CN116692329A

CN116692329A - Warehouse system, carrying method, electronic equipment and computer readable storage medium

Info

Publication number: CN116692329A
Application number: CN202310736148.0A
Authority: CN
Inventors: 李洪波
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-06-20
Filing date: 2023-06-20
Publication date: 2023-09-05

Abstract

The application relates to the technical field of warehouse logistics, and discloses a warehouse system, a carrying method, electronic equipment and a computer readable storage medium. The warehousing system includes a first robot and a second robot. The first robot is used for receiving a first conveying task and conveying the first movable goods shelf to a position below the fixed goods shelf or a position at a preset distance from the fixed goods shelf according to the first conveying task; the second robot is used for receiving the second conveying task, operating to a target position according to the second conveying task, and conveying the first target goods on the first target goods shelf and/or the buffer mechanism of the second robot to the target goods position of the second target goods shelf. The embodiment of the application can control robots of different types to cooperate with each other, and improve the carrying efficiency of the robots.

Description

Warehouse system, carrying method, electronic equipment and computer readable storage medium

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a warehouse system, a carrying method, electronic equipment and a computer readable storage medium.

Background

In warehousing systems, there are typically a number of different types of robots, which may include robots for picking and placing goods on fixed shelves and robots for handling mobile shelves. Typically, the robot management system (Robot Management System, RMS) will dispatch respective corresponding handling tasks to different types of robots to instruct each robot to perform its received handling task. However, if the transfer tasks in different scenes are allocated to different types of robots to be individually completed, there may be a problem in that the transfer efficiency of the robots is low.

Disclosure of Invention

In order to solve the above problems, embodiments of the present application provide a warehouse system, a handling method, an electronic device, and a computer readable storage medium. Specifically, the embodiment of the application discloses the following technical scheme:

a first aspect of an embodiment of the present application provides a warehousing system including a first robot and a second robot. The first robot is used for receiving a first conveying task and conveying the first movable goods shelf to a position below the fixed goods shelf or a position at a preset distance from the fixed goods shelf according to the first conveying task; the second robot is used for receiving a second conveying task, running to a target position according to the second conveying task, and conveying a first target goods on a first target goods shelf and/or a buffer mechanism of the second robot to a target goods position of the second target goods shelf; wherein the first target shelf comprises a first mobile shelf and/or a fixed shelf, the second target shelf comprises at least one of the first mobile shelf, the second mobile shelf and the fixed shelf, and the first target shelf and the second target shelf are different.

In some embodiments, the stationary shelf is for storing goods and/or carriers, and the first mobile shelf and the second mobile shelf are for storing and/or carriers, respectively; wherein, the carrier includes tray and/or packing box, and the tray is used for depositing goods or packing box, and the packing box is used for depositing the goods.

In some embodiments, the fixed shelves include a first fixed shelf and/or a second fixed shelf, the first movable shelf being located in a space below the first fixed shelf to form a composite shelf.

In some embodiments, the warehouse system further comprises a combination rack, wherein the combination rack is formed by arranging at least two fixed racks side by side in the vertical direction to form a lower space, and at least one movable rack is arranged in the lower space side by side in the vertical direction; the fixed goods shelf in the combined goods shelf adopts a single deep position, a double deep position or a plurality of deep positions.

In some embodiments, the first movable shelf is a multi-deep shelf, and a partition is arranged among a plurality of goods places of the first movable shelf along the vertical direction; the first robot is specifically for: if the goods position of the first target goods is positioned at the back of the first movable goods shelf or the target goods position is positioned at the back of the first movable goods shelf, carrying the first movable goods shelf to a rotatable position according to a first carrying task, and carrying out surface turning on the first movable goods shelf at the rotatable position so that the goods position of the first target goods or the target goods position is positioned at the front of the first movable goods shelf; and carrying the rotatable position of the first movable shelf to a position below the fixed shelf or a position at a preset distance from the fixed shelf.

In some embodiments, the rotatable locations include intersection locations of travel aisles in the warehousing system and/or locations in the high speed travel aisles between the pick zone and the shelf storage area and/or the pick zone.

In some embodiments, the first target rack is a first mobile rack, the first target rack is a multi-deep rack, and no partition is arranged among a plurality of cargo positions of the first target rack along the vertical direction; the second robot is specifically configured to, if the cargo space where the first target cargo is located is an internal cargo space of the first target cargo rack, and a second target cargo exists on an external cargo space on the first target cargo rack corresponding to the cargo space where the first target cargo is located, carry the second target cargo to an idle cargo space and/or a buffer mechanism of the second robot according to a second carrying task, and carry the first target cargo on the first target cargo rack to the target cargo space of the second target cargo rack.

In some embodiments, the second robot is further configured to: and carrying the second target goods to the original goods place where the first target goods are located or the original goods place where the second target goods are located from the idle goods place and/or the buffer mechanism of the second robot, and updating the inventory information.

In some embodiments, the second target rack is a multi-deep rack, and no partition is arranged among a plurality of goods places of the second target rack along the vertical direction; the second robot is specifically configured to, if the target cargo space is an internal cargo space of the second target cargo rack and a third target cargo exists on an external cargo space corresponding to the target cargo space on the second target cargo rack, carry the third target cargo to an idle cargo space and/or a buffer mechanism of the second robot according to the second carrying task, and carry the first target cargo on the first target cargo rack to the target cargo space of the second target cargo rack.

In some embodiments, the second robot is further configured to: and carrying the third target goods to the original goods position where the third target goods are located from the idle goods position and/or the buffer mechanism of the second robot, and updating the inventory information.

In some embodiments, the second target rack is a multi-deep rack, and no partition is arranged among a plurality of goods places of the second target rack along the vertical direction; the second robot is specifically for: if the target cargo space is the inner cargo space of the second target cargo rack and the third target cargo is present on the outer cargo space corresponding to the target cargo space on the second target cargo rack, carrying the third target cargo to the target cargo space according to the second carrying task, carrying the first target cargo to the original cargo space of the third target cargo, and updating the inventory information.

In some embodiments, the composite shelf is a multi-deep composite shelf comprising at least two mobile shelves positioned side-by-side in a vertical direction; the first robot is specifically for: if the first movable shelf is positioned at the inner side of the multi-deep-level combination shelf and a third movable shelf exists at the outer side of the first movable shelf, carrying the third movable shelf to a stop point according to a first carrying task; and carrying the first movable shelf to a position below the fixed shelf or a position at a preset distance from the fixed shelf.

In some embodiments, the warehousing system further includes a third robot. The combined shelf is a multi-deep combined shelf, and the multi-deep combined shelf comprises at least two movable shelves which are arranged side by side along the vertical direction. And the third robot is used for carrying the third movable shelf to the stop point according to the scheduling instruction if the first movable shelf is positioned at the inner side of the multi-deep-level combination shelf and the third movable shelf is positioned at the outer side of the first movable shelf. The first robot is used for carrying the first movable goods shelf to the position below the fixed goods shelf or the position at the preset distance from the fixed goods shelf according to the first carrying task.

In some embodiments, the first target rack is a first mobile rack, the second target rack is a fixed rack, the first transfer task comprises a first racking task, the second transfer task comprises a second racking task, and the target cargo space comprises a target racking cargo space. The first robot is used for carrying the first movable shelf to a target area according to the first shelf loading task so as to load the goods to be loaded to the first movable shelf, and carrying the first movable shelf to a position below the fixed shelf or a position at a preset distance from the fixed shelf; wherein the goods to be shelved include a first target goods. The second robot is used for carrying the first target goods on the first movable goods shelf to the target goods shelf position of the fixed goods shelf according to the second shelf loading task.

In some embodiments, the first handling task further comprises a third racking task; the first robot is used for carrying the first movable goods shelf to the target area according to the third shelf loading task so as to load goods to be shelved to the first movable goods shelf, and carrying and placing the first movable goods shelf at the lower position of the fixed goods shelf in the combined goods shelf.

In some embodiments, the second handling task further comprises a fourth racking task; the second robot is used for running to a target area according to a fourth racking task so as to rack goods to be racking on a caching mechanism of the second robot; and the goods to be put on the shelf on the buffer storage mechanism are conveyed to the fixed shelf after being operated to the target position.

In some embodiments, the first target rack is a fixed rack, the second target rack is a first mobile rack, the second transfer task comprises a restocking task, and the target cargo space comprises a target restocking cargo space. The second robot is used for carrying the first target goods on the fixed goods shelf to the target goods supplementing position of the first movable goods shelf according to the goods supplementing task.

In some embodiments, the first target rack is a first mobile rack, the second target rack is a second mobile rack, the second handling task is a tally task, and the target cargo space comprises a target tally cargo space. The second robot is used for carrying the first target goods on the first movable goods shelf to the target goods-sorting position of the second movable goods shelf according to the goods-sorting task; and/or carrying the goods on the fourth movable goods shelf to the second movable goods shelf according to the goods management task.

In some embodiments, the second target shelf is a shelf that meets a preset condition as determined from the cargo information on the first mobile shelf, and/or the second target shelf is a preset shelf.

In some embodiments, the second robot includes a handling assembly, a lifting assembly, and a caching mechanism. The second robot is used for conveying the first target goods on the first target goods shelf to the target goods position of the second target goods shelf through the conveying assembly and the lifting assembly; and/or the first target goods are conveyed to the buffer mechanism through the conveying assembly and the lifting assembly, and the first target goods on the buffer mechanism are conveyed to the target goods position of the second target goods shelf.

In some embodiments, the first robot is used to handle the mobile pallet between the workstation and the underside of the fixed pallet in the composite pallet, and/or the first robot is used to handle the mobile pallet between the workstation and the fixed pallet at a predetermined distance; the second robot is used for picking and placing goods between at least one of the fixed shelves, the fixed shelves and the movable shelves, the movable shelves and between the fixed shelves and the workstation.

The second aspect of the embodiment of the application provides a carrying method which is applied to electronic equipment. The carrying method comprises the following steps: first, a first transfer task is sent to the first robot, so that the first robot transfers the first movable shelf to a position below the fixed shelf or a position at a preset distance from the fixed shelf according to the first transfer task. And then, sending a second conveying task to the second robot so that the second robot conveys the first target goods on the first target goods shelf and/or the buffer mechanism of the second robot to the target goods position of the second target goods shelf according to the second conveying task. The first target goods shelf comprises a first movable goods shelf and/or a fixed goods shelf, the second target goods shelf comprises at least one of the first movable goods shelf, the second movable goods shelf and the fixed goods shelf, and the first target goods shelf and the second target goods shelf are different.

A third aspect of an embodiment of the present application provides an electronic device, including: a processor and a memory for storing computer-executable instructions; the processor is configured to read the instruction from the memory and execute the instruction to implement the handling method according to the second aspect.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing computer program instructions that, when read by a computer, perform the handling method of the second aspect.

A fifth aspect of an embodiment of the present application provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the handling method of the second aspect.

