the storage shelf.

When the conveying goods shelf of the sorting device does not have the target goods, the full-scale inspection needs to be carried out on the storage goods shelf so as to judge whether the target goods are stored on other storage positions of the storage goods shelf, namely, on each storage position of the target storage position is removed.

Step S705, determining whether the target cargo is stored in the second storage position of the storage rack according to the inspection result.

Wherein the second bin position is any bin position excluding the target bin position.

Step S706, if yes, determining each associated cargo associated with the target cargo.

The related goods may be the goods warehoused or processed in the same batch as the target goods, or the goods warehoused in a preset time period before the time of warehousing the target goods, for example, 10min.

Specifically, if the target goods are stored in the second storage position of the storage shelf, that is, the target goods are placed in the wrong storage position, it is determined that the warehouse system is abnormal, and it is necessary to determine each related goods related to the target goods.

Specifically, each associated good associated with the target good may be determined based on the operation record, the warehousing record, and the like, for example, a good identifier of each associated good is determined.

And step S707, performing exception checking based on the historical processing flows of the target goods and the associated goods to determine exception handling nodes.

The historical processing flow can be stored in the operation record and can include the flow of processing each cargo in the historical time.

Specifically, the exception handling node may be determined by restoring the historical processing flow of the target shipment and each associated shipment.

Step S708, generating a first exception prompting message according to the exception handling node.

Specifically, the first exception prompting information may be generated based on the associated goods corresponding to the exception handling node and the device executing the exception handling node, so as to assist the maintenance staff in determining the reason for the exception of the warehousing system.

Optionally, the transfer robot is further configured to warehouse the goods in the warehouse based on the warehouse entry instruction, and the goods processing method may further include:

and storing each goods to be warehoused at the goods inlet and outlet of the warehousing system in each preset warehouse position of the warehousing goods shelf according to the warehousing instruction based on the carrying robot.

Wherein, the goods warehousing is to transport the goods outside the warehousing system to the warehousing goods shelf of the warehousing system for warehousing. The warehousing instruction comprises each goods to be warehoused and a corresponding preset warehouse location.

Specifically, when receiving a warehousing instruction, one or more transfer robots move to a goods entrance/exit of the warehousing system, and then pick up goods to be warehoused corresponding to the warehousing instruction on each window or pick-up point of the goods entrance/exit, and store the goods in a preset warehouse position corresponding to the warehousing shelf.

Fig. 17 is a flowchart of a cargo processing method according to another embodiment of the present disclosure, and this embodiment is based on any of the foregoing embodiments, and in view of a situation that an abnormality occurs when cargo enters a warehouse, as shown in fig. 17, the cargo processing method may further include the following steps:

and step S801, when the warehousing instruction is received, the transfer robot moves to the position corresponding to the goods import and export, and the storage condition of each goods taking point of the goods import and export is determined.

The storage condition is used for indicating whether goods are stored in the goods taking point or not and goods identification of the stored goods.

Specifically, the storage condition of each goods taking point can be determined by collecting detection information, such as a detection image, of each goods taking point of the goods entrance and exit.

Step S802, judging whether redundant goods or abnormal goods taking points exist according to the storage condition of each goods taking point.

Specifically, the warehousing instruction further includes pickup points corresponding to the goods to be warehoused, and the redundant goods are stored in the goods at the pickup points not involved in the warehousing instruction. The abnormal goods taking point refers to a goods taking point corresponding to goods to be warehoused in the warehousing instruction, and the storage condition of the goods taking point is that the goods are not stored, namely the goods taking point is an idle goods taking point.

Specifically, for each pickup point where goods are stored in the storage condition, whether each pickup point is an abnormal pickup point or not can be judged according to the goods identification of the goods stored in each pickup point and the goods identification of each goods to be warehoused in the warehousing instruction.

Specifically, if the goods identification of the goods stored in the goods taking point is not any corresponding goods identification in the warehousing instruction, the goods taking point is determined to be an abnormal goods taking point; otherwise, if the goods identification of the goods stored in the goods taking point is one of the corresponding goods identifications in the warehousing instruction, the goods taking point is determined to be not an abnormal goods taking point, and the goods taking point is a normal goods taking point.

Illustratively, if the warehousing instruction indicates that goods to be warehoused H1-H5 are placed at the goods taking points 1-5, the placing sequence is not limited, if the goods stored at the goods taking point 7 are determined to be redundant goods, and if no goods are placed at the goods taking point 3, the goods taking point 3 is an abnormal goods taking point.

