A carrying method, a carrying apparatus, and a warehousing system (100). The method comprises: determining an occupancy proportion of temporary-storage positions (101) in a temporary-storage region (11) of a warehousing system; when the occupancy proportion of the temporary-storage positions is greater than or equal to a proportion threshold value, determining whether there is an object to be delivered in a storage region (12); when there is at least one object to be delivered in the storage region, determining a target storing object from among at least one object to be stored in the temporary-storage region, determining a target storage position from among at least one vacant storage position (102) in the storage region, and determining a target delivering object from among the at least one object to be delivered in the storage region, wherein the temporary-storage region and the storage region are located in the same laneway; and controlling a first carrying device (130) to carry the target storing object from a first temporary-storage position among the temporary-storage positions to the target storage position, and carrying the target delivering object to the first temporary-storage position. The carrying method can improve the efficiency of cargo delivery in a warehousing system.
The present application relates to the technical field of warehousing and logistics, and discloses an identification code recognition method, a recognition device, and a warehousing system. The method comprises: acquiring a warehouse map corresponding to a warehouse area, wherein the warehouse map comprises a plurality of cells, a plurality of identification codes are provided in the warehouse area, and the plurality of identification codes correspond to the plurality of cells; determining initial identification information of the cells on the basis of position information of the cells; on the basis of the position information of the cells, controlling a scanning robot to scan the identification codes, and acquiring scanning results of the identification codes, wherein the scanning result of each identification code comprises identification information of the identification code; and when the identification information of a target identification code corresponding to a target cell is different from the initial identification information of the target cell, updating the initial identification information of the target cell on the basis of the identification information of the target identification code to obtain target identification information of the target cell.
G06K 17/00 - Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups , e.g. automatic card files incorporating conveying and reading operations
3.
ORDER PROCESSING METHOD AND APPARATUS, AND WAREHOUSING SYSTEM
An order processing method and apparatus, and a warehousing system. The order processing method comprises: on the basis of order information of a plurality of orders to be processed and a wave grouping strategy, performing pre-wave grouping on said plurality of orders to obtain a plurality of order groups; pre-hitting each order group on the basis of a hitting strategy, and determining a target carrier and a tally pending carrier that correspond to each order group; controlling a goods arranging workstation to carry to the target carrier a tally pending container placed on the tally pending carrier corresponding to the order group; on the basis of the wave grouping strategy, respectively performing actual wave grouping on said plurality of orders to obtain a plurality of order groups; and on the basis of each order group and/or the target carrier corresponding to each order group, controlling a sorting workstation to sort goods, required by the order group, on the target carrier.
A sorting system includes: a sorting platform, a first tag reader, a control server, at least one sorting robot, at least one feeding table and a plurality of collection containers. The sorting platform includes one or more layers; each feeding table is configured to place at least one item to be sorted; the first tag reader is configured to read and send tag information in a tag of each item to be sorted to the control server; the control server is configured to determine a sorting destination of the item to be sorted, determine a target collection container corresponding to the item to be sorted, and send a delivery instruction and a delivery path of the item to be sorted; and the sorting robot is configured to, in response to the delivery instruction, deliver the item to be sorted to the target collection container according to the delivery path.
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
The present disclosure provides a device positioning method and apparatus. The device positioning method comprises: determining a target prior map of a target inventory area and a box handling device to be localized in the target inventory area, wherein the target prior map comprises location points to be identified in the target inventory area; on the basis of the target prior map, obtaining movement location information of said box handling device; on the basis of the movement location information, determining initial localization data of said box handling device and a first candidate location point set corresponding to said box handling device, wherein the first candidate location point set refers to location points to be identified in the target prior map; receiving a second candidate location point set corresponding to said box handling device, wherein the second candidate location point set is obtained on the basis of an acquisition device; and generating target localization data of said box handling device on the basis of the first candidate location point set, the second candidate location point set and the initial localization data.
G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G06V 10/75 - Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video featuresCoarse-fine approaches, e.g. multi-scale approachesImage or video pattern matchingProximity measures in feature spaces using context analysisSelection of dictionaries
6.
CONTAINER PICK-AND-PLACE METHOD AND APPARATUS, AND WAREHOUSING SYSTEM
A container pick-and-place method and apparatus, and a warehousing system. The method comprises: acquiring an order to be processed, and a plurality of hit containers and a first hit carrier which correspond to said order; controlling a first carrying device to carry the first hit carrier to a first workstation, and controlling a container pick-and-place apparatus of the first workstation to carry a first hit container on the first hit carrier to a workbench of the first workstation, so as to perform picking; and before the first carrying device is controlled to carry the first hit carrier away from the first workstation, if it is determined that the current surface of the first hit carrier is in a fully-filled state, controlling the container pick-and-place apparatus of the first workstation to take a first container away from the first hit carrier, such that the current surface of the first hit carrier is in a non-fully-filled state.
A warehouse scheduling system. The system includes a control server (110), a carrying device (150), an inventory area (120), and a container handling device (170). The inventory area (120) includes a plurality of movable carriers (1302). The control server (110) is configured to: determine a first target container on a first target movable carrier and a current storage position and a target position of the first target container, determine a first target carrying device used for carrying the first target movable carrier and a target container handling device, send a carrying instruction to the first target carrying device, and send a handling instruction to the target container handling device. The first target carrying device is configured to carry the first target movable carrier on which the first target container is placed to a destination in response to the carrying instruction. The target container handling device is located at the destination, and is configured to, in response to the handling instruction, take out the first target container from the current storage position and place the first target container at the target position. Further related is a warehouse scheduling method. The warehouse scheduling system and method can improve space utilization of an inventory area.
A robot scheduling method includes acquiring a global average number of tasks to be executed in a specified scenario and a local average number of tasks to be executed in regions, in which the specified scenario is divided into a plurality of regions in advance, predicting a global task execution loss of the specified scenario according to the global average number of tasks to be executed and the local average number of tasks to be executed in the regions, determining a robot cross-region scheduling policy according to the global task execution loss, and performing cross-region scheduling on a target robot in the specified scenario by using the robot cross-region scheduling policy.
Three-dimensional warehouse handling and dispatching systems, devices, and methods for implementing item picking are provided. In one aspect, a system includes: one or more control centers, one or more first handling devices, one or more second handling devices, at least one lifting device, and at least one three-dimensional warehouse including floors connected by the at least one lifting device. The one or more control centers are configured to: select, according to a handling task, a first handling device, a second handling device, and a lifting device for performing the handling task, and send a handling instruction for performing the handling task separately to the first handling device, the second handling device, and the lifting device, such that the lifting device is used to handle an item indicated in the handling instruction, and the first and second handling devices cooperate to transport the item in the at least one three-dimensional warehouse.
42 - Scientific, technological and industrial services, research and design
Goods & Services
packaging machines; handling apparatus for loading and unloading; lifting apparatus; conveyors [machines]; cranes [lifting and hoisting apparatus]; Mechanical and hydraulic lifts; Pipeline conveyor; Cargo handling machines; tables for machines; handling machines, automatic [manipulators]; industrial robots; Industrial manipulator; sorting machines for industry. Research and development of new products for others; Scientific research and development; Engineering services; quality control; Research and develop automated warehousing solutions for others; Research and development related to automated warehousing solutions; Design, development and maintenance of computer software for controlling automatic storage robot; all the aforesaid services used exclusively in connection with the transport of loads and the handling of objects in commercial or industrial activity areas or warehouses.
42 - Scientific, technological and industrial services, research and design
Goods & Services
Handling apparatus for loading and unloading; industrial
robots; tables for machines; industrial robots in the field
of automated storage; robotic arms for industrial purposes;
handling machines, automatic [manipulators]; belts for
conveyors; filtering machines; sorting machines for
industry. Technological research; research and development of new
products for others; mechanical research; consultancy in the
design and development of computer hardware; software as a
service [SaaS]; monitoring of computer system operation by
remote access; platform as a service [PaaS]; weighing goods
for others; design, development and maintenance of computer
software for controlling automatic storage robot; research
and development of automated warehousing solutions for
others.
12.