According to the first robot in the warehouse system provided by the embodiment of the application, the first movable goods shelf is carried to the position below the fixed goods shelf or the position at the preset distance from the fixed goods shelf according to the first carrying task. The second robot operates to a target position according to the second conveying task, and conveys the first target goods on the first target goods shelf and/or the buffer mechanism of the second robot to the target goods shelf of the second target goods shelf. Based on this scheme, after first robot carries the below position of fixed goods shelves or presets the position of distance to fixed goods shelves with first movable goods shelves, the second robot can carry the goods on the first movable goods shelves to fixed goods shelves, also can carry the goods on the fixed goods shelves to first movable goods shelves, still can carry the goods on the first movable goods shelves to the second movable goods shelves. According to the embodiment of the application, the first robot and the second robot can cooperate to finish the carrying tasks of various scenes such as the loading task, the replenishment task, the tallying task and the like, and the carrying efficiency of the first robot and the second robot is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a warehousing system according to some embodiments of the application;

FIG. 2A is a schematic illustration of a first robot and a mobile pallet according to some embodiments of the present application;

FIG. 2B is a schematic illustration of a second robot and stationary shelves according to some embodiments of the present application;

FIG. 3A is a schematic diagram of a modular pallet according to some embodiments of the present application;

FIG. 3B is a schematic view of another modular pallet according to some embodiments of the present application;

FIG. 3C is a schematic illustration of yet another modular pallet provided by some embodiments of the present application;

FIG. 3D is a schematic view of yet another modular pallet according to some embodiments of the present application;

FIG. 4A is a schematic diagram of another warehousing system according to some embodiments of the application;

FIG. 4B is a schematic view of yet another modular pallet according to some embodiments of the present application;

FIG. 5 is a schematic view of a first mobile pallet according to some embodiments of the present application;

FIG. 6 is a schematic illustration of a warehouse according to some embodiments of the present application;

FIG. 7 is a schematic view of another first mobile pallet according to some embodiments of the present application;

FIG. 8 is a schematic diagram of a handling method according to some embodiments of the present application;

fig. 9 is a schematic diagram of an electronic device according to some embodiments of the present application.

Detailed Description

In order to better understand the technical solution in the embodiments of the present application and make the above objects, features and advantages of the embodiments of the present application more comprehensible, the technical solution in the embodiments of the present application is described in further detail below with reference to the accompanying drawings.

Typically, a variety of different types of robots may be included in a warehousing system. For example, a storage system may include a hidden robot for handling moving shelves and a bin robot for picking and placing goods on fixed shelves. RMS typically assigns transport tasks to either a latent robot or a bin robot for execution, which reduces the efficiency of the robot's transport.

For example, if the RMS sends a racking task to the bin robot for execution, the bin robot needs to run to a workstation, after the workstation finishes picking up the goods to be shelved, the goods to be shelved are carried from the workstation to the location of the fixed shelf, and then the goods to be shelved are shelved to the fixed shelf. In this process, if the number of cargoes to be put on is small or the distance between the bin robot and the workstation is long, it takes a long time to perform the transporting task by using the bin robot, and the transporting efficiency of the bin robot is reduced.

The advantages of different types of robots are different due to the different structures and functions of the robots. For example, the latent robot has the advantage of high moving speed due to small volume; the bin robot has the advantage of accurately taking the goods on the goods shelf, but the moving speed of the bin robot is probably slower than that of the latent robot because the bin robot is generally large in size. Therefore, the RMS can schedule the robots of different types to cooperate with each other to better complete a carrying task according to the characteristics of the robots of different types, thereby improving the carrying efficiency of the robots.

In order to solve the above-mentioned problems, an embodiment of the present application provides a warehouse system, which includes a first robot and a second robot, where the first robot and the second robot may be different types of robots. Different carrying tasks are completed between the first robot and the second robot through mutual cooperation, so that carrying efficiency of each robot is improved.

The warehouse system provided by the embodiment of the application is described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of a warehousing system according to some embodiments of the application. As shown in fig. 1, the warehousing system 1 includes a first robot 10 and a second robot 20.

The first robot 10 is used for handling mobile racks (which may also be referred to as portable racks). The first robot 10 preferably travels at the bottom of the pallet when empty (e.g., the first robot 10 is not carrying a mobile pallet) and travels at the aisle when loaded (e.g., the first robot 10 is carrying a mobile pallet). The second robot 20 is used to move to a fixed shelf and place or remove a target cargo on or from the fixed shelf. The second robot 20 travels in the aisle while idling and loading. For example, the second robot 20 travels through the aisle when no cargo is placed thereon or when cargo is placed thereon.

In the embodiment of the present application, the first robot 10 and the second robot 20 are different types of robots, for example, the first robot 10 is a latent robot, such as a P robot. A plurality of latent robots may be included in the warehousing system 1. The second robot 20 may be a robot of a bin (RS), and a plurality of robots of a bin may be included in the warehouse system 1. The embodiment of the present disclosure is not limited to the number of the first robots 10 and the second robots 20 included in the warehouse system 1.

Fig. 2A is a schematic diagram of a first robot and a mobile pallet according to some embodiments of the present application.

Illustratively, as shown in fig. 2A, the first robot 10 includes a drive mechanism 101 and a lifting mechanism 102. Wherein the driving mechanism 101 can drive the first robot 10 to move and run in the warehouse; the lifting mechanism 102 may be used to carry (or carry) the mobile racks 41, or the lifting mechanism 102 may be used to carry cargo containers. For example, the lifting mechanism 102 may be raised or lowered. The position of the movable shelf 41 can be raised when the lifting mechanism 102 is raised, and the position of the movable shelf 41 can be lowered when the lifting mechanism 102 is lowered.

Fig. 2B is a schematic diagram of a second robot and a stationary shelf according to some embodiments of the present application. As shown in fig. 2B, the second robot 20 performs an operation of picking and placing cargo and/or containers on the fixed pallet 42 at a position near (or beside) the fixed pallet 42.

In some embodiments, the second robot 20 includes a handling assembly, a lifting assembly, and a buffer mechanism.

In some examples, as shown in fig. 2B, the second robot 20 includes a mobile chassis 201, a buffer mechanism 202, a handling assembly 203, and a lift assembly 204. Wherein, the buffer mechanism 202, the carrying assembly 203, and the lifting assembly 204 may be all mounted on the mobile chassis 201. The mobile chassis 201 is used to move the second robot 20 according to a planned path. The caching mechanism 202 is used to store target cargo.

For example, the caching mechanism 202 may include a plurality of caching units, each of which may house one or more cargo and/or containers. The handling assembly 203 is movable in the vertical direction such that the handling assembly 203 is positioned horizontally opposite any one of the buffer units, the handling assembly 203 being configured to handle the target cargo between the target cargo space of the fixed pallet 42 and one of the buffer units. The lifting assembly 204 is used for driving the carrying assembly 203 to move relative to the buffer mechanism 202 along the vertical direction, and the lifting assembly 204 comprises a lifting transmission mechanism and a lifting driving mechanism. Wherein the lifting driving mechanism is used for providing a second driving force for moving the carrying assembly 203 relative to the buffer mechanism 202 along the vertical direction, and the lifting driving mechanism is used for transmitting the second driving force to the carrying assembly 203.

In some embodiments, the warehousing system 1 also includes an electronic device 30. The electronic device 30 may be a terminal device or a server. For example, when the electronic device 30 is a terminal device, the electronic device 30 may include various personal computers, notebook computers, smartphones, tablet computers, and portable wearable devices. When the electronic device 30 is a server, the electronic device 30 may be an independent server or a server cluster formed by a plurality of servers. The embodiment of the present application is not limited thereto.

In some examples, the electronic device 30 may also receive external data information, such as order information, location information, and merchandise storage association information, among others. The electronic device 30 may determine the location of the target cargo based on the order information and the cargo storage association information, and send a handling task to the corresponding robot based on the target cargo location. For example, the electronic device 30 may store cargo storage-related information including at least one of cargo identification information, cargo box identification information, shelf location information for storing the cargo, cargo box location information for storing the cargo, a correspondence of the shelf to the cargo box, a correspondence of the shelf to the cargo, and a correspondence of the cargo box to the cargo.

Illustratively, the first robot 10 and the second robot 20 may communicate with the electronic device 30 via a local area network (Local Area Network, LAN), wireless local area network (Wide Area Network, WLAN), or other network, respectively, to enable information interaction with the second robot 20 and the first robot 10. The electronic device 30 may generate the first and second transfer tasks according to the order information, and transmit the first and second transfer tasks to the first and second robots 10 and 20, respectively, through the network.

In some embodiments, the warehousing system 1 also includes a plurality of shelves 40. Wherein the plurality of shelves 40 may comprise a plurality of moving shelves 41 and/or a plurality of stationary shelves 42.

In some embodiments, the stationary racks 42 are used to store goods and/or carriers, the mobile racks 41 are used to store goods and/or carriers, and the carriers include pallets and/or containers, which are used to store goods or containers.

In some examples, the trays storing the containers may be placed on fixed shelves 42 or on mobile shelves 41; the tray storing the goods may be placed on the movable shelf 41.

In some examples, the shelves 40 may also store goods. The good may include a first commodity and a second commodity. Wherein the first commodity may be a commodity stored inside a container and then placed on the movable shelf 41; the second commodity may be a commodity placed directly on the mobile shelving 41. For example, the first commodity may be a breakable or smaller commodity, the second commodity may be a higher sales or larger commodity, or the second commodity may also be a pendant commodity.

In some embodiments, the warehousing system 1 further includes a combination rack, which may be composed of a mobile rack 41 and a fixed rack 42. For example, the fixed shelves 42 comprise first and/or second fixed shelves, and the mobile shelves 41 comprise first and/or second mobile shelves, the first mobile shelf being located in a space below the first fixed shelf to form a combined shelf.

Illustratively, the combination shelf is formed by at least two fixed shelves 42 placed side by side in the vertical direction forming a lower space in which at least one mobile shelf 41 is placed side by side in the vertical direction. The fixed shelf 42 in the combination shelf may be single-deep, double-deep, or multiple-deep.

In some examples, the combination shelf may also consist of one fixed shelf 42, and at least one mobile shelf 41 placed below the fixed shelf 42. The number of fixed shelves 42 and movable shelves 41 included in the combination shelf is not limited in the embodiment of the present application.

Illustratively, the mobile shelf 41 may include multiple levels of space for storing containers (which may also include cargo, and the embodiments described below are schematically illustrated with containers as examples), where multiple containers may be placed side by side in the horizontal direction in each level of space, where one container may be placed in the vertical direction in each level of space, and where multiple containers may be placed. When a container is placed in the vertical direction of each layer of space of the movable shelf 41, the movable shelf 401 is a single deep shelf; when two containers are placed in the vertical direction of each layer of space of the movable shelf 41, the movable shelf 401 is a double deep shelf; when two or more containers are placed in the vertical direction in each space of the movable pallet 41, the movable pallet 41 is a multi-deep pallet.

In some examples, when the mobile pallet 41 is a double-deep (or multi-deep) pallet, a baffle (or a partition) may or may not be provided between two (or more) pallets disposed in the vertical direction. The embodiment of the present application is not limited thereto.

Illustratively, the fixed shelf 42 may include multiple levels of space for storing containers, multiple containers may be placed side by side in the horizontal direction in each level of space, one container may be placed in the vertical direction in each level of space, and multiple containers may be placed. When a container is placed in the vertical direction in each floor space of the fixed shelf 42, the fixed shelf 42 is a single deep shelf. When two containers are placed in the vertical direction in each level of space of the fixed pallet 42, the fixed pallet 42 is a double deep pallet. When more than two containers are placed in the vertical direction in each level of space of the fixed pallet 42, the fixed pallet 42 is a multi-deep pallet.

In some examples, at least one of the plurality of mobile shelves 41 (e.g., mobile shelf 401) and at least one of the plurality of fixed shelves 42 (e.g., fixed shelf 402) may comprise a composite shelf. For example, a mobile shelf 401 and a fixed shelf 402 may form a composite shelf, and the mobile shelf 401 may be placed under the fixed shelf 402. Alternatively, at least two fixed shelves 402 and at least one mobile shelf 401 may constitute one combined shelf; wherein at least two stationary shelves 402 are placed side by side in a vertical direction forming a lower space in which at least one mobile shelf 401 is located. The positions of the movable shelf 401 and the fixed shelf 402 in the combined shelf are not limited in the embodiment of the present application. The embodiment of the present application is exemplified by the placement of the mobile shelf 401 below the fixed shelf 402.