And if no redundant goods or abnormal goods taking points exist, sequentially transporting each goods to be warehoused, which are placed at each goods taking point of the goods import and export in the warehousing instruction, to a temporary storage rack of the transporting robot. And storing each goods to be warehoused in a preset warehouse position corresponding to each goods to be warehoused based on the carrying robot.

Step S803, if there are redundant cargos, determining each second associated cargo associated with the redundant cargos.

Wherein the second associated goods comprise one or more of goods associated with the redundant goods and placed on the storage shelves, goods associated with the redundant goods and placed on the conveying shelves, and goods associated with the redundant goods and placed on the temporary storage shelves of the transfer robot.

The second associated goods may be the goods warehoused in the same batch with the redundant goods, or the goods in a set time range before and after the redundant goods are warehoused.

Specifically, the cargo identifier of each second associated cargo may be determined according to the warehousing record and the cargo identifiers of the redundant cargo.

Step S804, the second related goods are transported to the goods import/export.

Specifically, the storage location where each second associated cargo is stored may be determined based on the cargo identifier of each second associated cargo, and then each second associated cargo is transported to the cargo import/export by the transport robot based on the storage location where each second associated cargo is stored.

Step S805, performing exception checking based on the historical processing flow of each second associated item to determine an exception handling node.

Specifically, the historical processing flow of each second associated cargo may be determined based on the operation record, and the abnormal condition check may be performed by restoring the historical processing flow, so as to determine the abnormal processing node.

Step S806, generating a second exception prompting message according to the exception handling node.

Specifically, second exception prompt information can be generated according to the goods, the time and the execution equipment corresponding to the exception handling node, so that maintenance personnel can be assisted to locate the exception reason.

Step S807, if an abnormal goods taking point exists, generating third abnormal prompt information according to the abnormal goods taking point and goods to be warehoused corresponding to the abnormal goods taking point in the warehousing instruction.

Specifically, if the corresponding pick-up point in the warehousing instruction is an abnormal pick-up point, that is, the pick-up point does not place the corresponding goods in the warehousing instruction, and is an idle pick-up point, third abnormal prompt information is generated based on the abnormal pick-up point and the goods to be warehoused which should be stored in the abnormal pick-up point, so that the missing goods to be warehoused are placed in the abnormal pick-up point based on the second abnormal prompt information.

Further, after goods to be warehoused corresponding to the warehousing instruction are placed on the abnormal goods taking points, the transporting robot transports the goods to be warehoused placed on each goods taking point to the preset warehouse positions corresponding to the warehouse storage racks in sequence, and therefore smooth warehousing of the goods is achieved.

By the method for solving the warehousing abnormity, the normal operation of the warehousing system under the abnormal condition is ensured, the smooth warehousing of the goods is realized, and the intelligent degree of the warehousing system is improved.

Fig. 18 is a flowchart of a cargo handling method according to another embodiment of the present disclosure, where the cargo handling method according to this embodiment may be executed by a sorting apparatus, as shown in fig. 18, and the cargo handling method includes the following steps:

step S901, when there is a first processed goods on a first preset layer of a conveying rack of the sorting apparatus, transporting the first goods through a transport mechanism of the first preset layer, so as to transport the first goods to an idle layer of a temporary storage rack of a transfer robot via the transfer robot.

Step S902, after the transfer robot places the target goods on the second preset layer of the conveying rack of the sorting device, the target goods are transported to the working range of the manipulator through the conveying mechanism of the second preset layer.

And the target goods are goods corresponding to the processing instruction.

And step S903, processing the target goods based on the mechanical arm.

Step S904, if the processed target cargo is not an empty container, transferring the target cargo to a first preset layer of the conveying rack.

In this embodiment, the transfer robot transfers the target goods on the storage rack to the position corresponding to the sorting device based on the received processing instruction, and the transfer robot reserves an idle layer, when the first preset layer of the sorting device has the first goods which are processed, the transfer robot transfers the first goods to the reserved idle layer, and then places the target goods on the second preset layer of the sorting device, so that the target goods are transferred to the working range of the manipulator through the transfer mechanism of the second preset layer, the manipulator completes the processing of the target goods, and if the processed target goods need to return to the storage rack, the target goods are transferred to the first preset layer, so that the target goods are transferred back to the storage rack through the idle layer of the temporary storage rack of the transfer robot.