CONTAINER PICK-AND-PLACE METHOD, COMPUTING APPARATUS AND COMPUTER-READABLE STORAGE MEDIUM
The transfer robot includes: a chassis assembly, a lifting device arranged on the chassis assembly, and a pick-and-place assembly arranged on the lifting device. The lifting device is configured to drive the lifting of the pick-and-place assembly. The auxiliary support device is connected to the pick-and-place assembly and includes a driving assembly, a transmission assembly, and a support assembly. The driving assembly is connected to the support assembly by the transmission assembly to drive the support assembly to extend in a first direction relative to the pick-and-place assembly until the support assembly abuts against or separates from carriers at two sides of the transfer robot. The auxiliary support device is arranged on the pick-and-place assembly and is configured to extend to a position abutting against the carriers to support the transfer robot in the process of picking up and placing a container.
A transferring robot is disclosed in the disclosure. The transferring robot includes a movable chassis configured to move along a path among adjacent warehouse storage containers; a temporary storage shelf provided on the movable chassis, the temporary storage shelf being configured to store a target case; a fetching assembly provided on the movable chassis, the fetching assembly being configured to extend or retract horizontally relative to the movable chassis, so as to realize fetching and placing of the target case between the storage containers and the temporary storage shelf, where a direction along which the fetching assembly extends or retracts horizontally is perpendicular to a moving direction. A warehousing and logistics system includes the foregoing transferring robot. The disclosure further discloses a warehousing system and an item transferring method.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A path planning method and a path planning apparatus. The path planning method comprises: on the basis of map information, position information of a plurality of robots and handling tasks, determining a spatial path for each robot to execute a corresponding handling task (110); on the basis of the current position and device attributes of each robot, determining required resources and held resources of each robot on the spatial path for each robot (120); on the basis of the required resources and held resources of each robot, determining a plurality of waiting robot sets and a waiting relationship between a plurality of waiting robots in each waiting robot set (130); and on the basis of the waiting relationship between the plurality of waiting robots, adding a traveling state that corresponds to at least one time node to the spatial path for each waiting robot to obtain a spatio-temporal path for each waiting robot, and controlling each waiting robot to execute the handling task along the spatio-temporal path (140).
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
An object handling method is provided, which is applied to an object picking device. The object picking device includes a base and a picking and placing mechanism. The picking and placing mechanism is extendable or retractable relative to the base. The picking and placing mechanism is configured to exert a force on a target object to carry the target object when picking up or returning the target object. The object handling method includes extending the picking and placing mechanism outward from the base at a first speed, acquiring a first extension distance of the picking and placing mechanism in a case that the first speed is greater than a preset speed threshold, and extending the picking and placing mechanism outward from the base at a second speed in a case that the first extension distance is greater than or equal to a first preset distance.
A storage system for automatic replenishment includes: a control server and a first robot. The control server is configured to, in a case where it is determined that an item in a picking zone needs to be replenished, generate a replenishment task for the item that needs to be replenished and send a first transporting instruction to the first robot according to the replenishment task; and the first robot is configured to, in response to the first transporting instruction, carry an item associated with the replenishment task from a stocking zone to the picking zone as indicated by the first transporting instruction to allow the item to be replenished into an item container in the picking zone.
Disclosed are a method, control system, storage and retrieval equipments, and handling equipments. The control system is configured to: determine a target inventory receptacle from inventory receptacles in a storage area of an inventory system; and determine a target storage and retrieval equipment and a target handling equipment, and send a dispatching instruction to the target storage and retrieval equipment and the target handling equipment. The target storage and retrieval equipment is configured to: drive, in response to the dispatching instruction, to a position specified in the dispatching instruction, take out the target inventory receptacle, and directly or indirectly undertake the target inventory receptacle to the target handling equipment. The target handling equipment is configured to: drive, in response to the dispatching instruction, to a position specified in the dispatching instruction, undertake the target inventory receptacle, and transport the target inventory receptacle from the storage area to a workstation.
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Handling apparatus for loading and unloading; industrial robots; tables for machines; industrial robots in the field of automated storage; robotic arms for industrial purposes; handling machines, automatic [manipulators]; belts for conveyors; filtering machines; sorting machines for industry. (1) Technological research; research and development of new products for others; mechanical research; consultancy in the design and development of computer hardware; software as a service [SaaS]; monitoring of computer system operation by remote access; platform as a service [PaaS]; weighing goods for others; design, development and maintenance of computer software for controlling automatic storage robot; research and development of automated warehousing solutions for others.
Embodiments of the present application provide a storage and retrieval system, comprising: a workstation, configured to sort or pick a target article for a picking object; a handling device, configured to move out the target article from the workstation or transfer the target article to the workstation; a vehicle, provided with storage locations; and a placing-and-retrieving device, suspended on a rail on one side of the vehicle, the placing-and-retrieving device comprising: a raising/lowering mechanism movably arranged on the rail and moving on the vehicle along the rail, and a placing-and-retrieving mechanism, arranged on the raising/lowering mechanism, moving along the raising/lowering mechanism, and configured to transfer the target article between the vehicle and a target vehicle or the handling device.
A warehousing system and a control method therefor. An inventory area of the system is used for storing carriers, and storage positions of the carriers are used for storing containers; a control server is configured to be used for generating a goods sorting instruction and an order picking instruction and updating inventory information; a carrying device is configured to carry, according to the goods sorting instruction of the control server, at least two containers which have order relevance and are stored on different carriers to a same target carrier; when a picking order received by the warehousing system includes at least two containers that have been performed with goods sorting, the warehousing system can directly carry the containers from the target carrier to a work station area for corresponding operation, and the step in the prior art that the carrying device reciprocates between different carriers, or the step that the containers are respectively taken out and placed for operation after different carriers are carried to the work station area is omitted, thereby greatly improving the operation efficiency of the warehousing system.
An obstacle avoidance method and apparatus for a robot, and a device and a readable storage medium. The obstacle avoidance method for a robot comprises: firstly, on the basis of current location information of a robot, determining a global obstacle avoidance region and a local obstacle avoidance region (S201); then, acquiring a global obstacle point detection result of the global obstacle avoidance region and a local obstacle point detection result of the local obstacle avoidance region (S202), so as to determine candidate obstacle avoidance points on the basis of the global obstacle point detection result and the local obstacle point detection result (S203), wherein the candidate obstacle avoidance points comprise global obstacle avoidance points and/or local obstacle avoidance points; and finally, on the basis of the candidate obstacle avoidance points, determining a target obstacle avoidance point (S204), and on the basis of the target obstacle avoidance point and the current location information of the robot, determining whether to perform obstacle avoidance processing (S205).
A carrying device includes a bottom plate and a support layer configured to bear an object. The support layer comprises a plurality of protrusions arranged on a first side of the bottom plate and protruding from the first side of the bottom plate along a height direction. The plurality of protrusions are arranged at intervals along a first direction, so that shelf teeth of a warehousing device are configured to enter the support layer, and the first direction is perpendicular to the height direction.
The present disclosure relates to the technical field of intelligent warehousing. Disclosed are a seeding control method, a seeding system, and a workstation. The method comprises: in response to a movable carrier reaching a parking area of a target workstation, acquiring goods information of seeding-pending goods on the movable carrier; on the basis of the goods information of the seeding-pending goods, determining seeding information of seeding positions on a seeding wall of the target workstation; on the basis of the seeding information, determining the seeding quantities of the seeding-pending goods required on the seeding positions, and seeding the seeding-pending goods to seeding-pending containers on the seeding positions according to the seeding quantities corresponding to the seeding positions; and in the seeding process, acquiring the seeding states of the seeding positions on the seeding wall, and generating a first transfer instruction on the basis of the seeding states of the seeding positions, wherein the first transfer instruction is used for instructing the target workstation to transfer seeding-completed containers to a target carrier.
The present disclosure relates to the field of intelligent warehousing, and discloses a warehousing system, comprising an inbound area, an outbound area, an inventory area, and transport devices. The inbound area comprises at least one inbound workstation and at least one first conveyor line, the inbound workstation is configured to sort target objects for inbound and place same onto the corresponding first conveyor line, and the first conveyor line is configured to convey the target objects sorted by the inbound workstation. The outbound area comprises at least one outbound workstation and at least one second conveyor line, the second conveyor line is configured to convey target objects for outbound to the outbound workstation, and the outbound workstation is configured to sort the target objects. The inventory area is used for placing target objects. The transport devices are configured to transport the target objects conveyed by the first conveyor line to the inventory area, or to transport the target objects in the inventory area to the second conveyor line.