It should be noted that the embodiments of the present application are not limited to the positions of various shelves. For example, a region P may be partitioned in the warehouse for storing the movable racks 41, a region Q for storing the fixed racks 42, and a region W for storing the combination racks.

It should be noted that the number of combined shelves in the warehouse is not limited in the embodiment of the present application. For example, the number of the combination shelves may be one or a plurality.

In some examples, when one container is placed in the vertical direction in each layer of space of the fixed shelves 402, that is, the fixed shelves 402 are single-deep shelves, one movable shelf 401 may be placed in the vertical direction in the space below the two fixed shelves 402, so that the combined shelf may be a single-deep shelf. When at least two containers are placed in the vertical direction of each layer of space of the fixed shelf 402, that is, the fixed shelf 402 is a fixed shelf with multiple deep positions, at least two movable shelves 401 can be placed side by side in the vertical direction in the space below the two fixed shelves 402, so that the combined shelf formed can be a multiple deep position shelf.

Fig. 3A to 3D are schematic views of four combination shelves according to some embodiments of the present application. The combined shelf according to the embodiment of the present application is described in detail below with reference to fig. 3A to 3D.

As shown in fig. 3A, the first combination shelf is composed of two fixed shelves 402 and one movable shelf 401 placed in the space below the two fixed shelves 402. The fixed shelves 402 in the first combined shelf are single deep fixed shelves, i.e. one container can be placed on the fixed shelf 402 in the Y-axis direction, a baffle is arranged between the two fixed shelves 402, and two sides of the two fixed shelves 402 are also provided with baffles.

As shown in fig. 3B, the second combination shelf is composed of two fixed shelves 402 and one movable shelf 401 placed in the space below the two fixed shelves 402. The fixed shelves 402 in the second combined shelf are single deep fixed shelves, i.e. one container can be placed on the fixed shelf 402 in the Y-axis direction, no baffle is arranged between the two fixed shelves 402, and no baffle is arranged on two sides of the two fixed shelves 402.

As shown in fig. 3C, the third combination shelf is composed of two fixed shelves 402 and two movable shelves 401 placed in the space below the two fixed shelves 402. The fixed shelves 402 in the third combined shelf are double deep fixed shelves, that is, the fixed shelves 402 can hold two containers in the Y-axis direction, a baffle is arranged between the two fixed shelves 402, and two sides of the two fixed shelves 402 are also provided with baffles.

As shown in fig. 3D, the fourth combination shelf is composed of two fixed shelves 402 and two movable shelves 401 placed in the space below the two fixed shelves 402. The fixed shelves 402 in the fourth combined shelf are double deep fixed shelves, that is, the fixed shelves 402 can hold two containers in the Y-axis direction, no baffle is provided between the two fixed shelves 402, and no baffle is provided on both sides of the two fixed shelves 402.

In some embodiments, the first robot 10 is configured to receive a first transfer task and transfer the first mobile pallet to a position below the fixed pallet 42 or a position at a predetermined distance from the fixed pallet 42 according to the first transfer task.

In some embodiments, the fixed shelves 42 include a first fixed shelf and/or a second fixed shelf, with the first mobile shelf positioned in a space below the first fixed shelf to form a composite shelf.

Fig. 4A is a schematic diagram of another warehousing system according to an embodiment of the application. As shown in fig. 4A, the first robot 10 conveys the first movable pallet 411 to a position below the fixed pallet 42 or a position at a predetermined distance from the fixed pallet 42.

In some examples, the electronic device 30 (e.g., RMS) may generate a first transfer task from the order information and send the first transfer task to the first robot 10. The first transfer task includes transferring the first movable pallet 411 to a position below the fixed pallet 42 or a position at a predetermined distance from the fixed pallet 42.

In some examples, the first mobile shelf 411 is any one of the mobile shelves 41. For example, when the fixed shelf 42 is a fixed shelf among the combination shelves, the first robot 10 may convey the first moving shelf 411 to a space below the fixed shelf 42. For another example, the first robot 10 may convey the first movable rack 411 to a position at a predetermined distance from the fixed rack 42.

For example, the preset distance between the first movable shelf 411 and the fixed shelf 42 may be set according to the need. For example, the first movable shelf 411 may be placed in a corresponding running channel of the fixed shelf 42, and the distance between the first movable shelf and the fixed shelf 42 is a preset distance. The embodiment of the present application is not limited thereto.

The position where the first robot 10 conveys the first movable pallet 411 to the lower position of the fixed pallet 42 or the position at the predetermined distance from the fixed pallet 42 may also be referred to as a position where the first robot 10 conveys the first movable pallet 411 to the side (or the vicinity) of the fixed pallet 42.

In some embodiments, the second robot 20 is configured to receive the second transfer task, and operate to the target location according to the second transfer task, and transfer the first target cargo on the first target pallet and/or the buffer mechanism 202 of the second robot 20 to the target cargo space of the second target pallet.

The second target shelf may be located at the target position or may be located at a position near the target position, which is not limited in the embodiment of the present application.

In some examples, the electronic device 30 (e.g., RMS) may generate a second transfer task from the order information and send the second transfer task to the second robot 20.

For example, the first and second transport tasks may be different sub-tasks in the same transport task. For example, when the RMS generates an shelving task according to the order information, the shelving task may be divided into two sub-tasks (e.g., a first handling task and a second handling task), and the first handling task is sent to the first robot 10 and the second handling task is sent to the second robot 20, so that the first robot 10 and the second robot 20 cooperate with each other to complete the shelving task together.

When the second robot 20 is operated to the target position, the first target cargo on the first target pallet is carried to the target cargo space of the second target pallet; alternatively, the first target cargo stored on the buffer mechanism 202 of the second robot 20 is transferred to the target cargo space of the second target rack. The target position may be a position near the position of the first target shelf, or the target position may be a position near the position of the second target shelf. For example, the second robot 20 may determine to travel to or from the vicinity of the location of the first target pallet based on a different second transfer task. Wherein a location near the shelf may comprise a location a preset distance from the shelf.

In some embodiments, the first robot 10 is used to handle the mobile pallet 41 between the workstation and the underside of the fixed pallet in the composite pallet, and/or the first robot 10 is also used to handle the mobile pallet 41 between the workstation and a predetermined distance from the fixed pallet 42. The second robot 20 is used to pick and place goods between at least one of the fixed shelves 42, between the fixed shelves 42 and the movable shelves 41, between the movable shelves 41, and between the fixed shelves 42 and the workstation.

In some embodiments, the second robot 20 is configured to handle a first target cargo on a first target pallet on a target cargo space of a second target pallet via the handling assembly 203 and the lifting assembly 204; and/or, the first target cargo is transferred onto the buffer mechanism 202 by the transfer assembly 203 and the lifting assembly 204, and the first target cargo on the buffer mechanism 202 is transferred onto the target cargo space of the second target rack.

Illustratively, the first target shelf includes a first mobile shelf 411 and/or a fixed shelf 42, and the second target shelf includes at least one of the first mobile shelf 411, the second mobile shelf 412, and the fixed shelf 42. The second movable rack 412 and the first movable rack 411 may be different racks in the warehouse system. When the first target pallet and the second target pallet correspond to different pallets, the transfer tasks performed by the first robot 10 and the second robot 20 may be different. Wherein the handling tasks include, but are not limited to, a racking task, a restocking task, and a tallying task.

For example, when the first target rack is the first movable rack 411 and the second target rack is the fixed rack 42, the second transfer task may be an on-shelf task, and the second robot 20 is configured to transfer the first target cargo on the first movable rack 411 to the target cargo space of the fixed rack 42. When the first target rack is the fixed rack 42 and the second target rack is the first movable rack 411, the second transfer task may be a replenishment task, and the second robot 20 is configured to transfer the first target cargo on the fixed rack 42 to the target cargo space of the first movable rack 411. When the first target rack is the first mobile rack 411 and the second target rack is the second mobile rack 412, the second transporting task may be a tally task, and the second robot 20 is configured to transport the first target cargo on the first mobile rack 411 to the target cargo space of the second mobile rack 412.

In some examples, the second robot 20 may be configured to handle the container (e.g., a container or a pallet) in which the first target cargo is located, or may be configured to handle the first target cargo directly, and the specific manner in which the second robot 20 handles the first target cargo is not limited in the present application. The manner in which the second robot 20 conveys the first target cargo is related to the manner in which the first target cargo is stored on the first target pallet.

According to the embodiment of the application, after the first movable goods shelf is conveyed to the position below the fixed goods shelf or the position which is away from the fixed goods shelf by the first robot by a preset distance, the second robot can convey the goods on the first movable goods shelf to the fixed goods shelf, can convey the goods on the fixed goods shelf to the first movable goods shelf, and can convey the goods on the first movable goods shelf to the second movable goods shelf. The second robot may also transfer the cargo on the second robot's buffer mechanism to a fixed shelf, a first mobile shelf, or a second mobile shelf. Namely, through cooperation between the first robot and the second robot, different carrying tasks such as a loading task, a replenishment task, a tallying task and the like are completed together, and carrying efficiency of the first robot and the second robot is improved.

The following describes in detail the process of the first robot 10 and the second robot 20 cooperating with each other in the loading task, the restocking task, and the tallying task with reference to the accompanying drawings.

In some embodiments, if the first target rack is the first mobile rack 411 and the second target rack is the fixed rack 42, the first transfer task includes a first racking task, the second transfer task includes a second racking task, the target cargo space includes a target racking cargo space, and the racking task may be accomplished by the cooperation of the first robot 10 and the second robot 20.

In some embodiments, the first robot 10 is configured to carry the first movable rack 411 to the target area according to the first loading task, to load the goods to be loaded onto the first movable rack 411, and to carry the first movable rack 411 to a position below the fixed rack 42 or a position at a preset distance from the fixed rack 42. Wherein the goods to be shelved include a first target goods. The second robot 20 is configured to transfer the first target cargo on the first movable pallet 411 to the target loading bay of the fixed pallet 42 according to the second loading task.

In some examples, the target area may be an area in a warehouse for placing goods to be shelved, e.g., the target area may be a workstation, a workstation area, a sorting area, a staging area, or the like.

For example, after the first robot 10 conveys the first movable rack 411 to the target area, the worker may put the goods to be put on the first movable rack 411, and the first robot 10 conveys the first movable rack 411 to a position below the fixed rack 42 or a position at a predetermined distance from the fixed rack 42. Alternatively, the first robot 10 may be unloaded to the target area, and the first movable rack 411 on which the goods to be shelved are placed may be transported to a position below the fixed rack 42 or a position at a predetermined distance from the fixed rack 42, so that the second robot 20 shelves the goods to be shelved to the fixed rack 42.

In some embodiments, in the case that the combined shelf is a multi-deep-level combined shelf and the multi-deep-level combined shelf includes at least two moving shelves 41 disposed side by side in the vertical direction, if the first moving shelf 411 is located at the inner side of the multi-deep-level combined shelf and a third moving shelf is present at the outer side of the first moving shelf 411, the first robot 10 is configured to carry the third moving shelf to the stop point according to the first carrying task; and the first movable pallet 411 is carried to the target area to put the goods to be put on the shelf to the first movable pallet 411.

Fig. 4B is a schematic diagram of another combination shelf according to an embodiment of the present application. As shown in fig. 4B, when the first movable rack 411 is positioned inside the space under the combination rack and the third movable rack 413 is present outside the first movable rack 411, the first robot 10 cannot directly convey the first movable rack 411. In this case, the first robot 10 needs to move the third movable rack 413 located outside the first movable rack 411, and then, transport the first movable rack 411.