Optionally, the method further includes:

if the processed goods are empty containers, determining the goods as recovered goods; and carrying the recovered goods to a production line through the manipulator, and recording the goods information of the recovered goods.

Optionally, the method further includes:

when redundant goods exist on a second preset layer of a conveying goods shelf of the sorting device, first abnormal information is generated according to the redundant goods, and the first abnormal information is sent to the carrying robot.

Optionally, the method further includes:

when second target goods do not exist on a second preset layer of the conveying goods shelf of the sorting device, second abnormal information is generated according to the second target goods, and the second abnormal information is sent to the carrying robot, wherein the second target goods are the target goods which are not carried to the second preset layer of the conveying goods shelf of the sorting device and correspond to the processing instruction.

Fig. 19 is a schematic structural diagram of a cargo handling apparatus according to an embodiment of the present disclosure, in which the transfer robot is used to transfer the cargo in a warehousing system, the warehousing system includes a warehousing rack, a transfer robot, and a sorting apparatus, the sorting apparatus includes a conveying rack and a manipulator, the conveying rack has at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at an end near the manipulator toward a direction away from the manipulator and form a step shape; as shown in fig. 19, the cargo handling apparatus includes: a cargo transport module 1910, a first handling module 1920, and a first placement module 1930.

The goods transportation module 1910 is configured to, when receiving a processing instruction, transport, by a transfer robot, a target good corresponding to the processing instruction placed on the storage rack to a position corresponding to the sorting apparatus, where a staging rack of the transfer robot includes at least one idle layer; a first carrying module 1920, configured to, when a first processed goods exists on a first preset layer of a conveying rack of the sorting apparatus, carry the first goods to an idle layer of the temporary storage rack via the carrying robot; a first placing module 1930, configured to place, via the transfer robot, the target goods on a second preset layer of a conveying rack of the sorting device after the first goods are placed on the free layer of the temporary storage rack, so as to transport the target goods to a working range of the manipulator through a transfer mechanism of the second preset layer of the conveying rack, so as to process the target goods based on the manipulator.

Optionally, the cargo transport module 1910 includes: the target storage position determining unit is used for determining a target storage position for placing the target goods on the storage shelf according to a processing instruction through the carrying robot when the processing instruction is received; the first conveying unit is used for conveying the target goods from the target storage position to a temporary storage rack of the conveying robot after the conveying robot moves to the position corresponding to the target storage position; and the goods transportation unit is used for transporting the target goods to the position corresponding to the sorting device through the carrying robot.

Optionally, the apparatus further comprises: the detection information acquisition module is used for acquiring the position detection information of the target storage position after the transfer robot moves to the position corresponding to the target storage position; and the goods verification module is used for judging whether the goods placed in the target storage position are the target goods or not based on the storage position detection information.

Correspondingly, the first handling unit is specifically configured to: and if the goods placed in the target storage position are the target goods, the target goods are transported to a temporary storage rack of the transporting robot from the target storage position.

Optionally, the detection information obtaining module is specifically configured to: after the transfer robot moves to the position corresponding to the target storage position, collecting a storage position detection image of the target storage position based on an image sensor of the transfer robot, and judging whether goods placed in the target storage position are the target goods based on the storage position detection image.

Optionally, the cargo verification module is specifically configured to: determining goods identification of goods placed in the target storage position based on the storage position detection information; judging whether the goods identification is a preset identification or not; and if the goods identification is a preset identification, determining the goods placed in the target storage position as the target goods.

Optionally, the apparatus further comprises: the first exception handling module is used for determining each associated goods related to the target goods when the goods placed in the target storage space are not the target goods; carrying each associated cargo to a cargo import and export of the warehousing system through a carrying robot so as to determine abnormal cargo from each associated cargo; placing each second goods in an original storage position corresponding to each second goods through a carrying robot, wherein the second goods are other related goods except the abnormal goods in the related goods; and/or if the target goods are included in the abnormal goods, the target goods are placed in the target storage position through a carrying robot, and the target goods are carried to the position corresponding to the sorting device through the carrying robot.

Optionally, the apparatus further comprises: the second exception handling module is used for determining each associated goods related to the target goods when the goods placed in the target storage space are not the target goods; judging whether the target goods exist in the associated goods, wherein the target goods are placed in a first storage position of the storage shelf, and the goods corresponding to the first storage position are the goods placed in the target storage position; if so, the target goods are placed in the target storage position and the goods placed in the target storage position are placed in the first storage position through the transfer robot, so that the target goods are transferred to the position corresponding to the sorting device through the transfer robot.