A picking and allocating system includes: a holder parking area, configured for parking a holder, the holder being configured for storing order receptacles; an allocating mechanism, arranged in the holder parking area, and configured to: receive at least one stock listed in a same order, bring the at least one stock to move from a docking position to an order receptacle corresponding to the order, allocate the at least one stock to the order receptacle, and return to the docking position; and a control server, communicatively connected with the allocating mechanism, and configured to: obtain position information of the order receptacle on the holder according to the order, and send the position information to the allocating mechanism.
Embodiments of the present application provide an access mechanism, a transport robot, and an article transfer method. The access mechanism comprises: a base; a moving seat which is arranged on the base; a telescopic structure which is provided with a first end and a second end, wherein the second end can move close to or away from the first end, and the first end is arranged on the moving seat; an access assembly which is arranged at the second end and is configured to transfer a target article by acting on the front end surface of the target article when accessing the target article, wherein the front end surface of the target article is a side surface of the target article facing the access assembly when the target article is to be accessed; a first driving structure which is connected to the moving seat; and a second driving structure which is connected to the telescopic structure. Gaps between adjacent cargo boxes can be effectively reduced, so that the storage density of the cargo boxes can be effectively improved.
Embodiments of the present disclosure provide a pick-and-place mechanism and a transfer robot. The pick-and-place mechanism comprises: a base; an extendable/retractable structure arranged on the base, a free end of the extendable/retractable structure can selectively extend out of or retract back to the base; an item pick-up assembly arranged at the free end, wherein the item pick-up assembly can be driven by the free end to move relative to the base, and the item pick-up assembly is configured to act on the front end face of a target item when picking up and returning the target item, so as to transfer the target item, wherein the front end face of the target item is the end face of the target item facing the item pick-up assembly when the target item is to be picked up or returned; a driving structure connected to the extendable/retractable structure, the driving structure driving the free end to extend out of or retract back to the base so as to drive the item pick-up assembly to reciprocate between a target goods allocation and the base; and an air source device, wherein the item pick-up assembly comprises a suction cup, the air source device is communicated with the suction cup, and the air source device is configured to reduce the pressure of an inner cavity of the suction cup, so that the target item is attached to the suction cup, or the air source device is configured to increase the pressure of the inner cavity of the suction cup, so that the target item is detached from the suction cup.
Provided are a warehousing management system and method. The system includes: a control server, an inventory container, an access device, a temporary container, a workstation and a carrying device. The control server is configured to, in response to a current task, determine a first target inventory container in which a target storage container hit by the current task is located, a first target access device, a target temporary container, a target workstation, and a first target carrying device, and control the first target access device to take out the target storage container from the first target inventory container, carry and store the target storage container to the target temporary container; and control the first target carrying device to move the target temporary container to the target workstation for operation.
A container takeout/placement system, a container takeout/placement method, and a warehousing system. The warehousing system comprises: a carrier parking area (30) used for parking of a carrier (31), wherein a container is carried on the carrier (31); a docking area (40); and a container loading and unloading device (10), wherein the carrier parking area (30) and the docking area (40) are respectively located on two sides of the container loading and unloading device (10); the container loading and unloading device (10) comprises a carrying assembly (101), the carrying assembly (101) being configured to convey the container between the docking area (40) and the carrier (31), and a container takeout/placement assembly (102), the container takeout/placement assembly (102) being configured to be fitted with and disengaged from a fitting position on a sidewall (20a) of the container so as to load and unload the container; the fitting position on the container is located in a preset area (M) of the sidewall (20a), and the orthographic projection of the center of gravity of the container on the sidewall (20a) is located in the preset area (M).
A warehousing system (100) is provided. The system is provided with a storage region (100a) and includes a plurality of first shelving units (111) arranged in the storage region (100a), a plurality of travel aisles (120) formed between the first shelving units (111) facing each other, and a first transport passage (131) in communication with the travel aisles (120). The warehousing system (100) further includes second shelving units (112) arranged in an upper-layer space of the first transport passage (131) and located on two sides of extension lines of the travel aisles (120). A height (HL2) of a lowest goods location of each second shelving unit (112) is greater than a height (HL1) of a lowest goods location of each first shelving unit (111).
A warehousing system (100) is provided. The system is provided with a storage region (100a) and includes a plurality of first shelving units (111) arranged in the storage region (100a), a plurality of travel aisles (120) formed between the first shelving units (111) facing each other, and a first transport passage (131) in communication with the travel aisles (120). The warehousing system (100) further includes second shelving units (112) arranged in an upper-layer space of the first transport passage (131) and located on two sides of extension lines of the travel aisles (120). A height (HL2) of a lowest goods location of each second shelving unit (112) is greater than a height (HL1) of a lowest goods location of each first shelving unit (111).
10 According to the warehousing system (100), the goods locations are arranged above the first transport passage (131) for a robot (10) to switch aisles, which does not affect switching of the aisles by an access robot (10), and can improve warehousing capacity and a space utilization rate.
A goods box storage method and a robot. The goods box storage method includes: controlling, based on a preset storage location of a target goods box, a robot to move to a preset location of the robot; detecting a target marker to which the target goods box belongs, the target marker being a structural feature of at least one of a target shelving unit to which the target goods box belongs, a goods box adjacent to the target goods box, and a goods box on a shelving unit opposite to the target shelving unit; determining a target storage location of the target goods box on the target shelving unit based on a location of the target marker; and controlling, based on the target storage location, the robot to move from the preset location of the robot to store the target goods box on the target shelving unit.
A warehouse management system and method are provided. The warehouse management system includes a control server (110), a carrying apparatus (120), and a workstation (130). The workstation (130) is provided with a temporary goods storage region (1301). The control server (110) is configured to determine a goods inventory location of first goods according to a quantity of the first goods hit by a to-be-processed order set, determine a first carrying apparatus for carrying the first goods and a first workstation for picking the first goods, send a first carrying instruction to the first carrying apparatus, and send a first to-be-processed order which hits the first goods in the to-be-processed order set to the first workstation. The first carrying apparatus is configured to move to the goods inventory location and carry the first goods to the first workstation in response to the first carrying instruction. The first workstation is configured to shelve the first goods to the temporary goods storage region (1301) of the first workstation, and pick the first goods from the temporary goods storage region (1301) based on the first to-be-processed order.
The present application provides a shelf management method and system, a sorting zone, and a stock sorting system. A shelf management system may include: a mobile robot, configured to transport a shelf; the shelf, configured to be provided with locations for placing commodities and be transportable by the mobile robot; a shelf zone, configured to store the shelf; a station and a station queuing zone, wherein the station is a worker operation position; and the station queuing zone is an area set near the worker operation position, where the mobile robot transporting the shelf queues and waits for a worker's operation; and a server, communicatively connected with the mobile robot and configured to execute a corresponding shelf management method.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
Provided are an order processing method and apparatus and a warehousing system. The method comprises: acquiring a set of orders to be processed (202), said set comprising a plurality of orders to be processed; on the basis of order information of the plurality of orders and warehouse goods information of a plurality of storing apparatuses in a warehousing area, determining pre-hit information (204), the pre-hit information comprising a matching relationship between the orders and the storing apparatuses; on the basis of the pre-hit information, determining a first target storing apparatus from amongst the plurality of storing apparatuses, and determining a first target order that hits the first target storing apparatus (206); and controlling a target handling device to move the storing apparatus hit by the first target order to a target workstation, and controlling the target workstation to execute a picking task (208).
A cargo unit re-hitting method and apparatus. The cargo unit re-hitting method comprises: acquiring a target order of a target workstation and at least one order detail in the target order; determining whether a target order detail meets an order prerequisite, wherein the target order detail is any one of the at least one order detail; when the target order detail meets the order prerequisite, determining whether an initial cargo unit of the target order detail meets a re-hitting trigger condition; and when the initial cargo unit meets the re-hitting trigger condition, performing re-hitting on the target order detail. By means of the method, a cargo unit for a target order detail is re-hit, and dynamic re-hitting optimization is performed on cargo units in storage containers, thereby increasing a hit rate of the storage containers and also improving the hit accuracy of the cargo units, thus reducing the scramble for the storage containers between workstations and improving the efficiency of sorting.
The present application discloses a warehouse operation process configuration method and apparatus, a device, and a readable storage medium. The method is applied to a process configuration engine. The method comprises: by means of an order analysis module, the process configuration engine analyzing an order to be processed, and determining a target operation process corresponding to said order; by means of a node processing module and on the basis of the target operation process and information of target goods, determining, from a plurality of process nodes, a process node where a container changes as a target service node, and splitting the target service node into a plurality of workstation tasks; calling code blocks corresponding to the workstation tasks to generate corresponding task instructions; and by means of a task link module, sending the corresponding task instructions to corresponding workstations.