In some examples, when it is determined that the first mobile shelf 411 is located on the inner side of the multi-deep-level assembly shelf and the third mobile shelf 413 is present on the outer side of the first mobile shelf 411, the electronic device 30 may send a first transfer task to the first robot 10, the first robot 10 receives the first transfer task, and transfers the third mobile shelf 413 to a stop point according to the first transfer task, and then transfers the first mobile shelf 411 to a target area, so that the first mobile shelf 411 is to be put on shelf.

It should be noted that the number of third movable racks 413 located outside the first movable rack 411 may be one or more. When the number of the third movable racks 413 outside the first movable rack 411 is plural, the first robot 10 may sequentially convey each third movable rack 413 to the stop point and then convey the first movable rack 411 to the predetermined area.

In some examples, the electronic device 30 may also schedule multiple robots to cooperatively perform the above-described handling tasks.

In some embodiments, the warehousing system 1 further includes a third robot. Wherein, the third robot is used for carrying the third movable shelf 413 to a stop point according to the scheduling instruction; the first robot 10 is configured to carry the first movable rack 411 to a target area according to a first carrying task, so as to put the goods to be put on the rack onto the first movable rack 411.

For example, the third robot and the first robot 10 may be the same type of robot, for example, the third robot may be a latent type robot, and the third robot may be used for transporting the movable pallet 41.

For example, the electronic device 30 may schedule the at least one third robot to transfer the at least one third movable shelf 413 located outside the first movable shelf 411 through the scheduling instruction, and after the third robot moves the third movable shelf 413 away, the electronic device 30 may schedule the first robot 10 to continue to perform the first transfer task, and transfer the first movable shelf 411 to the target area, thereby further improving the transfer efficiency.

In some examples, the number of third robots may be determined based on the number of third mobile shelves 413. For example, when the number of the third movable racks 413 is 1, one third robot may be invoked to carry the third movable racks 413. When the number of the third movable shelves 413 is 3, three third robots may be invoked to carry the three third movable shelves 413; alternatively, two third robots may be invoked to handle the three third mobile racks 413; alternatively, a third robot may be invoked to handle the three third mobile racks 413. The embodiment of the present application is not limited thereto.

In some examples, the stop point of the third mobile shelf 413 may be the area P in the warehouse divided for placement of the mobile shelf 41, or the stop point may also be a free position in the space under the fixed shelf in the combination shelf. The embodiment of the present application is not limited thereto.

In some embodiments, in the case that the first movable rack 411 is a multi-deep rack, and a partition is disposed between a plurality of cargo positions of the first movable rack 411 disposed along a vertical direction, if the cargo position of the first target cargo is located at the back of the first movable rack 411, the first robot 10 carries the first movable rack 411 to a rotatable position according to the first carrying task, and performs surface turning on the first movable rack 411 at the rotatable position, so that the cargo position of the first target cargo is located at the front of the first movable rack 411; the first movable shelf 411 is then transported from the rotatable position to a position below the fixed shelf 42 or a position a predetermined distance from the fixed shelf.

Fig. 5 is a schematic diagram of a first mobile shelf according to an embodiment of the present application. It should be noted that, the first movable shelf 411 shown in fig. 5 may be a schematic view of a portion of the structure of the first movable shelf 411, rather than a schematic view of the entire structure of the first movable shelf 411. For example, fig. 5 shows a schematic diagram of the structure of the multi-layered space in the first movable rack 411.

As shown in fig. 5, the first movable shelf 411 may be provided with one or more cargo spaces in a horizontal direction (i.e., X-direction), and the first movable shelf 411 may be provided with one or more cargo spaces in a vertical direction (i.e., Y-direction). When the first movable rack 411 is provided with a plurality of cargo positions along the Y direction, the first movable rack 411 may be a multi-deep rack. For example, in the embodiment of the present application, two cargo positions may be set on the first movable rack 411 along the Y direction, that is, the first movable rack 411 is a dual deep rack.

In some examples, a partition may or may not be provided between two cargo positions of the first movable rack 411 disposed along the Y direction. If the first movable pallet 411 is provided with a plurality of (e.g., greater than or equal to two) cargo spaces along the Y direction, at least one partition may or may not be provided between the plurality of cargo spaces.

As shown in fig. 5, a partition 510 is provided between two cargo positions of the first movable shelf 411 in the Y direction. Wherein the cargo space where the first cargo 521 is located in front of (or in front of) the bulkhead 510 and the cargo space where the second cargo 522 is located in back of (or behind) the bulkhead 510.

For example, if the cargo space where the first target cargo to be shelved is located at the back of the first movable rack 411, that is, when the first target cargo is the second cargo 522 on the back of the partition 501, after the first movable rack 411 is carried to the position to be shelved by the first robot 10, the second robot 20 cannot directly take out the first target cargo from the first movable rack 411 due to the existence of the partition 510, and thus cannot shelve the first target cargo onto the fixed rack 42. Wherein the to-be-shelve position includes a position below the fixed shelf 42 or a position a preset distance from the fixed shelf.

Illustratively, the first robot 10 may swivel the first mobile shelf 411 at a rotatable position such that the cargo space where the first target cargo is located on the front side of the first mobile shelf 411.

Because of the small space of the corresponding travel path of the fixed shelf 42, the first robot 10 may not be able to finish turning the first moving shelf 411 directly in the travel path. Therefore, when the electronic device 30 determines that the cargo space where the first target cargo is located on the back side of the first movable rack 411, the first transfer task may be sent to the first robot 10, and the first robot 10 transfers the first movable rack 411 from the target area to the rotatable position according to the first transfer task, and performs the surface turning on the first movable rack 411 at the rotatable position. For example, the first robot 10 may rotate the first movable shelf 411 by 180 degrees in a clockwise direction or a counterclockwise direction so that the cargo space where the first target cargo is located is transferred to the front of the first movable shelf 411. After completing the turning of the first mobile pallet 411, the first robot 10 continues to carry the first mobile pallet 411 to the to-be-palletized position.

In some embodiments, the rotatable locations include intersection locations of travel aisles in the warehousing system 1 and/or locations in the high speed travel aisles between the pick zone and the shelf storage area and/or the pick zone.

Since the intersection between the fixed shelves or the space of the high-speed running lane is large, it is possible to realize the turning surface of the first moving shelf 411 by the first robot 10 by taking at least one of the intersection position of the running lane, the position in the high-speed running lane between the picking area and the shelf storage area, and the position of the picking area as the rotatable position.

Fig. 6 is a schematic diagram of a warehouse according to an embodiment of the present application, and as shown in fig. 6, the warehouse 2 includes a picking area 601 and a shelf storage area 602. The shelf storage area 602 may be provided with at least one row and/or at least one column of shelves, where an operation channel exists between every two rows of shelves, and an operation channel also exists between every two columns of shelves; the space size of each operation channel can be the same or different.

In some examples, as shown in FIG. 6, a run channel 1-1 exists between a first column of shelves in a first row and a second column of shelves, and a run channel 2-1 exists between a first column of shelves in a second row and a second column of shelves; an operation channel 3-1 exists between the first row of shelves and the second row of shelves. Wherein the running channel 3-1 has an intersection position a with the running channel 1-1 and the running channel 2-1, which may be a rotatable position. Likewise, the intersection position B between the running channel 3-1 and the running channels 1-2 and 2-2, the intersection position C between the running channel 3-1 and the running channels 1-3 and 2-3, the positions B and C may be rotatable positions. Because the intersection position space of the running channel is large, the first robot 10 can rotate the first movable shelf 411.

In other examples, as shown in FIG. 6, there may be a lane D between the pick area 601 and the shelf storage area 602 (e.g., the second row of shelves), the lane D may also be referred to as a high speed lane, and any position in the lane D may also be referred to as a rotatable position.

It should be noted that, when the cargo space of the first target cargo is located on the front surface of the first movable rack 411, the first robot 10 may directly carry the first movable rack 411 to the to-be-shelve position, without performing surface turning.

After the first robot 10 conveys the first movable pallet 411 to a position below the fixed pallet 42 or a position at a predetermined distance from the fixed pallet 42, the second robot 20 starts to perform the second loading task. For example, the electronic device 30 may send a second racking task to the second robot 20. The second robot 20 receives the second racking task, and racking a first target cargo among the to-be-racking cargoes on the first movable rack 411 onto the target racking cargo space of the fixed rack 42 according to the second racking task.

In some examples, second robot 20 may transfer the first target cargo on first mobile shelf 411 to a buffer unit in buffer mechanism 202 via transfer assembly 203 and lift assembly 204, and then transfer the first target cargo on buffer mechanism 202 to a target on-shelf cargo space on fixed shelf 42 via transfer assembly 203. Alternatively, the second robot 20 may directly transfer the first target cargo on the first mobile pallet 411 to the target on-shelf cargo space on the fixed pallet 42 via the transfer assembly 203 and the lift assembly 204. The manner in which the second robot 20 carries the first target cargo is not limited in the embodiment of the present application.

In some embodiments, the first target rack is a multi-deep rack, and no partition is arranged among a plurality of goods places of the first target rack along the vertical direction; the second robot is specifically for: if the cargo space where the first target cargo is located is an internal cargo space of the first target cargo rack, and a second target cargo exists on an external cargo space on the first target cargo rack corresponding to the cargo space where the first target cargo is located, according to the second transfer task, the second target cargo is transferred to the idle cargo space and/or the buffer mechanism 202 of the second robot 20, and the first target cargo on the first target cargo rack is transferred to the target cargo space of the second target cargo rack.

In some embodiments, the second robot 20 is further configured to: and (3) carrying the second target cargo to the original cargo position where the first target cargo is located or the original cargo position where the second target cargo is located from the idle cargo position and/or the buffer mechanism 202 of the second robot 20, and updating the inventory information.

In some examples, after the second robot 20 moves the second target cargo from the external cargo space of the first target cargo to the empty cargo space and/or the buffer mechanism 202 of the second robot 20 and moves the first target cargo of the internal cargo space on the first target pallet to the target cargo space of the second target pallet, the original cargo space (i.e., the internal cargo space) where the first target cargo is located on the first target pallet and the original cargo space (i.e., the external cargo space) where the second target cargo is located on the first target pallet become the empty cargo space. In this case, the second robot 20 may transfer the second target cargo placed on the empty cargo space and/or the buffer mechanism 202 of the second robot 20 to the original cargo space (i.e., the interior cargo space) on the first target pallet where the first target cargo is located; alternatively, the second robot 20 may also transfer the second target cargo placed on the free cargo space and/or the buffer mechanism 202 of the second robot to the original cargo space (i.e., the external cargo space) on the first target pallet where the second target cargo is located. Alternatively still, the second target cargo may continue to be placed on the free cargo space. The embodiment of the application is not limited to this, and it should be noted that the stock information needs to be updated after the goods are placed.

For example, after the second robot 20 performs a completed handling task, the second robot 20 may send update information to the electronic device 30 to cause the electronic device 30 (e.g., RMS) to update inventory information. The electronic device 30 may update the inventory information according to the execution condition of the second robot 20 after monitoring that the second robot 20 has performed the transfer task. For example, the electronic device 30 may update the information of the storage location of the first target cargo, the storage location of the second target cargo, and the free cargo space.

Illustratively, when the first target pallet is the first mobile pallet 411, the second robot 20 needs to take the first target pallet from the interior cargo space of the first mobile pallet 411 at what depth. In this case, the second target rack may be the fixed rack 42 or the second movable rack 412. When the second target pallet is the fixed pallet 42, the transport task performed by the second robot 20 is the loading task; when the second target rack is the second movable rack 412, the transport task performed by the second robot 20 is a tally task.