Optionally, the apparatus further comprises: and the library position state judgment module is used for judging the library position state of the target library position according to the library position detection information after the library position detection information of the target library position is acquired.

Correspondingly, the goods verification module is specifically used for: and if the storage position state of the target storage position is an occupied state, judging whether the goods placed in the target storage position are the target goods or not based on the goods detection information in the storage position detection information.

Optionally, the apparatus further comprises: the recovery prompting module is used for determining whether each recovered goods comprises the target goods or not if the storage position state of the target storage position is an idle state, wherein the recovered goods are empty containers which are transported to a production line by the manipulator; and if so, generating recovery prompt information.

Optionally, the apparatus further comprises: the retention judgment module is used for acquiring shelf detection information of each layer of a conveying shelf of the sorting device if the target goods are not included in the recovered goods; judging whether the target goods are retained on the conveying goods shelf or not based on the goods shelf detection information; if yes, the target goods staying on the conveying goods shelf are conveyed to a goods entrance/exit through the conveying robot so as to detect whether the target goods are damaged or not.

Optionally, the apparatus further comprises: the second exception handling module is used for patrolling each storage position of the storage shelf if the target goods are not detained on the conveying shelf; judging whether the target goods are stored in a second storage position of the storage shelf or not according to the inspection result; if yes, determining each associated cargo associated with the target cargo; performing exception checking based on the historical processing flows of the target goods and each associated goods to determine exception processing nodes; and generating first exception prompt information according to the exception handling node.

Optionally, the apparatus further comprises: and the goods warehousing module is used for storing each goods to be warehoused, which are positioned at the goods entrance and exit of the warehousing system, in each preset warehouse position of the warehousing shelf according to warehousing instructions based on the carrying robot, wherein the warehousing instructions comprise the preset warehouse positions corresponding to the goods to be warehoused.

Optionally, the goods warehousing module is specifically configured to: when the warehousing instruction is received, the transfer robot moves to the position corresponding to the goods entrance and exit, and sequentially transfers each goods to be warehoused, which are placed at each goods taking point of the goods entrance and exit and correspond to the warehousing instruction, to a temporary storage rack of the transfer robot; and storing each goods to be warehoused in a preset warehouse position corresponding to each goods to be warehoused based on the carrying robot.

Optionally, the apparatus further comprises: the storage condition determining module is used for determining the storage condition of each goods taking point of the goods import and export after the transfer robot moves to the position corresponding to the goods import and export; the goods taking point judging module is used for judging whether redundant goods or abnormal goods taking points exist according to the storage condition of each goods taking point, wherein the abnormal goods taking points are idle goods taking points, and in the warehousing instruction, the abnormal goods taking points correspond to one goods to be warehoused; and the third exception handling module is used for determining each second associated goods related to the redundant goods if the redundant goods exist, wherein the second associated goods comprise one or more of the goods related to the redundant goods and placed on the storage shelves, the goods related to the redundant goods and placed on the conveying shelves and the goods related to the redundant goods and placed on the temporary storage shelves of the transfer robot, each second associated goods are conveyed to the goods import/export, exception checking is carried out based on the historical handling process of each second associated goods to determine exception handling nodes, and second exception prompt information is generated according to the exception handling nodes.

Optionally, the apparatus further comprises: and the fourth exception handling module is used for generating third exception prompt information according to the exception pick-up point and the goods to be warehoused corresponding to the exception pick-up point in the warehousing instruction if the exception pick-up point exists.

Optionally, the apparatus further comprises: the fifth exception handling module is used for receiving first exception information sent by the sorting device after the target goods are placed on the second preset layer of the conveying shelf of the sorting device, wherein the first exception information comprises redundant goods on the second preset layer of the conveying shelf of the sorting device; and carrying redundant cargos on the second preset layer to a production line through a carrying robot according to the first abnormal information, and generating fourth abnormal prompt information.

Optionally, the apparatus further comprises: a sixth exception handling module, configured to receive second exception information sent by the sorting device after the target goods are placed on a second preset layer of a conveying rack of the sorting device, where the second exception information includes a second target goods, and the second target goods are target goods corresponding to the processing instruction that is not carried to the second preset layer of the conveying rack of the sorting device; according to the second abnormal information, the second target goods are placed on a second preset layer of a conveying rack of the sorting device through a carrying robot, so that the second target goods are conveyed to the working range of the mechanical arm through the second preset layer of the conveying rack, and the second target goods are processed based on the mechanical arm.