The embodiments of the present disclosure relate to the field of intelligent warehousing. Provided are a control method and a control system. The control system comprises at least two end-side control devices, a security verification device and a plurality of slave-station devices, wherein the at least two end-side control devices are connected to each other in series, and on the basis of the series connection manner, an output signal of a first end-side control device is sequentially transmitted through at least one second end-side control device; the second end-side control device is an end-side control device among the at least two end-side control devices that is located after the first end-side control device; after the output signal is transmitted to the last end-side control device, the last end-side control device transmits the output signal to the security verification device; and the security verification device performs security verification on the output signal and sends a control signal to the plurality of slave-station devices after the security verification is passed, and the control signal is from the output signal.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
39.
MOTION CONTROL SYSTEM AND METHOD, AND CONTROL PLATFORM
Provided in the embodiments of the present disclosure are a motion control system and method, and a control platform. The motion control system comprises a control platform, mobile devices, and partition detection units, wherein the partition detection units are deployed at the junction of a plurality of storage areas, which are obtained by means of division in advance in a warehousing scenario. A first detection unit is configured to send a first trigger event to the control platform when detecting that a target object enters a target storage area, wherein the first detection unit is a partition detection unit which is deployed in the target storage area and the current detection state of which is an enabled state. The control platform is configured to send a stop instruction to a mobile device in the target storage area in response to the first trigger event, and control the detection state of a second detection unit to be changed to the enabled state, wherein the second detection unit is a partition detection unit deployed in the target storage area, and the second detection unit is different from the first detection unit. The mobile device is configured to stop motion in response to the stop instruction.
Embodiments of the present disclosure provide a warehousing system and a scheduling method therefor. The warehousing system comprises: a warehousing region, a plurality of movable carriers for storing articles being arranged in the warehousing region; a workstation, which is configured to process articles; a first carrying robot, which is configured to transfer the movable carriers between the warehousing region and the workstation; and fixed carriers for storing articles being arranged in the warehousing region. The warehousing system further comprises a transfer robot; a passage is enclosed and formed between two adjacent fixed carriers, a first track extending along the passage is disposed above the fixed carriers at a position higher than the movable carriers, the transfer robot is configured to move along the first track, so as to move to positions corresponding to different columns on the fixed carriers or the movable carriers, and the transfer robot is configured to transfer articles between the fixed carriers and the movable carriers.
The present invention relates to the technical field of warehouse logistics. Disclosed are a security control method, a secure transmission system, and a mobile device. The method is applied to a secure transmission system. The secure transmission system comprises a security control system and a mobile device. The method comprises: when a network between the mobile device and the security control system is disconnected, a security control mechanism in the mobile device controls an execution mechanism in the mobile device to stop operation; and when the network between the mobile device and the security control system is restored, if it is determined that an operation resumption condition is satisfied, the security control mechanism controls the execution mechanism to resume operation, wherein satisfying the operation resumption condition comprises: a security control unit obtaining a reset signal and/or the duration from when the network is disconnected to when the network is restored is smaller than a first preset duration.
Provided in the present disclosure are an image recognition method and apparatus, and a computing device and a storage medium. The image recognition method comprises: acquiring a target recognition task, wherein the target recognition task comprises at least one task type and an image to be subjected to recognition; on the basis of the at least one task type, determining, from among a plurality of pre-trained task components, at least one target task component corresponding to each task type; determining a target recognition model on the basis of a basic component and the at least one target task component corresponding to each task type, wherein the basic component and the plurality of pre-trained task components are obtained by means of performing training on the basis of task samples of different recognition tasks, and different recognition tasks share the same basic component; and inputting said image into the target recognition model, so as to determine, from said image, a recognition result of a target object corresponding to each task type.
The present application relates to the technical field of warehouse logistics. Disclosed are a carrying method and apparatus, and a warehousing system. The method comprises: on the basis of a first carrying task, sending a first carrying instruction to a first robot (10), such that the first robot (10) takes and places target goods on a fixed shelf (41) or a movable shelf (42) according to the first carrying instruction; determining a load state of a second robot (20), wherein the load state of the second robot (20) comprises there being a load on the second robot (20) and/or there being no load on the second robot (20); determining a first traveling path of the second robot (20) according to the load state of the second robot (20) and a second carrying task, wherein the second carrying task comprises carrying the movable shelf (42) to a first target position; and sending a second carrying instruction to the second robot (20), such that the second robot (20) carries the movable shelf (42) to the first target position according to the first traveling path.
This specification discloses a stereoscopic warehouse scheduling system. A first conveying apparatus and a second conveying apparatus are used in a stereoscopic warehouse in a combined manner, and a conveying function of a lifting apparatus in the stereoscopic warehouse is used, so that the first conveying apparatus and the second conveying apparatus can cooperate in a dense storage warehouse to convey a movable carrier; a container handling apparatus is arranged to take out goods from the movable carrier or place goods in the movable carrier, and a plurality of containers may be placed in the movable carrier, so that the utilization of storage space is improved; and the container handling apparatus is used to effectively store a container in the movable carrier or take out a container from the movable carrier, so that the sorting efficiency of the goods in the stereoscopic warehouse is improved, the warehouse operation costs are reduced, and the conveying efficiency is improved.
An order sorting method. The order sorting method is used for a sorting system, and comprises: acquiring a plurality of target orders, destination information of each target order and a compartment weight of each compartment in a sorting area, wherein the compartment weight is inversely proportional to the distance from the compartment to a sorting station; on the basis of the destination information of each target order, compiling statistics on the number of orders of each destination, so as to obtain a destination weight of each destination, wherein the destination weight is proportional to the number of orders; according to each compartment weight and each destination weight, determining a correlation between each compartment and each destination; and according to the correlation, sending a sorting instruction to a sorting robot, so as to drive the sorting robot to respectively sort each target order to the corresponding compartment on the basis of the destination information of each target order. Further comprised are an order sorting apparatus, a computing device and a computer-readable storage medium.
A path deadlock processing method and apparatus for a mobile robot, and a computing device and a computer-readable storage medium. The method comprises: determining target deadlock loop data, map data corresponding to the target deadlock loop data, and initial mobile robot data corresponding to the map data (202); according to the target deadlock loop data, determining at least two deadlocked mobile robots (204); according to the map data and the initial mobile robot data, using a path deadlock processing strategy determination method to determine an initial path deadlock processing strategy for each deadlocked mobile robot, wherein the path deadlock processing strategy determination method comprises: when it is determined that there is a conflicting robot which has a conflict with any deadlocked mobile robot, calculating an avoidance path of the conflicting robot, and/or, when it is determined that there is an obstacle robot blocking the conflicting robot, calculating an avoidance path of the obstacle robot (206); and determining a target path deadlock processing strategy from among the initial path deadlock processing strategies of the deadlocked mobile robots, and releasing a target deadlock loop according to the target path deadlock processing strategy (208). While taking into consideration an avoidance path of a conflicting robot of each deadlocked mobile robot and an avoidance path of an obstacle robot of the conflicting robot, the present method accurately calculates an initial path deadlock processing strategy for each deadlocked mobile robot, so that, in the case of complex path deadlock, the complex path deadlock can be released.
G05D 1/43 - Control of position or course in two dimensions
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
A transport robot and a warehousing system, relating to the technical field of warehouse logistics. The transport robot comprises: a raising/lowering mechanism (200), having a first end portion (200a) and a second end portion (200b) arranged opposite to each other in the height direction, wherein the distance between the first end portion (200a) and the second end portion (200b) is adjustable; a pallet (300), configured to carry an article and provided at the first end portion (200a), wherein the pallet (300) is configured to be driven by the raising/lowering mechanism (200) to selectively move toward or away from the second end portion (200b); and a chassis (100), provided at the second end portion (200b), and configured to support the raising/lowering mechanism (200) and the pallet (300), and drive the raising/lowering mechanism (200) and the pallet (300) to move. The height of the bottom of the raising/lowering mechanism (200) is lower than the height of the top of the chassis (100), and/or the height of the top of the raising/lowering mechanism (200) is higher than the height of the bottom of the pallet (300), so that the overall height of the transport robot when descending to the lowest position is reduced, and the transport robot can stably pass below a lower carrier (400) without interference from the carrier (400), thereby improving the adaptability of the transport robot to carriers (400) of different heights.