Illustratively, when the first target pallet is a fixed pallet 42, the second robot 20 needs to take the first target pallet from the interior cargo space of the fixed pallet 42 at the deeper position. In this case, the second target shelf may be the first mobile shelf 411. When the second target rack is the first movable rack 411, the transfer task performed by the second robot 20 is a replenishment task.

In some embodiments, the second target rack is a multi-deep rack, and no partition is arranged among a plurality of goods places of the second target rack along the vertical direction; the second robot 20 is specifically configured to: if the target cargo space is an internal cargo space of the second target cargo rack and a third target cargo is present on an external cargo space corresponding to the target cargo space on the second target cargo rack, then according to the second transfer task, transferring the third target cargo to the idle cargo space and/or the buffer mechanism 202 of the second robot 20, and transferring the first target cargo on the first target cargo rack to the target cargo space of the second target cargo rack.

For example, when the second target pallet is the first movable pallet 411, the second robot 20 needs to place the first target cargo on the inner cargo space (target cargo space) of the first movable pallet 411 at what depth. In this case, the first target pallet may be the fixed pallet 42, and the transfer task performed by the second robot 20 is the replenishment task.

For another example, when the second target pallet is the second movable pallet 412, the second robot 20 needs to place the first target cargo on the inner cargo space (target cargo space) of the second movable pallet 412 at what depth. In this case, the first target rack may be the first movable rack 411, and the transport task performed by the second robot 20 may be a cargo task.

For another example, when the second target pallet is the fixed pallet 42, the second robot 20 needs to place the first target cargo on the inner cargo space (target cargo space) of the fixed pallet 42 at a deeper position. In this case, the first target rack may be the first movable rack 411, and the transport task performed by the second robot 20 may be the loading task.

In some embodiments, the second robot 20 is further configured to: the third target cargo is transferred from the free cargo space and/or the buffer mechanism 202 of the second robot 20 to the original cargo space where the third target cargo is located, and the inventory information is updated.

In some examples, after the second robot 20 moves the third target cargo from the outer cargo space of the target cargo space to the empty cargo space and/or the buffer mechanism 202 of the second robot 20 and places the first target cargo on the inner cargo space (i.e., the target cargo space) on the second target pallet, the second robot 20 may transfer the third target cargo placed on the empty cargo space and/or the buffer mechanism 202 of the second robot 20 onto the original cargo space (i.e., the outer cargo space) on the second target pallet where the third target cargo is located; alternatively, the third target cargo may continue to be placed on the free cargo space. The embodiment of the present application is not limited thereto.

For example, after the second robot 20 performs a handling task, the electronic device 30 (e.g., RMS) may update inventory information, such as information about the storage location of the first target good, the storage location of the third target good, and the free space.

In some examples, when the third target cargo is located at an external cargo space of the target cargo space, the second robot 20 may transfer the third target cargo to the target cargo space such that the external cargo space of the target cargo space is in an idle state, and then the second robot 20 transfers the first target cargo to the original cargo space of the third target cargo, i.e., the external cargo space of the target cargo space. After the second robot 20 completes the transfer task, the electronic device 30 updates the inventory information.

In some embodiments, in the on-shelf scenario, the second robot 20 transfers the second target cargo on the first mobile pallet 411 to the free space and/or the buffer mechanism 202 of the second robot 20 according to the second on-shelf task, and then transfers the first target cargo on the first mobile pallet 411 to the target on-shelf space of the fixed pallet.

Fig. 7 is a schematic diagram of another first movable shelf according to an embodiment of the present application. It should be noted that, the first movable shelf 411 shown in fig. 7 may be a schematic view of a portion of the structure of the first movable shelf 411, rather than a schematic view of the entire structure of the first movable shelf 411. For example, fig. 7 shows a schematic diagram of the structure of the multi-layered space in the first movable rack 411.

As shown in fig. 7, the first movable shelf 411 may be provided with two or more cargo spaces in the vertical direction (i.e., Y direction). The embodiment of the application is schematically illustrated by taking the first movable shelf as a double deep shelf as an example. As shown in fig. 7, the outer cargo space may be referred to as an outer cargo space and the inner cargo space may be referred to as an inner cargo space, of the two cargo spaces of the first movable pallet 411 in the Y direction.

As shown in fig. 7, if the cargo space where the first target cargo 711 is located is the inner cargo space of the first movable rack 411 and the second target cargo 712 is stored in the outer cargo space corresponding to the first target cargo 711, the second robot 20 cannot directly take out the first target cargo 711 from the first movable rack 411. In this case, the second robot 20 may first take out the second target cargo 712 on the external cargo space and place it on another free cargo space and/or the buffer mechanism 202 of the second robot 20, and then take out the first target cargo 711 on the internal cargo space and place it on the target loading cargo space on the fixed shelf 42, thereby completing loading of the first target cargo onto the fixed shelf 42.

In some examples, the second robot 20 may take the second target cargo 712 on the external cargo space and place it on the empty cargo space on the first movable pallet 411, or the second robot 20 may place the second target cargo 712 on the empty cargo space on the fixed pallet 42, or the second robot 20 may place the second target cargo 712 on an empty cargo space on another pallet. Wherein, the idle cargo space is a cargo space without cargoes or containers placed on the cargo space.

After the second robot 20 takes out the first target cargo 711, the second target cargo 712 may be returned to the original cargo space of the first movable pallet 411, or may not be returned to the original cargo space of the first movable pallet 411. The embodiment of the present application is not limited thereto.

In other examples, the second robot 20 may also take out the second target cargo 712 on the external cargo space through the handling assembly 203 and the lifting assembly 204 and place the second target cargo on the buffer unit of the buffer mechanism 202; then, the first target cargo 711 on the interior cargo space is removed by the handling assembly 203 and placed on the target upper rack cargo space on the fixed rack 42; finally, the second target cargo on the buffer mechanism 202 is transported to the external cargo space of the first movable rack 411 by the transporting assembly 203 and the lifting assembly 204.

In some embodiments, the first robot 10 may also be independently racking, and the first handling task may be a third racking task when the first robot 10 is independently racking. The first robot 10 is configured to carry the first movable rack 411 to the target area according to the third loading task, to load the goods to be loaded onto the first movable rack 411, and to carry and place the first movable rack 411 at a position below the fixed rack in the combined rack.

In some examples, in an independent racking scenario, the first robot 10 may carry the first mobile racking 411 to the target area, and after racking the first mobile racking 411, carry the first mobile racking 411 to the to-be-racking position, thereby implementing racking of the first mobile racking 411. Wherein the first movable rack 411 is to be placed on the rack position includes a position below the fixed rack in the combined rack.

In some embodiments, the second robot 20 may also be independently racking, and the second handling task may be a fourth racking task when the second robot 20 is independently racking. The second robot 20 is configured to operate to a target area according to the fourth racking task, to rack the goods to be racking on the buffer mechanism 202 of the second robot 20, and to operate to a target position, to transport the goods to be racking on the buffer mechanism 202 on the fixed shelf 42.

In some examples, the second robot 20 may operate to the target area, after loading the goods to be loaded onto the buffer unit of the buffer mechanism 202, to the location of the fixed shelf 42, and loading the goods to be loaded onto the fixed shelf 42, thereby loading the fixed shelf 42. For example, a first target cargo may be included in the cargo to be shelved, and the second robot 20 may transfer the first target cargo in the cargo to be shelved on the buffer mechanism 202 to a target racking load location on the fixed shelf 42.

In some embodiments, in the overhead scenario, if the fixed pallet 42 is a multi-deep pallet, the target cargo space is located in an inner cargo space of the fixed pallet 42, and the cargo is located in an outer cargo space of the target cargo space, the second robot 20 may first take out the cargo located in the outer cargo space of the target cargo space and place the cargo on the free cargo space and/or the buffer mechanism 202 of the second robot 20; the first target cargo on the first mobile pallet 411 is then transferred to the target cargo space (i.e., the interior cargo space) of the fixed pallet 42 to complete the loading of the first target cargo from the first mobile pallet 411 to the fixed pallet 42. Alternatively, the second robot 20 may also transfer the cargo on the external cargo space of the target cargo space on the fixed pallet 42 to the target cargo space (i.e., the internal cargo space) and then transfer the first target cargo on the first movable pallet 411 to the external cargo space of the target cargo space of the fixed pallet 42 to complete the loading of the first target cargo from the first movable pallet 411 to the fixed pallet 42. In some examples, after the second robot 20 completes the racking task described above, the electronic device 30 may update the inventory information.

Illustratively, after the second robot 20 places the goods on the external cargo space on the empty cargo space and/or the buffer mechanism 202 of the second robot 20, if the loading of the first target goods from the first movable rack 411 to the fixed rack 42 is completed, the second robot 20 may further transfer the goods placed on the empty cargo space and/or the buffer mechanism 202 of the second robot 20 to the original cargo space and update the inventory information.

Therefore, the embodiment of the application can jointly complete the racking task through the cooperation between the first robot and the second robot, and can also independently complete the racking task through the first robot or the second robot, thereby improving the carrying efficiency of the first robot and the second robot.

In some embodiments, if the first target rack is the fixed rack 42, the second target rack is the first mobile rack 411, the second transfer task includes a restocking task, the target cargo space includes a target restocking cargo space, and the restocking task can be completed by cooperation of the first robot 10 and the second robot 20.

In some embodiments, the first robot 10 is configured to carry the first mobile pallet 411 to a position below the fixed pallet 42 or a position a predetermined distance from the fixed pallet 42 according to the first carrying task; the second robot 20 is configured to transfer the first target cargo on the fixed shelf 42 to the target replenishment cargo space of the first movable shelf 411 according to the replenishment task.

In some examples, the restocking task includes transporting a first target cargo on the fixed shelf 42 onto a target restocking location of the first mobile shelf 411. Therefore, the first robot 10 needs to transport the first movable rack 411 to be restocked to a position below the fixed rack 42 or a predetermined distance from the fixed rack 42, so that the second robot 20 performs the restocking task.

In some embodiments, in the case that the combined shelf is a multi-deep-level combined shelf and the multi-deep-level combined shelf includes at least two moving shelves 41 disposed side by side in the vertical direction, if the first moving shelf 411 is located at the inner side of the multi-deep-level combined shelf and the third moving shelf 413 is located at the outer side of the first moving shelf 411, when the first robot 10 transfers the first moving shelf 411 to the fixed shelf 42, it is necessary to remove the third moving shelf 413 blocked at the outer side of the first moving shelf 411, and then transfer the first moving shelf 411. In this case, the first robot 10 may convey the third movable pallet 413 to the stop point by relay, and then convey the first movable pallet 411 to a position below the fixed pallet 42 or a position at a predetermined distance from the fixed pallet 42. The third movable pallet 413 may be transported to the stop point by cooperation of a plurality of robots, and then the first movable pallet 411 may be transported to a position below the fixed pallet 42 or a position at a predetermined distance from the fixed pallet 42.

In some examples, if the first mobile shelf 411 is located on the inner side of the multi-deep-level combined shelf and the third mobile shelf 413 is located on the outer side of the first mobile shelf 411, the first robot 10 may transport the third mobile shelf 413 to the stop point according to the first transport task, and then transport the first mobile shelf 411 to the position below the fixed shelf 42 or the position at the preset distance from the fixed shelf 42.