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

Fig. 20 is a schematic structural view of a cargo handling apparatus applied to a sorting apparatus according to another embodiment of the present disclosure, wherein the sorting apparatus includes a conveying rack and a robot, the conveying rack has at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at an end close to the robot toward a direction away from the robot and are stepped; as shown in fig. 20, the cargo handling apparatus includes: a second transport module 2010, a third transport module 2020, a cargo handling module 2030, and a cargo reflow module 2040.

The second transportation module 2010 is configured to, when a first processed goods exists on a first preset layer of a conveying rack of the sorting device, transport the first goods through a transport mechanism of the first preset layer, so as to transport the first goods to an idle layer of a temporary storage rack of a transfer robot via the transfer robot; the third transportation module 2020 is configured to, after the transfer robot places a target cargo on a second preset layer of a conveying rack of the sorting device, transport the target cargo to a working range of the manipulator through a conveying mechanism of the second preset layer, where the target cargo is a cargo corresponding to a processing instruction; a cargo handling module 2030 for handling the target cargo based on the manipulator; the cargo returning module 2040 is configured to transfer the target cargo to the first preset floor of the conveying rack if the processed target cargo is not an empty container.

Optionally, the apparatus further comprises: the empty container recovery module is used for determining that the goods are recovered goods if the processed goods are empty containers; and carrying the recovered goods to a production line through the manipulator, and recording the goods information of the recovered goods.

Optionally, the apparatus further comprises: and the first abnormal information generating module is used for generating first abnormal information according to the redundant goods and sending the first abnormal information to the carrying robot when the redundant goods exist on a second preset layer of the conveying goods shelf of the sorting device.

Optionally, the apparatus further comprises: and the second abnormal information generating module is used for generating second abnormal information according to the second target goods and sending the second abnormal information to the carrying robot when the second target goods do not exist on the second preset layer of the conveying shelf of the sorting device, wherein the second target goods are the target goods which are not carried to the second preset layer of the conveying shelf of the sorting device and correspond to the processing instruction.

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

Fig. 21 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure, and as shown in fig. 21, the transfer robot includes: a robot body 2110, a staging rack 2120, a handling device 2130 and at least one processor 2140.

The temporary storage rack 2120 is used for storing goods, and generally comprises multiple layers, such as 5 layers; the conveying device 2130 is used for conveying goods to the temporary storage shelf 2120 or extracting goods stored in the temporary storage shelf 2120, and the conveying device 2130 can be called a goods taking and placing device; the at least one processor 2140 is configured to perform the cargo handling method according to any embodiment corresponding to the first aspect of the disclosure.

The related description may be understood by referring to the related description and effect corresponding to the steps in fig. 11 to fig. 17, and redundant description is not repeated here.

In some embodiments, the transfer robot may be the transfer robot 3 in any of the above embodiments.

Fig. 22 is a schematic structural diagram of a sorting apparatus according to another embodiment of the present disclosure, and as shown in fig. 22, the sorting apparatus includes: a delivery rack 2210, a robot 2220, and at least one processor 2230.

The conveying rack 2210 has at least two conveying layers, and the at least two conveying layers are sequentially retracted from the bottom to the top at one end close to the robot 2220 in the direction away from the robot 2220 and form a step shape; the conveying layer is provided with a conveying mechanism, and the conveying mechanism enables the goods to move on the conveying layer along the conveying direction; the at least one processor 2230 is configured to perform the cargo handling method provided in any embodiment corresponding to the second aspect of the disclosure.

The relevant description may be understood by referring to the relevant description and effect corresponding to the step in fig. 18, and redundant description is not repeated here.

The embodiment of the present disclosure further provides a warehousing system, which includes: the storage rack, the transfer robot provided by the embodiment corresponding to the fifth aspect of the disclosure and the sorting device provided by the embodiment corresponding to the sixth aspect of the disclosure.

An 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 cargo processing method provided in any one of the embodiments corresponding to fig. 11 to fig. 18 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 an executable computer program stored in a readable storage medium. The at least one processor of the transfer robot, the sorting device or the warehousing system may read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the cargo processing device to implement the cargo processing 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 manners. 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 coupling or direct coupling or communication connection between each other may be through some interfaces, indirect coupling or communication connection between 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 position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this 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 for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (in 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 disclosure 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 magnetic disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, or the like.

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. The buses in the figures of the present disclosure are not limited to only one bus or type of bus for ease of illustration.