Provided are a goods sorting system, a goods sorting method, and a robot. The goods sorting system includes a sorting and storage area, a sorting robot, a bin transport robot, and a control server. The sorting and storage area has at least one shelf. The shelf includes a first storage area provided with sorting and storage positions and a second storage area. The control server is configured to determine a target sorting and storage position where sorted goods are to be stored in the first storage area based on sorted goods information, dispatch the sorting robot to deliver the-sorted goods into a bin corresponding to the target sorting and storage position, and in a case a sorting task has been completed for the bin in the first storage area, dispatch the bin transport robot to transport the bin to an empty storage position in the second storage area.
A box retrieval device incudes a mounting frame and a box retrieval assembly. The mounting frame defines an accommodating space. The box retrieval assembly is movably arranged on the mounting frame along a front-rear direction, and the box retrieval assembly is at least partially dockable with one end of the cargo box adjacent to the box retrieval assembly in the front-rear direction, to enable the box retrieval assembly to pull or push the cargo box into or out of the accommodating space while the box retrieval assembly moves along the front-rear direction.
The present disclosure provides a picking method and apparatus, an electronic device, and a readable storage medium. The picking method comprises: generating a carrying task corresponding to each piece of goods information on the basis of the plurality of pieces of goods information in a warehouse exit order, then respectively sending the carrying tasks to a plurality of first robots, such that the first robots carry, on the basis of the corresponding carrying tasks, target carriers corresponding to the carrying tasks to parking points of a target workstation; determining a picking sequence of the plurality of target carriers on the basis of picking information of each target carrier among the plurality of target carriers, wherein the picking information comprises a picking duration and/or a picking priority; and on the basis of the picking sequence of the plurality of target carriers, sending a target picking instruction to a picking device, such that the picking device carries target goods in the target carriers to the target workstation according to the picking sequence of the plurality of target carriers.
A warehousing system includes: a warehouse storage area, including a plurality of shelves arranged in a matrix, where a receptacle cache region and a receptacle storage region are arranged on the shelf, a workstation area, including at least one workstation, where the workstation is configured for processing a receptacle; a transport robot, configured to be responsible for deploying the receptacle between the receptacle cache region and the receptacle storage region; and a transfer robot, configured to be responsible for exchanging the receptacle between the receptacle cache region and the workstation.
A scheduling method and apparatus for a cargo unit. The method comprises: acquiring a first number of caching positions and a second number of occupied caching positions in a first storage area (100), wherein the first storage area (100) comprises at least one storage rack (120), and a plurality of caching positions and a plurality of storage positions are preset on the storage rack (120); according to the first number and the second number, determining a caching position usage rate of the first storage area (100) (204); when the caching position usage rate reaches a preset usage rate threshold value, determining a target cargo unit from cargo units which are cached by the occupied caching positions (206); and sending a cargo unit carrying instruction to a first carrying device (110) in the first storage area (100), so as to control the first carrying device (110) to carry the target cargo unit to a target vacant storage position (208). By means of the scheduling method and apparatus, the carrying time of a first carrying device (110) can be saved on, the processing period of the first carrying device (110) can be shortened, and the carrying efficiency of the first carrying device (110) can be improved.
The present disclosure provides a device adjustment method and apparatus based on recognition identifiers, and a computing device. The device adjustment method based on recognition identifiers is applied to a self-moving device, and comprises: when at least two consecutive recognition identifiers are recognized, determining a first recognition identifier distance corresponding to a first recognition identifier among the at least two consecutive recognition identifiers and a second recognition identifier distance corresponding to a second recognition identifier among the at least two consecutive recognition identifiers; determining pose adjustment information of the self-moving device according to the first recognition identifier distance and the second recognition identifier distance; and adjusting the posture of the self-moving device according to the pose adjustment information. According to the method provided by the present disclosure, consecutive recognition identifiers are used for positioning, thereby increasing recognition redundancy, and pose adjustment information of a self-moving device can be determined more precisely according to recognition identifier position information of at least two consecutive recognition identifiers, so as to adjust the posture of the self-moving device.
A pick-and-place mechanism (1) and a pick-and-place device. The pick-and-place mechanism (1) comprises a mounting base (10) and two pick-and-place members (20) connected to the mounting base (10); pick-up ends (21) of the two pick-and-place members (20) are arranged opposite to each other; at least one of the pick-up ends (21) can stretch out and draw back in a first direction; and/or, the projections of the two pick-and-place members (20) in a second direction are overlapped so as to adjust a distance between the two pick-up ends (21) in the first direction. The pick-and-place device comprises the pick-and-place mechanism (1) and a bearing assembly (2a); and the pick-and-place mechanism (1) can move in an avoiding direction relative to the bearing assembly (2a), so as to switch between a pick-and-place position and an avoiding position. The pick-and-place mechanism (1) can achieve bidirectional goods pick-up, and has a larger avoiding distance to avoid position interference with an object carrying unit, thereby improving the safety of goods pick-up.
Provided in the present disclosure are a map generation method and apparatus. The map generation method comprises: acquiring an initial warehousing map corresponding to a target warehousing area and a service rule corresponding to the target warehousing area, the initial warehousing map comprising a plurality of nodes; according to the service rule, generating a basic warehousing map corresponding to the initial warehousing map, the basic warehousing map comprising a basic direction corresponding to each node; according to heat information of each node in the basic warehousing map, adjusting the basic directions of candidate nodes in the basic warehousing map to determine target directions corresponding to the candidate nodes; and, on the basis of the target directions corresponding to the candidate nodes and the basic warehousing map, generating a target warehousing map corresponding to the target warehousing area.
42 - Scientific, technological and industrial services, research and design
Goods & Services
packaging machines; handling apparatus for loading and unloading; lifting apparatus; conveyors [machines]; cranes [lifting and hoisting apparatus]; Mechanical and hydraulic lifts; Pipeline conveyor; Cargo handling machines; tables for machines; handling machines, automatic [manipulators]; industrial robots; Industrial manipulator; sorting machines for industry. Research and development of new products for others; Scientific research and development; Engineering services; quality control; Research and develop automated warehousing solutions for others; Research and development related to automated warehousing solutions; Design, development and maintenance of computer software for controlling automatic storage robot; all the aforesaid services used exclusively in connection with the transport of loads and the handling of objects in commercial or industrial activity areas or warehouses.
61.
CONTAINER LOADING AND UNLOADING DEVICE, AND WAREHOUSING SYSTEM
A container loading and unloading device, includes a loading and unloading unit including: a support assembly extending in a vertical Y-axis direction; and at least one container taking and conveying assembly configured to move along the support assembly in the Y-axis direction. The container taking and conveying assembly includes a taking and placing assembly and a bearing assembly, the taking and placing assembly is configured to move in a Z-axis direction to take out a container from a carrier and load the same onto the bearing assembly, or unload the container from the bearing assembly and place the same on the carrier.
42 - Scientific, technological and industrial services, research and design
Goods & Services
Developing and updating computer software; Research in the field of artificial intelligence; consultancy in the design and development of computer hardware; Design and development of computer software; development of computer platforms; research in the field of logistics and industrial automation; development, design, installation and maintenance of software in the field of logistics and industrial automation; design of industrial robots; maintenance of computer software for warehouse management, robot management, data management; Software as a service (SAAS) services featuring software for warehouse management, robot management, data management; research and development in the field of automated warehousing solutions; design, development and maintenance of computer software for controlling automatic storage robot; all the aforesaid services used exclusively in connection with the transport of loads and the handling of objects in commercial or industrial activity areas or warehouses
Hoists; Belt conveyors; Cargo handling machines; Conveyors being machines; Industrial robots; Loading and unloading machines; Mechanical and hydraulic lifts; Mobile lifting work platforms; Power-operated lift used to transport and place portable storage containers; Sifting machines
64.