In some examples, if the first mobile shelf 411 is located inside a multi-deep level group shelf and a third mobile shelf 413 is present outside the first mobile shelf 411, the third robot may carry the third mobile shelf 413 to a stop according to the dispatch instructions; the first robot 10 conveys the first movable rack 411 to a position below the fixed rack 42 or a position at a predetermined distance from the fixed rack 42 according to the first conveyance task.

Note that, in the replenishment task, the process of transporting the first movable shelf 411 and the third movable shelf 413 is similar to the process of transporting the first movable shelf 411 and the third movable shelf 413 in the above-mentioned loading task, and for avoiding repetition, a description thereof is omitted here.

In some embodiments, in the case that the first movable rack 411 is a multi-deep rack, and a partition is disposed between a plurality of positions of the first movable rack 411 in a vertical direction, if the target replenishment position is located at the back of the first movable rack 411, the first robot 10 carries the first movable rack 411 to a rotatable position according to the first carrying task, and rotates the first movable rack 411 at the rotatable position, so that the target replenishment position is located at the front of the first movable rack 411; the first movable pallet 411 is carried from the rotatable position to a position below the fixed pallet 42 or a position a predetermined distance from the fixed pallet.

When the target restocking position is located at the back of the first movable shelf 411, the second robot 20 cannot restock the target restocking position directly due to the existence of the barrier 510. In this case, the electronic device 30 performs surface turning on the first movable shelf 411 by scheduling the first robot 10 to rotate the target replenishment place to the front of the first movable shelf 411, so that the second robot 20 carries the first target cargo (to-be-replenished cargo) on the fixed shelf 42 to the target replenishment place of the first movable shelf 411.

It should be noted that, in the replenishment task, the process of turning the first movable shelf 411 by the first robot 10 is similar to the process of turning the first movable shelf 411 by the first robot 10 in the loading task, and is not repeated here.

In some embodiments, in the replenishment scenario, when the first movable rack 411 is a multi-deep rack and no partition is provided between the multiple racks of the first movable rack 411 disposed along the vertical direction, if the target replenishment rack is an internal rack of the first movable rack 411 and a third target cargo is present on an external rack of the first movable rack 411 corresponding to the target replenishment rack, the second robot 20 is configured to transfer the third target cargo to the idle rack and/or the buffer mechanism 202 of the second robot 20 according to the replenishment task, and transfer the first target cargo on the fixed rack 42 to the target replenishment rack of the first movable rack.

In some examples, in the restocking scene, when the target restocking position is the internal position of the first movable rack 411, if the third target cargo exists on the external position corresponding to the target restocking position, the second robot 20 cannot directly restock the target restock position. In this case, the second robot 20 needs to transfer the third target cargo on the external cargo space to the empty cargo space and/or the buffer mechanism 202 of the second robot 20, and then transfer the first target cargo on the fixed shelf 42 to the target replenishment cargo space of the first movable shelf 411.

In other examples, second robot 20 may also transfer a third target cargo on a cargo space outside of first mobile shelf 411 to a free cache unit in cache mechanism 202 via transfer assembly 203; then, the first target cargo on the fixed shelf 42 is transported to the target replenishment cargo space of the first movable shelf 411 by the transporting assembly 203; then, the third target cargo stored in the buffer unit is transported to the external cargo space of the first movable rack 411 by the transporting assembly.

In some embodiments, in the replenishment scenario, if the fixed shelf 42 is a multi-deep shelf, the cargo space where the first target cargo is located is the inner cargo space of the fixed shelf 42, and when there is cargo on the outer cargo space corresponding to the first target cargo, the second robot 20 may first take out the cargo on the outer cargo space and place the cargo on the idle cargo space and/or the buffer mechanism 202 of the second robot 20; then, the first target cargo on the cargo space inside the fixed rack 42 is transferred onto the target cargo of the first movable rack 411 to complete the replenishment of the first target cargo from the fixed rack 42 to the first movable rack 411. In some examples, after the second robot 20 completes the restocking task described above, the electronic device 30 may update the inventory information.

Illustratively, after the second robot 20 places the goods on the external cargo space on the empty cargo space and/or the buffer mechanism 202 of the second robot 20, if the first target goods are completed to be restocked from the fixed pallet 42 to the first movable pallet 411, the second robot 20 may further transfer the goods placed on the empty cargo space and/or the buffer mechanism 202 of the second robot 20 to the internal cargo space (i.e., the original cargo space of the first target goods) or the external cargo space (i.e., the external cargo space corresponding to the original cargo space of the first target goods) of the fixed pallet 42 and update the inventory information.

Therefore, the embodiment of the application completes the replenishment task together through the cooperation between the first robot and the second robot, and improves the carrying efficiency of the first robot and the second robot.

In some embodiments, if the first target rack is the first mobile rack 411 and the second target rack is the second mobile rack 412, the second transfer task comprises a tally task and the target cargo space comprises a target tally cargo space; the first robot 10 and the second robot 20 cooperate to complete the tallying task.

In some embodiments, the first robot 10 is configured to carry the first mobile pallet 411 to a position below the fixed pallet 42 or a position a predetermined distance from the fixed pallet 42 according to the first carrying task; the second robot 20 is configured to carry the first target cargo on the first movable rack 411 to a target cargo space of the second movable rack 412 according to a cargo management task; and/or, according to the tally task, the cargo on the fourth mobile pallet is transferred to the second mobile pallet 412.

For example, the tally task may also include transporting the first target cargo (e.g., cargo to be tally) on the first mobile shelf 411 to a target tally location on the unified target shelf.

In some embodiments, the second target shelf (e.g., a unified target shelf) may be a shelf that meets a preset condition as determined from the cargo information on the first mobile shelf 411, and/or the second target shelf is a preset shelf. By carrying the goods on the first movable rack 411 onto the unified target rack, the hit rate can be increased to increase the picking efficiency in the subsequent picking process.

For example, the unified target shelf may be one fixed shelf or a mobile shelf on which the first target goods are placed in a large number, or the unified target shelf may be one fixed shelf or one mobile shelf or one combined shelf set in advance according to the needs. For example, the unified target shelf may include the second mobile shelf 412, or include the fixed shelf 42.

For example, the cargo handling task includes transporting a first target cargo (e.g., cargo to be handled) on the first movable rack 411 to a target cargo space on the second movable rack 412 to increase the cargo hit rate. In this case, the first robot 10 may move the first movable rack 411 to the vicinity of the location of the second movable rack 412, and the second robot 20 may also move to the vicinity of the location of the second movable rack 412, so that the second robot 20 moves the first target cargo on the first movable rack 411 to the target cargo space of the second movable rack 412.

For another example, the first robot 10 (e.g., at least one first robot 10) may also transport the first mobile pallet 411 and the second mobile pallet 412 to the vicinity of the location of the second robot 20, so that the second robot 20 transports the first target cargo on the first mobile pallet 411 to the target cargo space of the second mobile pallet 412.

In other examples, the tally task includes transporting a first target good (e.g., a good to be tally) on a first mobile shelf 411 to a target tally location on a second mobile shelf 412; and/or, the to-be-sorted goods on the fourth movable rack are carried to the target sorting place of the second movable rack 412. That is, in the case of a cargo handling scenario, cargo on one mobile shelf may be handled on another mobile shelf, or cargo on a plurality of mobile shelves may be handled on another mobile shelf. In a cargo handling scenario, the first robot 10 may move the first mobile rack 411 and the fourth mobile rack to the vicinity of the location of the second mobile rack 412 (e.g., the location of the to-be-handled cargo), and the second robot 20 may also move to the vicinity of the location of the second mobile rack 412 to move the first target cargo on the first mobile rack 411 and the to-be-handled cargo on the fourth mobile rack to the target cargo space of the second mobile rack 412. Alternatively, the first robot 10 may also transfer the first movable pallet 411, the second movable pallet 412 and the fourth movable pallet to the target location (e.g. the to-be-sorted location), and the second robot 20 may also be operated to the target location to transfer the first target cargo on the first movable pallet 411 and the to-be-sorted cargo on the fourth movable pallet to the target sorting location of the second movable pallet 412.

It should be noted that, the process of the second robot 20 transferring the cargo on the fourth mobile shelf to the second mobile shelf 412 is similar to the process of the second robot 20 transferring the cargo on the first mobile shelf 411 to the second mobile shelf 412, and the embodiment of the present application is schematically illustrated by taking the process of the second robot 20 transferring the first target cargo on the first mobile shelf 411 to the target cargo space of the second mobile shelf 412 as an example.

In some embodiments, in the case that the combined shelf is a multi-deep-level combined shelf and the multi-deep-level combined shelf includes at least two moving shelves 41 disposed side by side in the vertical direction, if the first moving shelf 411 is located at the inner side of the multi-deep-level combined shelf and the third moving shelf 413 is located at the outer side of the first moving shelf 411, when the first robot 10 transfers the first moving shelf 411 to the fixed shelf 42, it is necessary to remove the third moving shelf 413 blocked at the outer side of the first moving shelf 411, and then transfer the first moving shelf 411. In this case, the first robot 10 may convey the third movable pallet 413 to the stop point by relay, and then convey the first movable pallet 411 to the to-be-tidied position. Alternatively, the third movable pallet 413 may be transported to the stop point by cooperation of a plurality of robots, and then the first movable pallet 411 may be transported to the position to be sorted.

In some examples, if the first mobile shelf 411 is located on the inner side of the multi-deep-level assembly shelf, and the third mobile shelf 413 is located on the outer side of the first mobile shelf 411, the first robot 10 may carry the third mobile shelf 413 to the stop point according to the first carrying task, and then carry the first mobile shelf 411 to the to-be-tidied position.

In other embodiments, if the first mobile shelf 411 is located inside the multi-deep level assembly shelf and the third mobile shelf 413 is located outside the first mobile shelf 411, the third robot may carry the third mobile shelf 413 to the stop according to the scheduling instruction; the first robot 10 carries the first movable rack 411 to the to-be-tidied position according to the first carrying task.

It should be noted that, in the cargo handling task, the process of transporting the first movable rack 411 and the third movable rack 413 is similar to the process of transporting the first movable rack 411 and the third movable rack 413 in the loading task and the replenishment task, and the description thereof is omitted to avoid repetition.

In some embodiments, in the case that the first movable rack 411 is a multi-deep rack, and a partition is disposed between a plurality of cargo positions of the first movable rack 411 disposed along a vertical direction, if the cargo position of the first target cargo is located at the back of the first movable rack 411, the first robot 10 carries the first movable rack 411 to a rotatable position according to the first carrying task, and performs surface turning on the first movable rack 411 at the rotatable position, so that the cargo position of the first target cargo is located at the front of the first movable rack 411; the first movable rack 411 is carried from the rotatable position to the to-be-tidied position.

When the cargo space where the first target cargo is located on the back side of the first movable rack 411, the second robot 20 cannot directly take out the first target cargo from the first movable rack 411 due to the presence of the partition 510, and thus cannot transfer the first target cargo to the target cargo space of the second movable rack 412. In this case, the electronic device 30 rotates the first movable rack 411 by scheduling the first robot 10 to rotate the first target cargo position to the front of the first movable rack 411, and conveys the first movable rack 411 from the rotatable position to the to-be-sorted position, so that the second robot 20 can convey the first target cargo on the first movable rack 411 to the target sorted cargo position of the second movable rack 412.

It should be noted that, in the cargo handling task, the process of turning the first movable shelf 411 by the first robot 10 is similar to the process of turning the first movable shelf 411 by the first robot 10 in the loading task and the replenishment task, and thus, for avoiding repetition, the description is omitted here.