The storage medium may be implemented by any type or combination of volatile and 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 foregoing 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; although 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; such modifications or substitutions do not depart from the scope of the embodiments of the present disclosure by the essence of the corresponding technical solutions.

Claims

1. The goods processing method is characterized by being applied to a transfer robot, wherein the transfer robot is used for carrying goods in a warehousing system, the warehousing system comprises a warehousing goods shelf, the transfer robot and a sorting device, the sorting device comprises a conveying goods shelf and a mechanical arm, the conveying goods shelf is provided with at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the mechanical arm in the direction away from the mechanical arm and form a step shape; a conveying mechanism is arranged on the conveying layer and enables goods to move on the conveying layer along a conveying direction, and the method comprises the following steps:

when a processing instruction is received, transporting the target goods which are placed on the storage shelf and correspond to the processing instruction to a position which corresponds to the sorting device through a transfer robot, wherein the temporary storage shelf of the transfer robot comprises at least one idle layer;

when the first processed goods exist on the first preset layer of the conveying goods shelf of the sorting device, the first goods are conveyed to the idle layer of the temporary storage goods shelf by the conveying robot;

after the first goods are placed on the free layer of the temporary storage rack, the target goods are placed on a second preset layer of a conveying rack of the sorting device through the carrying robot, so that the target goods are conveyed to the working range of the mechanical arm through a conveying mechanism of the second preset layer of the conveying rack, and the target goods are processed based on the mechanical arm.

2. The method according to claim 1, wherein transporting the target goods corresponding to the processing order placed on the storage rack to the location corresponding to the sorting device via the transfer robot comprises:

determining a target storage position for placing the target goods on the storage shelf according to the processing instruction;

after the transfer robot moves to the position corresponding to the target storage position, transferring the target goods from the target storage position to a temporary storage rack of the transfer robot;

and transporting the target cargo to a position corresponding to the sorting device through the carrying robot.

3. The method according to claim 2, wherein after the transfer robot moves to the position corresponding to the target library site, the method further comprises:

acquiring library position detection information of the target library position;

judging whether the goods placed in the target storage position are the target goods or not based on the storage position detection information;

and if so, transporting the target goods from the target storage position to a temporary storage rack of the transporting robot.

4. The method of claim 3, wherein obtaining the bin detection information for the target bin comprises:

5. The method of claim 3, wherein determining whether the goods placed at the target depot are the target goods based on the depot detection information comprises:

determining goods identification of goods placed in the target storage position based on the storage position detection information;

judging whether the goods identification is a preset identification or not;

and if the goods identification is a preset identification, determining the goods placed in the target storage position as the target goods.

6. The method of claim 3, wherein when the item placed at the target depot is not the target item, the method further comprises:

determining respective associated shipments associated with the target shipment;

carrying each associated cargo to a cargo import and export of the warehousing system through a carrying robot so as to determine abnormal cargo from each associated cargo;

placing each second goods in an original storage position corresponding to each second goods through a transfer robot, wherein the second goods are other related goods except the abnormal goods in the related goods; and/or the presence of a gas in the gas,

if the abnormal goods comprise the target goods, the target goods are placed in the target storage position through a carrying robot, and the target goods are carried to the position corresponding to the sorting device through the carrying robot.

7. The method of claim 3, wherein when the item placed by the target depot is not the target item, the method further comprises:

judging whether the target goods exist in the associated goods, wherein the target goods are placed in a first storage position of the storage shelf, and the goods corresponding to the first storage position are the goods placed in the target storage position;

if so, the target goods are placed in the target storage position and the goods placed in the target storage position are placed in the first storage position through the transfer robot, so that the target goods are transferred to the position corresponding to the sorting device through the transfer robot.

8. The method of claim 3, wherein after obtaining the bin detection information for the target bin, the method further comprises:

judging the library position state of the target library position according to the library position detection information;

and if the storage position state of the target storage position is an occupied state, judging whether the goods placed in the target storage position are the target goods or not based on the goods detection information in the storage position detection information.

9. The method of claim 8, wherein if the bin status of the target bin is idle, the method further comprises:

determining whether the target cargo is included in each of the recovered cargos, wherein the recovered cargos are empty containers which are carried to a production line by the manipulator;

and if so, generating recovery prompt information.

10. The method of claim 9, wherein if the target cargo is not included in the recycled cargo, the method further comprises:

acquiring goods shelf detection information of each layer of a conveying goods shelf of the sorting device;

judging whether the target goods are retained on the conveying goods shelf or not based on the goods shelf detection information;

if yes, the target goods staying on the conveying goods shelf are conveyed to a goods entrance/exit through the conveying robot so as to detect whether the target goods are damaged or not.