CONTAINER TAKING AND CONVEYING ASSEMBLY, LOADING AND UNLOADING DEVICE, AND PICKING SYSTEM
A container taking and conveying assembly includes: a base; a bearing assembly configured to bear a container and defining an accommodating space for accommodating the container; a taking and placing assembly configured to take out the container from a first target position and load the container onto the bearing assembly, or unload the container from the bearing assembly and place the container at a second target position; and a moving assembly configured to drive the taking and placing assembly to move in a first movement trajectory where the moving assembly is configured to drive the taking and placing assembly to move in the accommodating space to load or unload the container, and a second movement trajectory where the moving assembly is configured to drive the taking and placing assembly to leave the accommodating space to allow the container to enter the accommodating space and be borne on the bearing assembly.
A warehousing system includes: a workstation comprising a sorting station and a distribution station, the sorting station and the distribution station being configured to process a container; and a movable carrier parking area configured to park a handling device bearing a movable carrier and provided with a container loading and unloading device. The handling device is configured to transport the movable carrier to the movable carrier parking area, and the movable carrier is configured to bear the container. The container loading and unloading device is configured to move the container between the workstation and the movable carrier.
A warehousing system, includes: a workstation area including at least one sorting station; a goods shelf parking area configured to park a goods shelf; a multifunctional area comprising at least one storage position, and the at least one storage position being configured to store a container transferred from the sorting station or the goods shelf; and a container loading and unloading device configured to transfer the container among the workstation area, the goods shelf parking area, and the multifunctional area.
A method and apparatus for trajectory adjustment of an autonomous mobile device. The method is applicable to the autonomous mobile device in which at least one first UWB module is arranged, the first UWB module comprising a Bluetooth unit and a UWB chip. The method comprises: on the basis of the Bluetooth unit of the first UWB module, receiving first ranging trigger information sent by a target obstacle object (202), wherein the target obstacle object is provided with at least one second UWB module; on the basis of the first ranging trigger information and by means of the UWB chip of the first UWB module, sending a first ranging request to the target obstacle object (204); acquiring first ranging information returned by the target obstacle object on the basis of the first ranging request (206); according to the first ranging information, determining current position information of the target obstacle object (208); and on the basis of the current position information, adjusting a movement trajectory of the autonomous mobile device (210).
A goods receiving method, comprising: a control apparatus controlling a first transfer robot to travel to a target position at a first travel speed; a sensor, when sensing that the first transfer robot travels to the target position, sending a trigger message to the control apparatus; the control apparatus sending a control instruction to a conveyor line on the basis of the trigger message, so as to instruct the conveyor line to deliver, at a second travel speed, goods to the first transfer robot traveling at the first travel speed, the first travel speed being greater than 0.
Provided in the embodiments of the present disclosure are a main control board of a robot, and a robot. The main control board comprises a main control module, a communication bridging module and a plurality of communication circuits, wherein the plurality of communication circuits are set on the basis of different communication protocols, and each communication circuit is configured to communicate with a target device; the main control module is electrically connected to a first end of the communication bridging module, and the main control module is configured to process received data to be processed, so as to generate target data, and send the target data to the communication bridging module in the form of an electrical signal; and the other end of the communication bridging module is electrically connected to the plurality of communication circuits, and the communication bridging module is configured to send the target data to a target communication circuit, and convert the target data into a corresponding target communication protocol format by means of the target communication circuit.
A carrying device and a transportation apparatus. The carrying device comprises: a lifting mechanism (100) which is configured to ascend or descend within a preset height range; and a carrying component (200) which is supported on the lifting mechanism (100) and is connected to the lifting mechanism (100), wherein the lifting mechanism (100) is configured to lift the carrying component (200) when ascending to a high-position state, so that the carrying component (200) rotates to an inclined state. Thus, a human arm or robot manipulator can pick articles from the carrying component (200) more comfortably, thereby improving the ergonomic performance of the carrying device and the transportation apparatus comprising the carrying device, and thus improving the picking efficiency.
B66F 7/22 - Lifting frames, e.g. for lifting vehiclesPlatform lifts with tiltable platforms
B66F 7/06 - Lifting frames, e.g. for lifting vehiclesPlatform lifts with platforms supported by levers for vertical movement
B66F 7/28 - Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
B66F 7/16 - Lifting frames, e.g. for lifting vehiclesPlatform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
71.
THREE-DIMENSIONAL RE-BINNING MANAGEMENT METHOD AND SYSTEM, STORAGE MEDIUM AND MANAGEMENT DEVICE
The present disclosure provides a three-dimensional re-binning management method and system, a storage medium and a management device. The three-dimensional re-binning management method is applied to a three-dimensional re-bin system. The three-dimensional re-bin system comprises a re-bin wall and a three-dimensional re-bin mechanism used for re-binning goods to the re-bin wall. The re-bin wall comprises a rack and a plurality of order containers arranged on the rack. The method comprises: providing at least one re-bin wall template option, wherein a re-bin wall template comprises arrangement schemes of a plurality of order containers on the rack; and in response to selection of a re-bin wall template option by a user, determining a target arrangement scheme.
Provided in the present disclosure are a handling robot and an assistive device. The handling robot comprises: a chassis assembly, a pallet assembly, a scissor-type assembly and a supporting portion, wherein the chassis assembly is configured to be supported on a working face; the pallet assembly is arranged above the chassis assembly and configured to bear a container; the scissor-type assembly is arranged between the chassis assembly and the pallet assembly and configured to drive the pallet assembly to ascend or descend relative to the chassis assembly; and the pallet assembly is configured to be supported on the supporting portion when having descended to a preset height. In the present disclosure, part of the weight of the pallet assembly and goods thereon is taken up by the supporting portion, such that not all of the weight presses on the scissor-type assembly. In this way, pressure on the scissor-type assembly is alleviated, thus prolonging the service life of the scissor-type assembly. In addition, as the supporting portion takes up part of the weight, the driving force required for upward lifting at an early stage is smaller, thereby lowering the power requirement for a driving mechanism.
A transfer robot, comprising a chassis assembly (2), an anti-collision strip (3), and a mounting structure (4). An advancing direction of the transfer robot is marked as the front, and the anti-collision strip is at least arranged in front of the chassis assembly; the mounting structure is connected to the chassis assembly; at least part of one of the anti-collision strip and the mounting structure is located in the other, so that the disassembly and assembly of the anti-collision strip can be achieved, the structure is simple, and operation is easy.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B25J 11/00 - Manipulators not otherwise provided for
Disclosed in embodiments of the present disclosure are a warehousing system and a sorting method. The warehousing system comprises: an inventory region, the inventory region comprising a plurality of storage racks, each storage rack comprising a temporary storage position and storage positions, the temporary storage position being located at the bottom layer of the storage rack, and the storage positions being located on the layers of the storage rack other than the bottom layer; a storage and retrieval device configured to store/retrieve inventory containers to/from the storage positions of the storage rack; and a handling device configured to handle an inventory container on the temporary storage position of the storage rack. A running passage of the storage and retrieval device comprises a first running passage, a running passage of the handling device comprises the first running passage and a second running passage, and the second running passage is a passage located below the temporary storage position.
Provided in the embodiments of the present application are a target object conveying system and method, a docking device and a conveying device. The target object conveying system comprises a carrying apparatus, a conveying device and a docking device located at one end of the conveying device, wherein the docking device is configured to transfer a target object between the conveying device and the carrying apparatus; the docking device is provided with a power transmission mechanism, which is of a comb structure, and a top plate of the carrying apparatus is provided with a comb structure matching the power transmission mechanism for causing the top plate of the carrying apparatus to dock with the power transmission mechanism; and the conveying device is configured to form a conveying path for the target object between the conveying device and an operation area. Once placing the target object onto the docking device, the carrying apparatus can depart from the operation area to perform the next task without staying in said operation area until an operator completes the operation, such that queue waiting time of the carrying apparatus can be effectively shortened, avoiding wasting the production capacity of the carrying apparatus, and improving the operation efficiency thereof.
A method for transporting an object to be transported, an object retrieval mechanism (10), a transport device (1), and a computer-readable storage medium. The method for transporting an object to be transported is applied to the transport device (1), and the transport device (1) comprises an object retrieval mechanism (10) and a detection tool (2). The method comprises: in response to a transport instruction regarding an object to be transported, moving to a target point position, wherein the target point position is an object retrieval position corresponding to the object to be transported; when the object retrieval mechanism (10) executes an object retrieval operation, obtaining attribute parameters of the object to be transported as detected by the detection tool (2); according to the attribute parameters, determining the type of the object to be transported, and searching a preset database to find transport parameters corresponding to said type; according to the transport parameters, adjusting the object retrieval dimensions of the object retrieval mechanism (10), and, by means of the adjusted object retrieval mechanism (10), retrieving the object to be transported. According to the transport parameters, adjusting the object retrieval dimensions of the object retrieval mechanism (10), and, by means of the adjusted object retrieval mechanism (10), retrieving the object to be transported, allows for improving the degree of adaptation of the object retrieval mechanism (10) to the object to be transported, thereby further allowing for efficiently and stably transporting the object to be transported.