In some embodiments, in the tally scenario, when the first movable rack 411 is a deep rack and no partition is disposed between the multiple racks of the first movable rack 411 that are disposed along the vertical direction, if the rack of the first target cargo is an internal rack of the first movable rack 411 and there is a second target cargo on an external rack of the first movable rack 411 that corresponds to the rack of the first target cargo, the second robot 20 is configured to carry the second target cargo to the idle rack and/or the buffer mechanism 202 of the second robot 20 according to the tally task, and carry the first target cargo on the first movable rack 411 to the target tally rack of the second movable rack 412.

For example, to transfer the first target cargo on the first movable rack 411 to the target cargo space of the second movable rack 412, the second robot 20 needs to transfer the second target cargo on the external cargo space corresponding to the first target cargo space on the first movable rack 411 to the free cargo space and/or the buffer mechanism 202 of the second robot 20, so as to take out the first target cargo and place the first target cargo on the target cargo space of the second movable rack 412.

In some embodiments, in the cargo handling scenario, when the second movable rack 412 is a deep rack and no partition is provided between the multiple cargo positions of the second movable rack 412 in the vertical direction, if the target cargo position is an internal cargo position of the second movable rack 412 and a third target cargo exists on an external cargo position corresponding to the target cargo position on the second movable rack 412, the second robot 20 is configured to transfer the third target cargo to the idle cargo position and/or to the buffer mechanism 202 of the second robot 20 according to the cargo handling task, and transfer the first target cargo on the first movable rack 411 to the target cargo position of the second movable rack 412.

In some examples, where the second target rack is the second mobile rack 412, the second robot 20 is to carry the first target cargo on the first mobile rack 411 onto a target tally site on the second mobile rack 412. The second movable shelf 412 is similar to the first movable shelf 411, and may be a deep shelf, and no partition is provided between the plurality of shelves. In this case, the second robot 20 cannot directly place the first target cargo on the target cargo space of the second movable pallet 412, but needs to transfer the third target cargo of the external cargo space corresponding to the target cargo space to the free cargo space and/or the buffer mechanism 202 of the second robot 20, and then transfer the first target cargo to the target cargo space of the second movable pallet 412.

In some examples, if the second movable rack 412 is provided with a partition 510 between the multiple cargo positions disposed along the vertical direction, and the target cargo position is located at the back of the second movable rack 412, the electronic device 30 further needs to schedule the first robot 10 to carry the second movable rack 412 to the rotatable position for surface turning, so that the target cargo position is turned to the front of the second movable rack 412, and then the second movable rack 412 is moved to the cargo position, and the second robot 20 performs the cargo-handling task.

It should be noted that, in the cargo handling task, the process of turning the first robot 10 to the second movable shelf 412 is similar to the process of turning the first robot 10 to the first movable shelf 411 in the loading task and the replenishment task, and thus, repetition is avoided.

Therefore, the first robot and the second robot cooperate to finish the tallying task, so that the carrying efficiency of the first robot and the second robot is improved.

Fig. 8 is a schematic diagram of a handling method according to an embodiment of the present application. The method is applied to an electronic device, which may be, for example, the electronic device 30 in the above-described embodiment. As shown in fig. 8, the conveying method includes steps S810 to S820 as follows.

Step S810, sending a first transport task to the first robot, so that the first robot transports the first mobile shelf to a position below the fixed shelf or a position at a preset distance from the fixed shelf according to the first transport task.

Step S820, sending a second transport task to the second robot, so that the second robot transports the first target goods on the first target goods shelf and/or the buffer mechanism of the second robot to the target goods shelf of the second target goods shelf according to the second transport task.

In some embodiments, the first target shelf comprises a first mobile shelf and/or a fixed shelf, the second target shelf comprises at least one of a first mobile shelf, a second mobile shelf, and a fixed shelf, and the first target shelf and the second target shelf are different.

In some embodiments, the first mobile shelf is a multi-deep shelf, and a partition is arranged between a plurality of goods places of the first mobile shelf along the vertical direction; step S810 in the above embodiment includes: if the goods position of the first target goods is positioned at the back of the first movable goods shelf, or the target goods position is positioned at the back of the first movable goods shelf, sending a first carrying task to the first robot so that the first robot carries the first movable goods shelf to a rotatable position according to the first carrying task, and carrying out surface turning on the first movable goods shelf at the rotatable position so that the goods position of the first target goods or the target goods position is positioned at the front of the first movable goods shelf; and carrying the first movable pallet from the rotatable position to a position below the fixed pallet or a position a predetermined distance from the fixed pallet.

In some embodiments, the first target rack is a multi-deep rack, and no partition is arranged among a plurality of goods places of the first target rack along the vertical direction; step S810 in the above embodiment includes: if the cargo space where the first target cargo is located is the inner cargo space of the first target cargo rack, and the second target cargo exists on the outer cargo space corresponding to the cargo space where the first target cargo is located on the first target cargo rack, a second conveying task is sent to the second robot, so that the second robot conveys the second target cargo to the idle cargo space and/or the buffer mechanism of the second robot according to the second conveying task, and conveys the first target cargo on the first target cargo rack to the target cargo space of the second target cargo rack.

In some embodiments, the second target rack is a multi-deep rack, and no partition is arranged among a plurality of goods places of the second target rack along the vertical direction; step S810 in the above embodiment includes: if the target cargo space is the internal cargo space of the second target cargo rack and the third target cargo is present on the external cargo space corresponding to the target cargo space on the second target cargo rack, a second carrying task is sent to the second robot, so that the second robot carries the third target cargo to the idle cargo space and/or the buffer mechanism of the second robot according to the second carrying task, and carries the first target cargo on the first target cargo rack to the target cargo space of the second target cargo rack.

In some embodiments, the second target rack is a multi-deep rack, and no partition is arranged among a plurality of goods places of the second target rack along the vertical direction; step S810 in the above embodiment further includes: if the target cargo space is the inner cargo space of the second target cargo rack and the third target cargo is present on the outer cargo space corresponding to the target cargo space on the second target cargo rack, a second carrying task is sent to the second robot, so that the second robot carries the third target cargo to the target cargo space according to the second carrying task, carries the first target cargo to the original cargo space of the third target cargo, and updates the inventory information.

In some embodiments, the composite shelf is a multi-deep composite shelf comprising at least two mobile shelves positioned side-by-side in a vertical direction; step S810 in the above embodiment includes:

if the first movable shelf is positioned at the inner side of the multi-deep-level combination shelf and a third movable shelf exists at the outer side of the first movable shelf, a first conveying task is sent to the first robot, so that the first robot conveys the third movable shelf to a stop point according to the first conveying task; and the first movable shelf is carried to a position below the fixed shelf or a position at a preset distance from the fixed shelf.

In some embodiments, the composite shelf is a multi-deep composite shelf comprising at least two mobile shelves positioned side-by-side in a vertical direction; the carrying method further comprises the following steps:

if the first movable shelf is positioned at the inner side of the multi-deep-level combination shelf and a third movable shelf exists at the outer side of the first movable shelf, sending a scheduling instruction to the third robot so that the third robot carries the third movable shelf to a stop point according to the scheduling instruction.

Fig. 9 is a schematic diagram of an electronic device according to an embodiment of the present application. In some embodiments, the electronic device includes one or more processors and memory. The memory is configured to: one or more programs are stored. Wherein the one or more processors implement the handling method in the above embodiments when the one or more programs are executed by the one or more processors.

As shown in fig. 9, the electronic device 1000 includes: a processor 1001 and a memory 1002. Illustratively, the electronic device 1000 may further include: a communication interface (Communications Interface) 1003 and a communication bus 1004.

The processor 1001, the memory 1002, and the communication interface 1003 perform communication with each other via the communication bus 1004. Communication interface 1003 is used to communicate with network elements of other devices such as clients or other servers.

In some embodiments, the processor 1001 is configured to execute the program 1005, and may specifically perform the relevant steps in the handling method embodiment described above. In particular, program 1005 may include program code comprising computer-executable instructions.

The processor 1001 may be, for example, a central processing unit CPU, or a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits configured to implement embodiments of the present application. The one or more processors that the electronic device 1000 may include may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.

In some embodiments, memory 1002 is used to store program 1005. The Memory 1002 may include a high-speed RAM Memory or may further include a Non-Volatile Memory (NVM), such as at least one magnetic disk Memory.

The program 1005 may be specifically called by the processor 1001 to cause the electronic apparatus 1000 to execute any of the handling methods of the above embodiments.

Embodiments of the present application provide a computer readable storage medium storing at least one executable instruction that, when executed on an electronic device 1000, cause the electronic device 1000 to perform any of the handling methods of the above embodiments.

The executable instructions may be particularly useful for causing the electronic device 1000 to perform the handling method in the above-described embodiments.

For example, the computer readable storage medium may be Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), compact disc Read-Only Memory (CD-ROM), magnetic tape, floppy disk, optical data storage device, and the like.

The beneficial effects achieved by the carrying method, the electronic device and the computer readable storage medium provided by the embodiment of the application can refer to the beneficial effects in the corresponding warehousing system provided above, and are not repeated here.

It is noted that in the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM).

Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory. It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof.

In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

The embodiments of the present application described above do not limit the scope of the present application.

Claims

1. A warehousing system, comprising:

the first robot is used for receiving a first conveying task and conveying the first movable goods shelf to a position below a fixed goods shelf or a position at a preset distance from the fixed goods shelf according to the first conveying task;

the second robot is used for receiving a second conveying task, running to a target position according to the second conveying task, and conveying a first target goods on a first target goods shelf and/or a buffer mechanism of the second robot to a target goods position of a second target goods shelf;

wherein the first target shelf comprises the first mobile shelf and/or the fixed shelf, the second target shelf comprises at least one of the first mobile shelf, the second mobile shelf and the fixed shelf, and the first target shelf and the second target shelf are different.

2. The system of claim 1, wherein the stationary shelf is for storing goods and/or carriers, and the first mobile shelf and the second mobile shelf are each for storing goods and/or carriers; the carrier comprises a tray and/or a container, wherein the tray is used for storing goods or the container, and the container is used for storing the goods.

3. The system of claim 1, wherein the fixed shelves comprise a first fixed shelf and/or a second fixed shelf, the first mobile shelf being located in a space below the first fixed shelf to form a composite shelf.

4. The system of claim 1, wherein the warehouse system further comprises a composite rack formed by at least two fixed racks placed side by side in a vertical direction forming a lower space in which at least one mobile rack is placed side by side in a vertical direction; the fixed goods shelf in the combined goods shelf adopts a single deep position, a double deep position or multiple deep positions.

5. The system of claim 1, wherein the first mobile pallet is a multi-deep pallet, and wherein a partition is provided between a plurality of pallet locations of the first mobile pallet along a vertical direction; the first robot is specifically configured to:

if the goods position of the first target goods is located at the back of the first movable goods shelf or the target goods position is located at the back of the first movable goods shelf, carrying the first movable goods shelf to a rotatable position according to the first carrying task, and carrying out surface turning on the first movable goods shelf at the rotatable position so that the goods position of the first target goods or the target goods position is located at the front of the first movable goods shelf;

And carrying the first movable shelf from the rotatable position to a position below the fixed shelf or a position at a preset distance from the fixed shelf.

6. The system of claim 5, wherein the rotatable locations comprise intersection locations of travel aisles in the warehousing system and/or locations in high speed travel aisles between the pick zone and the shelf storage area and/or pick zones.

7. The system of claim 1, wherein the first target pallet is a multi-deep pallet, and no partition is provided between the plurality of pallet locations of the first target pallet arranged in the vertical direction; the second robot is specifically configured to:

if the cargo space where the first target cargo is located is the inner cargo space of the first target cargo rack, and a second target cargo exists on the first target cargo rack on the outer cargo space corresponding to the cargo space where the first target cargo is located, carrying the second target cargo to an idle cargo space and/or the buffer mechanism of the second robot according to the second carrying task, and carrying the first target cargo on the first target cargo rack to the target cargo space of the second target cargo rack.