11. The method of claim 10, wherein if the target good is not retained on the delivery rack, the method further comprises:

inspecting each storage position of the storage shelf;

judging whether the target goods are stored in a second storage position of the storage shelf or not according to the inspection result;

if yes, determining each associated cargo associated with the target cargo;

performing exception checking based on the historical processing flows of the target goods and each associated goods to determine exception processing nodes;

and generating first exception prompt information according to the exception handling node.

12. The method according to any one of claims 1-11, further comprising:

and storing each goods to be warehoused at a goods inlet and a goods outlet of the warehousing system into each preset warehouse position of the warehousing goods shelf based on the carrying robot according to warehousing instructions, wherein the warehousing instructions comprise the preset warehouse positions corresponding to the goods to be warehoused.

13. The method according to claim 12, wherein the step of storing each goods to be warehoused at a goods entrance/exit of the warehousing system in each preset warehouse location of the warehousing shelf according to the warehousing instruction comprises the following steps:

when the warehousing instruction is received, the carrying robot moves to the position corresponding to the goods entrance and exit, and carries the goods to be warehoused, which are placed at the goods taking points of the goods entrance and exit and correspond to the warehousing instruction, to a temporary storage rack of the carrying robot in sequence;

and storing each goods to be warehoused in a preset warehouse position corresponding to each goods to be warehoused based on the carrying robot.

14. The method of claim 13, wherein after the transfer robot moves to a position corresponding to the cargo access opening, the method further comprises:

determining the storage condition of each goods taking point of the goods import and export;

judging whether redundant goods or abnormal goods taking points exist or not according to the storage condition of each goods taking point, wherein the abnormal goods taking points are idle goods taking points, and in the warehousing instruction, the abnormal goods taking points correspond to one goods to be warehoused;

if the redundant goods exist, determining second associated goods associated with the redundant goods, wherein the second associated goods comprise one or more of the goods placed on the storage shelves, the goods placed on the conveying shelves and the goods placed on the temporary storage shelves of the transfer robot, which are associated with the redundant goods;

(ii) transporting each of the second associated shipments to the cargo import and export;

performing exception checking based on the historical processing flow of each second associated cargo to determine an exception handling node;

and generating second abnormal prompt information according to the abnormal processing node.

15. The method of claim 14, wherein if there is an abnormal pickup point, the method further comprises:

and generating third abnormal prompt information according to the abnormal goods taking points and goods to be warehoused corresponding to the abnormal goods taking points in the warehousing instruction.

16. The method according to any one of claims 1 to 11, wherein after placing the target good on a second preset level of the conveying rack of the sorting device, the method further comprises:

receiving first abnormal information sent by the sorting device, wherein the first abnormal information comprises redundant goods on a second preset layer of a conveying shelf of the sorting device;

and carrying the redundant cargos on the second preset layer to a production line through a carrying robot according to the first abnormal information, and generating fourth abnormal prompt information.

17. The method according to any one of claims 1 to 11, wherein after placing the target good on a second preset level of the conveying rack of the sorting device, the method further comprises:

receiving second abnormal information sent by the sorting device, wherein the second abnormal information comprises second target goods, and the second target goods are target goods corresponding to the processing instructions which are not conveyed to a second preset layer of a conveying shelf of the sorting device;

according to the second abnormal information, the second target goods are placed on a second preset layer of a conveying rack of the sorting device through a carrying robot, so that the second target goods are conveyed to the working range of the mechanical arm through the second preset layer of the conveying rack, and the second target goods are processed based on the mechanical arm.

18. The goods processing method is characterized by being applied to a sorting device, wherein the sorting device comprises a conveying shelf and a mechanical arm, the conveying shelf is provided with at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the mechanical arm to the direction far away from the mechanical arm and form a step shape; a conveying mechanism is arranged on the conveying layer and enables goods to move on the conveying layer along a conveying direction, and the method comprises the following steps:

when processed first goods exist on a first preset layer of a conveying goods shelf of the sorting device, the first goods are conveyed through a conveying mechanism of the first preset layer, so that the first goods are conveyed to an idle layer of a temporary storage goods shelf of a conveying robot through the conveying robot;

after the carrying robot places the target goods on a second preset layer of a conveying shelf of the sorting device, transporting the target goods to the working range of the manipulator through a conveying mechanism of the second preset layer, wherein the target goods are goods corresponding to the processing instructions;

processing the target cargo based on the manipulator;

and if the processed target cargo is not an empty container, transferring the target cargo to a first preset layer of the conveying goods shelf.