A warehousing system and a container transfer method. The warehousing system comprises a bearing platform (1) and an autonomous mobile robot (2). The bearing platform (1) at least comprises a first storage platform (13) and a second storage platform (14) located above the first storage platform (13), and further comprises a layer-changing channel, the layer-changing channel being configured to obliquely extend to the second storage platform (14) from the first storage platform (13). The autonomous mobile robot (2) is configured to walk in the bearing platform (1), so as to transfer a container. The autonomous mobile robot (2) is configured to change layers between the first storage platform (13) and the second storage platform (14) by means of the layer-changing channel. The warehousing system uses the layer-changing channel instead of a lift provided in a traditional warehousing system, so that the autonomous mobile robot (2) can change layers for containers between the first storage platform (13) and the second storage platform (14) by means of the layer-changing channel.
A device control method and apparatus based on environment information. The method is applied to a bin carrying device (110), and comprises: in response to a received environment information recognition instruction, collecting initial environment recognition information corresponding to a bin carrying device (110), wherein the bin carrying device (110) is located in an inventory area (120), and the initial environment recognition information is point cloud data information corresponding to the inventory area (120); filtering the initial environment recognition information, so as to obtain target environment recognition information, which comprises position points to be recognized; determining, from among the position points to be recognized, target position points and target position information corresponding to the target position points; on the basis of the number of target position points and the target position information corresponding to the target position points, determining target environment information corresponding to the bin carrying device (110); and determining, according to the target environment information, whether the bin carrying device (110) can rotate at the current position.
Provided in the present disclosure are an interactive charging method and system. The interactive charging system comprises a charging station and a self-moving device, a communication interface being provided in the self-moving device and the charging station, wherein the self-moving device is configured to move to the charging station according to a charging instruction and access the charging station; and the charging station is configured to acquire battery information of the self-moving device by means of the communication interface when the self-moving device accesses the charging station, determine, according to the battery information, charging information corresponding to the self-moving device, and then charge the self-moving device on the basis of the charging information.
A goods sorting system includes at least one layer of operation platform, a control server, and at least one first robot operating on the operation platform. Each first robot includes at least two delivery mechanisms. Each operation platform includes at least two delivery container layers corresponding to the delivery mechanisms. Each delivery container layer includes at least one delivery container. The control server determines a target delivery container, a target delivery container layer, and a target operation platform, based on information of goods to be sorted; dispatches one first robot as a target first robot and determines one delivery mechanism as a target delivery mechanism, based on the target delivery container layer and the target operation platform; and controls the target delivery mechanism to obtain the goods to be sorted. The first robot delivers the goods to be sorted in the target delivery mechanism into the target delivery container.
A target object positioning method and apparatus, a device and a storage medium. The method comprises: acquiring image information of a position to be identified on a shelf, and calculating first position information of said position on the basis of the image information; then acquiring second position information of said position, and calculating a general position coordinate conversion relationship on the basis of the first position information and the second position information; and finally, on the basis of the conversion relationship, determining fourth position information of all target objects to be transferred relative to a box taking apparatus, and then taking said target objects on the basis of the fourth position information.
A scheduling method, a warehousing system (100) and a workstation (30). The scheduling method comprises: acquiring an order to be processed, and determining a plurality of target objects, at least one hit carrier and a destination site according to said order; determining a target workstation and a first target conveying line (37a) according to the destination site; generating a first transport instruction according to the target objects, the hit carrier and the target workstation, so as to instruct a first transport device to transport the hit carrier to the target workstation; and generating a first take-and-place instruction according to the target objects, the hit carrier, the target workstation and the first target conveying line (37a), so as to instruct the target workstation to take the target objects out of the hit carrier and place the target objects on the first target conveying line (37a), so that the target objects are conveyed to the destination site by means of the first target conveying line (37a).
B65G 37/00 - Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
83.
COMMODITY SORTING AND SEEDING METHOD, APPARATUS AND SYSTEM, AND COMPUTING DEVICE AND STORAGE MEDIUM
A commodity sorting and seeding method, which is applied to a control end in a commodity sorting and seeding system. The commodity sorting and seeding system comprises a sorting station, a seeding station and a control end, wherein the sorting station shares an operating space with the seeding station, and the seeding station comprises a seeding mechanism. The method comprises: when it is identified that a container to be sorted arrives at a sorting station, a control end sending a sorting and seeding prompt instruction to a sorting and seeding object in an operating space, so as to prompt the sorting and seeding object to sort commodities in said container and seed the sorted commodities into an order container, which is placed on a seeding mechanism; and when it is identified that the seeding of the order container is completed, sending a transfer instruction to a transfer object, so as to instruct the transfer object to transfer the order container from the seeding mechanism to a shelf or a first conveyor belt.
A positioning method, comprising: identifying a location to be identified that is on a carrier (130), so as to obtain an identification result (202); determining target information on the basis of the identification result (204), wherein the target information comprises central location information of the carrier (130) and/or a boundary line of a roadway where a self-moving device (110) is located; determining control parameters of the self-moving device (110) according to the target information (206); and finally, according to the control parameters, controlling the self-moving device (110) to move (208).
A retrieval and placement mechanism, a retrieval and placement device, and a control method therefor. The retrieval and placement device comprises: a moving mechanism, a base (30) provided on the moving mechanism, and two retrieval and placement mechanisms provided on the base (30). The retrieval and placement device is configured so that, on the basis of a work task, the moving mechanism drives the base (30) to move between different target positions, and after reaching a target position, at least one retrieval and placement mechanism retrieves an object to be retrieved/placed from the target position or places an object to be retrieved/placed into the target position.
A transfer robot, a warehousing system, and a control method. The transfer robot comprises a chassis assembly, a gantry assembly, and a pick-and-place assembly. The gantry assembly is arranged on the chassis assembly; the pick-and-place assembly is arranged on one side of the gantry assembly and is configured to move in a height direction along the gantry assembly; the pick-and-place assembly comprises a pick-and-place mechanism; and the pick-and-place mechanism is configured to extend in a first direction to complete the pick-and place of a container in the first direction, and configured to extend in a second direction opposite to the first direction to complete the pick-and-place of a container in the second direction. The transfer robot improves the utilization rate of a warehousing space.
Disclosed in the present application is a three-dimensional sowing device, comprising: a three-dimensional distribution mechanism, which comprises a carrier, and a movement mechanism for driving the carrier to travel between a pickup position and distribution positions, wherein the pickup position refers to the position where the carrier receives goods delivered thereto; and a shelving rack, which is arranged on at least one side of the three-dimensional distribution mechanism, wherein a plurality of order containers are arranged on the shelving rack. The distribution positions refer to the positions where the carrier delivers goods to each order container. The three-dimensional sowing device further comprises a temporary storage mechanism, which is arranged to be adjacent to the pickup position and is configured to temporarily store the goods delivered thereto so as to provide the goods to the carrier. Further disclosed in the present application are a goods distribution system and method, and a three-dimensional distribution mechanism. The embodiments of the present disclosure increase the continuous operating time of a sorting object and the three-dimensional distribution mechanism, and significantly improves sorting operation efficiency.
A robot and a robot-based material box detection method, the robot including: a main control processing unit, a picking up and placing assembly, and a detection assembly arranged on the picking up and placing assembly; the detection assembly is configured to align with a storage position to be detected along a detection direction to collect data and send the same to the main control processing unit; and the main control processing unit is configured to determine a material box storage state in the storage position to be detected based on a data collection result, so as to control the picking up and placing assembly to pick up and place the material box.
A goods sorting method and apparatus, and an electronic device and a readable storage medium. The method comprises: acquiring an order to be processed, and when said order comprises at least one piece of first order information, acquiring parameter information of each robot and an inventory container parameter corresponding to an alternative inventory container which matches each piece of first order information; according to the parameter information of each robot and/or each inventory container parameter, determining a target inventory container from among at least one alternative inventory container, and determining a target robot from among a plurality of robots; and then issuing a goods sorting task to the target robot, such that the target robot carries the target inventory container to a target workstation, wherein each piece of first order information is used for indicating one goods item which needs to be sorted and an inventory container of which is not determined, and the goods is stored in the inventory container.