8. The system of claim 7, wherein the second robot is further configured to:

and carrying the second target goods to the original goods position where the first target goods are located or the original goods position where the second target goods are located from the idle goods position and/or the buffer mechanism of the second robot, and updating inventory information.

9. The system of claim 1, wherein the second target pallet is a multi-deep pallet, and no partition is provided between the plurality of pallet locations of the second target pallet arranged in the vertical direction; the second robot is specifically configured to:

if the target cargo space is the internal cargo space of the second target cargo rack and a third target cargo is present on the external cargo space corresponding to the target cargo space on the second target cargo rack, carrying the third target cargo to an idle cargo space and/or the buffer mechanism of the second robot according to the second carrying task, and carrying the first target cargo on the first target cargo rack to the target cargo space of the second target cargo rack.

10. The system of claim 9, wherein the second robot is further configured to:

And carrying the third target goods from the idle goods space and/or the buffer mechanism of the second robot to the original goods space where the third target goods are located, and updating inventory information.

11. The system of claim 1, wherein the second target pallet is a multi-deep pallet, and no partition is provided between the plurality of pallet locations of the second target pallet arranged in the vertical direction; the second robot is specifically configured to:

if the target cargo space is the inner cargo space of the second target cargo rack and a third target cargo is present on the outer cargo space, corresponding to the target cargo space, on the second target cargo rack, carrying the third target cargo to the target cargo space according to the second carrying task, carrying the first target cargo to the original cargo space of the third target cargo, and updating inventory information.

12. The system of claim 4, wherein the composite shelf is a multi-deep level composite shelf comprising at least two mobile shelves positioned side-by-side in a vertical direction; the first robot is specifically configured to:

if the first movable shelf is positioned at the inner side of the multi-deep-level combination shelf and a third movable shelf exists at the outer side of the first movable shelf, carrying the third movable shelf to a stop point according to the first carrying task; and carrying the first movable shelf to a position below the fixed shelf or a position at a preset distance from the fixed shelf.

13. The system of claim 4, wherein the warehousing system further comprises: a third robot; the combined shelf is a multi-deep-level combined shelf, and the multi-deep-level combined shelf comprises at least two movable shelves which are arranged side by side along the vertical direction;

the third robot is configured to, if the first mobile shelf is located inside the multi-deep-level combination shelf and a third mobile shelf is located outside the first mobile shelf, carry the third mobile shelf to a stop point according to a scheduling instruction;

the first robot is used for carrying the first movable goods shelf to the position below the fixed goods shelf or the position away from the fixed goods shelf by a preset distance according to the first carrying task.

14. The system of any one of claims 1-13, wherein the first target rack is the first mobile rack, the second target rack is the fixed rack, the first transfer task comprises a first racking task, the second transfer task comprises a second racking task, and the target cargo space comprises a target racking cargo space;

the first robot is configured to carry the first mobile shelf to a target area according to the first shelf loading task, so as to load a to-be-shelved goods onto the first mobile shelf, and carry the first mobile shelf to a position below the fixed shelf or a position at a preset distance from the fixed shelf; wherein the goods to be shelved include the first target goods;

And the second robot is used for carrying the first target goods on the first movable goods shelf to the target loading goods shelf of the fixed goods shelf according to the second loading task.

15. The system of any of claims 1-13, wherein the first handling task further comprises a third racking task;

and the first robot is used for carrying the first movable goods shelf to a target area according to the third shelf loading task so as to load goods to be loaded on the first movable goods shelf, and carrying and placing the first movable goods shelf at the lower position of the fixed goods shelf in the combined goods shelf.

16. The system of any of claims 1-13, wherein the second handling task further comprises a fourth racking task;

the second robot is used for running to a target area according to the fourth racking task so as to rack goods to be racking on the buffer mechanism of the second robot; and the goods to be put on the shelf on the buffer mechanism are carried to the fixed goods shelf by running to the target position.

17. The system of any one of claims 1-13, wherein the first target rack is the fixed rack, the second target rack is the first mobile rack, the second handling task comprises a restocking task, and the target cargo space comprises a target restocking cargo space;

The second robot is used for carrying the first target goods on the fixed goods shelf to the target goods supplementing position of the first movable goods shelf according to the goods supplementing task.

18. The system of any one of claims 1-13, wherein the first target rack is the first mobile rack, the second target rack is the second mobile rack, the second handling task comprises a tally task, and the target cargo space comprises a target tally cargo space;

the second robot is used for carrying the first target goods on the first movable goods shelf to the target goods shelf of the second movable goods shelf according to the goods-sorting task; and/or carrying the goods on the fourth movable goods shelf to the second movable goods shelf according to the goods management task.

19. The system of claim 18, wherein the second mobile shelf is a shelf that meets a preset condition as determined from the cargo information on the first mobile shelf and/or the second mobile shelf is a preset shelf.

20. The system of any one of claims 1-13, wherein the second robot comprises a handling assembly, a lifting assembly, and the caching mechanism;

A second robot for transporting the first target cargo on the first target pallet to a target cargo space of the second target pallet through the transport assembly and the lifting assembly; and/or the first target goods are conveyed to the buffer mechanism through the conveying assembly and the lifting assembly, and the first target goods on the buffer mechanism are conveyed to the target goods positions of the second target goods shelves.

21. The system according to any one of claims 1-13, wherein the first robot is adapted to handle a mobile pallet between a workstation and a lower of a fixed pallet in a combination pallet, and/or wherein the first robot is adapted to handle a mobile pallet between the workstation and a predetermined distance from the fixed pallet; the second robot is used for taking and placing goods between at least one of the fixed goods shelves, the fixed goods shelves and the movable goods shelves, the movable goods shelves and the working stations.

22. A method of handling applied to an electronic device, the method comprising:

sending a first conveying task to a first robot, so that the first robot conveys a first movable shelf to a position below a fixed shelf or a position at a preset distance from the fixed shelf according to the first conveying task;

Sending a second transport task to a second robot, so that the second robot transports the first target goods on the first target goods shelf and/or the buffer mechanism of the second robot to the target goods space of the second target goods shelf according to the second transport task;

wherein the first target shelf comprises the first movable shelf and/or the fixed shelf, the second target shelf comprises at least one of the first movable shelf, the second movable shelf and the fixed shelf, and the first target shelf and the second target shelf are different.

23. The method of claim 22, wherein the first mobile shelf is located in a space below the fixed shelf to form a composite shelf; or the movable shelf is positioned at the preset distance from the fixed shelf; the combined shelf comprises at least two fixed shelves, wherein the fixed shelves are arranged side by side along the vertical direction to form a lower space, and at least one movable shelf is arranged side by side along the vertical direction in the lower space; the fixed goods shelf in the combined goods shelf adopts a single deep position, a double deep position or multiple deep positions.

24. The method of claim 22, wherein the first mobile pallet is a multi-deep pallet, and wherein a partition is provided between a plurality of pallet positions of the first mobile pallet along a vertical direction; the sending a first carrying task to a first robot, so that the first robot carries a first movable shelf to a position below a fixed shelf or a position at a preset distance from the fixed shelf according to the first carrying task, including:

If the goods position of the first target goods is located at the back of the first movable goods shelf, or the target goods position is located at the back of the first movable goods shelf, sending the first carrying task to the first robot so that the first robot carries the first movable goods shelf to a rotatable position according to the first carrying task, and carrying out surface turning on the first movable goods shelf at the rotatable position so that the goods position of the first target goods or the target goods position is located at the front of the first movable goods shelf; and carrying the first movable pallet from the rotatable position to a position below the fixed pallet or a position a predetermined distance from the fixed pallet.

25. The method of claim 24, wherein the rotatable locations comprise intersection locations of travel aisles in the warehousing system and/or locations in the high speed travel aisles between the pick zone and the shelf storage area and/or pick zones.

26. The method of claim 22, wherein the first target pallet is a multi-deep pallet, and no spacer is provided between the plurality of pallet locations of the first target pallet arranged in the vertical direction; the sending a second transporting task to a second robot, so that the second robot transports the first target goods on the first target goods shelf and/or the buffer mechanism of the second robot to the target goods shelf of the second target goods shelf according to the second transporting task, including:

If the cargo space where the first target cargo is located is the inner cargo space of the first target cargo rack, and a second target cargo exists on the first target cargo rack on the outer cargo space corresponding to the cargo space where the first target cargo is located, the second transfer task is sent to the second robot, so that the second robot transfers the second target cargo to an idle cargo space and/or the buffer mechanism of the second robot according to the second transfer task, and transfers the first target cargo on the first target cargo rack to the target cargo space of the second target cargo rack.

27. The method of claim 22, wherein the second target pallet is a multi-deep pallet, and no spacer is provided between the plurality of pallet locations of the second target pallet arranged in the vertical direction; the sending a second transporting task to a second robot, so that the second robot transports the first target goods on the first target goods shelf and/or the buffer mechanism of the second robot to the target goods shelf of the second target goods shelf according to the second transporting task, including:

if the target cargo space is the internal cargo space of the second target cargo rack and a third target cargo is present on the external cargo space, corresponding to the target cargo space, on the second target cargo rack, the second transfer task is sent to the second robot, so that the second robot transfers the third target cargo to an idle cargo space and/or the buffer mechanism of the second robot according to the second transfer task, and transfers the first target cargo on the first target cargo rack to the target cargo space of the second target cargo rack.

28. The method of claim 22, wherein the second target pallet is a multi-deep pallet, and no spacer is provided between the plurality of pallet locations of the second target pallet arranged in the vertical direction; the sending a second transporting task to a second robot, so that the second robot transports the first target goods on the first target goods shelf and/or the buffer mechanism of the second robot to the target goods shelf of the second target goods shelf according to the second transporting task, and the method further comprises:

if the target cargo space is the internal cargo space of the second target cargo rack and a third target cargo is present on the external cargo space corresponding to the target cargo space on the second target cargo rack, the second transfer task is sent to the second robot, so that the second robot transfers the third target cargo to the target cargo space according to the second transfer task, transfers the first target cargo to the original cargo space of the third target cargo, and updates inventory information.

29. The method of claim 23, wherein the composite shelf is a multi-deep level composite shelf comprising at least two mobile shelves positioned side-by-side in a vertical direction; the sending a first carrying task to a first robot, so that the first robot carries a first movable shelf to a position below a fixed shelf or a position at a preset distance from the fixed shelf according to the first carrying task, including:

If the first movable shelf is positioned at the inner side of the multi-deep-level combination shelf and a third movable shelf exists at the outer side of the first movable shelf, sending the first conveying task to the first robot so that the first robot conveys the third movable shelf to a stop point according to the first conveying task; and carrying the first movable shelf to a position below the fixed shelf or a position at a preset distance from the fixed shelf.

30. The method of claim 23, wherein the composite shelf is a multi-deep level composite shelf comprising at least two mobile shelves positioned side-by-side in a vertical direction; the method further comprises the steps of:

and if the first movable shelf is positioned at the inner side of the multi-deep-level combination shelf and a third movable shelf exists at the outer side of the first movable shelf, sending a scheduling instruction to a third robot so that the third robot carries the third movable shelf to a stop point according to the scheduling instruction.

31. An electronic device, comprising:

one or more processors; and

a memory configured to: storing one or more programs;

Wherein the one or more processors implement the handling method of any of claims 22-30 when the one or more programs are executed by the one or more processors.

32. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, implements the handling method according to any of claims 22-30.