19. The method of claim 18, further comprising:

if the processed goods are empty containers, determining the goods as recovered goods;

and carrying the recovered goods to a production line through the manipulator, and recording the goods information of the recovered goods.

20. The method of claim 18 or 19, further comprising:

21. The method of claim 18 or 19, further comprising:

when second target goods do not exist on a second preset layer of a conveying rack of the sorting device, second abnormal information is generated according to the second target goods, and the second abnormal information is sent to a carrying robot, wherein the second target goods are the target goods which are not carried to the second preset layer of the conveying rack of the sorting device and correspond to the processing instruction.

22. The goods processing device is characterized by being applied to a transfer robot, wherein the transfer robot is used for carrying goods in a warehousing system, the warehousing system comprises a warehousing goods shelf, the transfer robot and a sorting device, the sorting device comprises a conveying goods shelf and a mechanical arm, the conveying goods shelf is provided with at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the mechanical arm in the direction away from the mechanical arm and form a step shape; the transport layer is provided with a conveying mechanism, the conveying mechanism enables the goods to move on the transport layer along the conveying direction, and the goods processing device comprises:

the goods transportation module is used for transporting the target goods which are placed on the storage goods shelf and correspond to the processing instruction to the position which corresponds to the sorting device through a carrying robot when the processing instruction is received, wherein the temporary storage goods shelf of the carrying robot comprises at least one idle layer;

the first carrying module is used for carrying the first goods to the idle layer of the temporary storage rack through the carrying robot when the first goods which are processed exist on the first preset layer of the conveying rack of the sorting device;

the first placing module is used for placing the target goods on a second preset layer of a conveying rack of the sorting device through the carrying robot after the first goods are placed on the idle layer of the temporary storage rack, so that the target goods are conveyed to the working range of the mechanical arm through a conveying mechanism of the second preset layer of the conveying rack, and the target goods are processed based on the mechanical arm.

23. The goods processing device is characterized by being applied to a sorting device, wherein the sorting device comprises a conveying goods shelf and a mechanical arm, the conveying goods shelf is provided with at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the mechanical arm towards the direction far away from the mechanical arm and form a step shape; the transport layer is provided with a conveying mechanism, the conveying mechanism enables the goods to move on the transport layer along the conveying direction, and the goods processing device comprises:

the second transportation module is used for transporting the first goods through the conveying mechanism of the first preset layer when the first goods which are processed exist on the first preset layer of the conveying goods shelf of the sorting device, so that the first goods are transported to the idle layer of the temporary storage goods shelf of the transfer robot through the transfer robot;

the third transportation module is used for transporting the target goods to the working range of the manipulator through a transmission mechanism of a second preset layer after the target goods are placed on the second preset layer of the conveying goods shelf of the sorting device by the carrying robot, wherein the target goods are goods corresponding to the processing instruction;

the goods processing module is used for processing the target goods based on the mechanical arm;

and the goods backflow module is used for transferring the target goods to a first preset layer of the conveying goods shelf if the processed target goods are not empty containers.

24. A transfer robot is characterized by comprising a robot main body, a temporary storage rack, a transfer device and at least one processor;

the temporary storage shelf is used for storing goods; the carrying device is used for carrying goods to the temporary storage shelf or extracting the goods stored in the temporary storage shelf; the at least one processor is configured to perform the cargo handling method of any of claims 1-17.

25. A sorting device is characterized by comprising a conveying shelf, a mechanical arm and at least one processor;

the conveying shelf is provided with at least two conveying layers, and the at least two conveying layers are sequentially retracted from bottom to top at one end close to the manipulator towards the direction far away from the manipulator and form a step shape; the conveying layer is provided with a conveying mechanism, and the conveying mechanism enables the goods to move on the conveying layer along the conveying direction; the at least one processor is configured to perform the cargo handling method of any of claims 18-21.

26. A warehousing system, comprising: a storage rack, a handling robot as claimed in claim 24 and a sorting apparatus as claimed in claim 25.

27. A computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a processor, implement a cargo handling method according to any of claims 1-21.

28. A computer program product comprising a computer program, characterized in that the computer program realizes the cargo handling method according to any of claims 1-21 when executed by a processor.