A motion control system and methods. The motion control system comprises: a control platform (102) and at least one mobile device (104), the control platform (102) communicating with each mobile device (104) by means of at least two communication links. Upon detecting that a security event is triggered, the control platform (102) is configured to generate an emergency stop instruction, and transmit the emergency stop instruction to the mobile device (104) by means of a first communication link (103), the first communication link (103) being a communication link amongst the at least two communication links having a preset secure communication protocol. The mobile device (104) is configured to receive the emergency stop instruction by means of the first communication link (103), analyze the emergency stop instruction by using the preset security communication protocol, and execute a shutdown operation on the basis of an analysis result. The at least two communication links are provided between the control platform (102) and the mobile device (104), and the emergency stop instruction is transmitted by using the first communication link (103) conforming to the preset security communication protocol, such that the occurrence probability of transmission failure is reduced when the emergency stop instruction is transmitted to the mobile device (104), thus improving the transmission security of the emergency stop instruction.
The present disclosure provides a transportation scheduling method and apparatus for a vertical warehouse. The transportation scheduling method for the vertical warehouse comprises: according to task information of a task to be executed, determining a target unit to be transported; according to article attribute information in the target unit to be transported, screening at least one candidate aisle in the vertical warehouse conforming to the article attribute information; according to distribution information of the at least one candidate aisle in multiple storage levels and current level information of the target unit, screening at least one target storage level from the multiple storage levels; according to current position information of the target unit and storage position information of the candidate aisle in the at least one target storage level, determining a target storage position; scheduling a transportation device to transport the target unit to the target storage position for storage. By means of screening a candidate aisle, and screening a target storage level according to the candidate aisle, a target storage position is determined, and the storage position is reasonably planned, improving storage position utilization and transportation scheduling efficiency.
An item sorting method and apparatus, and a warehousing system. The warehousing system comprises a sorting robot and a plurality of item containers, wherein the sorting robot is provided with a delivery mechanism, and the delivery mechanism can deliver items in at least two delivery directions. The item sorting method comprises: controlling a sorting robot to travel towards a destination container according to a task execution path; during the process of the sorting robot traveling towards the destination container, detecting a traveling position of the sorting robot; when it is detected that the sorting robot travels to a preset position of the destination container, determining a target delivery direction of the sorting robot according to the current position and advancing direction of the sorting robot, and an opening position of the destination container; and when the sorting robot travels to the opening position of the destination container, controlling the sorting robot to deliver an item into the destination container according to the target delivery direction.
A material box taking/returning device and a control method therefor, a system, and a storage medium. The control method comprises: determining the height of a target storage position, and controlling a material box taking/returning device to move to the height of the target storage position; acquiring a shelf image by means of a detection device of the material box taking/returning device, wherein the detection device is located above a pallet of the material box taking/returning device; when the shelf image comprises an image of an upper-layer cross beam adjacent to the target storage position, determining a first relative height of the upper-layer cross beam and the detection device on the basis of the image of the upper-layer cross beam in the shelf image; and on the basis of the first relative height, controlling the material box taking/returning device to move and take/return a material box at the target storage position.
A transfer robot and a container pick-and-place method. The transfer robot comprises: a chassis assembly (100), a lifting device (200), a pick-and-place assembly (300) and an auxiliary support device (400); the lifting device (200) is arranged on the chassis assembly (100), the pick-and-place assembly (300) is arranged on the lifting device (200), and the lifting device (200) can drive the lifting of the pick-and-place assembly (300); and the auxiliary support device (400) is connected to the pick-and-place assembly (300), and the auxiliary support device (400) comprises a driving assembly, a transmission assembly and a support assembly, wherein the driving assembly is connected to the support assembly by means of the transmission assembly to drive the support assembly to extend in a first direction relative to the pick-and-place assembly (300) until the support assembly abuts against or separates from carriers (5) on both sides of the transfer robot. The auxiliary support device (400) is arranged on the pick-and-place assembly (300), and the auxiliary support device (400) is allowed to extend to a position abutting against the carriers (5), so that the transfer robot is supported in the process of picking up and placing a container, thereby enhancing the stability of the robot picking up and placing a box.
The present disclosure provides an automatic combined order fulfillment method, a warehouse management system, and a warehouse exit order processing system. The method comprises picking processing and sorting processing. The picking processing comprises: receiving a plurality of orders by using the sum of the number of currently available order containers in a plurality of seeding stations as an order capacity, and generating picking tasks; performing total picking according to the picking tasks to obtain a picking shelf carrying target goods corresponding to the plurality of orders; and controlling a first transport robot to transport the picking shelf to a picking workstation. The sorting processing comprises: binding the orders with the order containers in the seeding stations; and according to the orders and the order containers bound with the orders, controlling a second transport robot to distribute the target goods received by the picking workstation from the picking shelf to the plurality of seeding stations. According to embodiments of the present disclosure, the number of picking orders processed by the picking workstation at the same time can be increased, thereby effectively reducing the number of repeated hits and transports of shelves in a warehousing area, and greatly improving the order fulfillment efficiency.
A container fetching device and a carrying robot, relating to the technical field of warehousing and logistics. The container fetching device (100) comprises a base (110), and a telescopic fork (120), a telescopic driving assembly (130) and a bearing follow-up assembly that are arranged on the base, wherein the telescopic fork is provided with a locking assembly (140); the locking assembly keeps the bearing follow-up assembly in a retracted state by restricting the stretching and retracting of the telescopic fork; the telescopic driving assembly can drive the telescopic fork to break away from the restriction of the locking assembly so that the telescopic fork and the bearing follow-up assembly are stretched and retracted; and the locking assembly can restrict the stretching and retracting of the telescopic fork, and after the telescopic driving assembly loses power, the locking assembly can provide a locking force, so that the telescopic fork is kept in a retracted state, such that the telescopic fork and the bearing follow-up assembly cannot stretch forward, and after the carrying robot is powered off, the bearing follow-up assembly can still be kept in the retracted state, thereby avoiding the damage caused by the bearing follow-up assembly to personnel or peripheral devices.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
Disclosed in the present disclosure is a warehouse system, comprising a vehicle, an operating device, and a control device. The vehicle comprises a plurality of placement positions for placing containers; the operating device is configured to execute at least one of adjusting the placement positions of the containers on the vehicle, placing the containers to the vehicle, and picking up the containers from the vehicle; and the control device is connected to the operating device and is configured to control, according to at least one of a preset center of gravity area of the vehicle and the weight of the containers, the operating device to pick up or place the containers from or to the vehicle and/or adjust the positions of the containers on the vehicle. According to the present disclosure, the warehouse system picks up or places the containers and/or adjusts the positions of the containers on the vehicle according to at least one of the preset center of gravity area of the vehicle and the weight of the containers, so that the overall center of gravity of the vehicle can be stable.
A goods picking method and a warehousing system (1). The goods picking method comprises: controlling a workstation (A) to place, on a buffer vehicle (11) and according to categories of goods to be subjected to distribution, the goods corresponding to a plurality of orders to be processed; controlling the buffer vehicle (11) to move and pass through a plurality of target distribution points (P) of a distribution station (B); and when the buffer vehicle (11) passes through each target distribution point (P), controlling, according to the categories and quantity of target goods corresponding to an associated order, associated with an order container (R) of each target distribution point (P), among the plurality of orders to be processed, a distribution object to perform distribution on the target goods on the buffer vehicle (11) into the order container (R).
Provided in the present disclosure are a task execution method and apparatus. The task execution method comprises: determining a plurality of tasks for sorting and a target idle transfer device; according to device information of the target idle transfer device, determining from amongst said plurality of tasks at least one target task to be executed by the target idle transfer device; according to task attribute information of the at least one target task, determining a recommended container type; acquiring container information of a target container, the target container being a container selected from amongst a plurality of containers corresponding to the recommended container type; binding the container information with the at least one target task and, on the basis of the binding information, scheduling the target idle transfer device to transfer the target container, so as to execute the at least one target task. The at least one target task is determined from amongst said plurality of tasks, and the container information and the at least one target task are bound, so that one target idle transfer device can transfer the at least one target task at the same time, and subsequently the task can be directly executed on the basis of the binding information, thus improving the task execution efficiency.
