TWI854354B - Freight transport system and freight transport method - Google Patents

Abstract

The present disclosure provides a cargo transportation system and a cargo transportation method, which relate to the field of intelligent warehousing technology. The cargo transportation system comprises a closed-loop conveyor line, and the closed-loop conveyor line comprises a first conveyor section and a second conveyor section which are connected end to end in sequence. At least two groups of cargo inlets and outlets are arranged at intervals on one side of the first conveyor section, and at least two sorting conveyor lines are arranged on one side of the second conveyor section. At least three first transfer devices are arranged on the closed-loop conveyor line, wherein two first transfer devices are respectively located at two ends of the first conveyor section; the remaining first transfer devices are located between any two sorting conveyor lines, and the remaining first transfer devices are located between any two groups of cargo inlets and outlets. The first transfer device transfers the cargo on the second conveyor section to the first conveyor section, or transfers the cargo on the first conveyor section to the second conveyor section. The cargo transportation system and cargo transportation method disclosed herein are beneficial to improving the efficiency of cargo transportation.

Description

Freight transport system and freight transport method

The present disclosure relates to the field of intelligent warehousing technology, and in particular to a cargo transportation system and a cargo transportation method.

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligence level of terminal logistics is also constantly improving, and smart warehousing is an important part of the logistics process.

In smart warehousing, the cargo transportation system is the main equipment that can realize automated transportation and sorting operations. The cargo transportation system can reduce the heavy physical labor of humans and improve the efficiency of transportation and sorting operations. In related technologies, the cargo transportation system includes multiple U-shaped picking workstations, each of which has a cargo inlet and a cargo outlet. During operation, the goods that need to enter multiple U-shaped picking workstations first enter the first U-shaped picking workstation through the cargo entrance of the first U-shaped picking workstation to be picked. The picked goods leave the first U-shaped picking workstation from the cargo exit of the first U-shaped picking workstation and enter the handling device. The handling device transports the goods to the cargo entrance of the next U-shaped picking workstation, so that the goods enter the next U-shaped picking workstation to continue picking.

However, the cargo transportation efficiency of the above cargo transportation system is relatively low.

The disclosed embodiments provide a cargo transportation system and a cargo transportation method for solving the problem of low cargo transportation efficiency of the cargo transportation system.

In order to achieve the above-mentioned purpose, the disclosed embodiment provides the following technical solutions: In the first aspect, the disclosed embodiment provides a cargo transportation system, including a closed-loop conveyor line, the closed-loop conveyor line including a first conveyor section and a second conveyor section connected end to end in sequence, the conveying directions of the first conveyor section and the second conveyor section are opposite; at least two groups of cargo inlets and outlets are arranged at intervals on one side of the first conveyor section, the cargo inlets and outlets include a cargo inlet and a cargo outlet; at least two picking conveyor lines are arranged at one side of the second conveyor section, the two ends of the picking conveyor lines are connected to the second conveyor section at intervals, so that the cargo on the second conveyor section enters the first end of the picking conveyor line from the first end of the picking conveyor line. The picking conveyor line, or, the goods on the picking conveyor line enter the second conveying section from the second end of the picking conveyor line; at least three first transfer devices are arranged on the closed-loop conveyor line, two of which are respectively located at the two ends of the first conveying section; the remaining first transfer devices are located between any two of the picking conveyor lines, and, the remaining first transfer devices are located between any two groups of the goods inlet and outlet, the first transfer device transfers the goods on the second conveying section to the first conveying section, or, transfers the goods on the first conveying section to the second conveying section.

The cargo conveying system as described above, optionally, further comprises a discharger and a loader; the discharger is arranged at the cargo inlet and used to transfer the cargo on the discharger to the cargo inlet; the loader is arranged at the cargo outlet and used to transfer the cargo at the cargo outlet to the loader.

The cargo transportation system as described above may optionally further include a handling robot. When the handling robot is docked with the unloader, the unloader is used to transfer the cargo on the handling robot to the unloader; when the handling robot is docked with the loader, the loader is used to transfer the cargo on the loader to the handling robot.

In the cargo transportation system as described above, optionally, the cargo inlet and the cargo outlet are arranged adjacent to each other.

As described above, in the cargo transportation system, optionally, the cargo import and/or cargo export is provided with a second transfer device, and the second transfer device transfers the cargo from the cargo export to the cargo import.

As described above, the cargo conveying system may optionally be provided with an integrated loading and unloading machine at the cargo entrance, and the integrated loading and unloading machine is used to transfer the cargo on the integrated loading and unloading machine to the cargo entrance, or the integrated loading and unloading machine is used to transfer the cargo transferred from the cargo exit to the cargo entrance to the integrated loading and unloading machine.

In the cargo conveying system as described above, optionally, the first end of the picking conveying line and the second end of the picking conveying line are arranged in sequence along the conveying direction of the second conveying section; or, the second end of the picking conveying line and the first end of the picking conveying line are arranged in sequence along the conveying direction of the second conveying section; the conveying direction of the picking conveying line is from the first end of the picking conveying line to the second end of the picking conveying line.

In the cargo conveying system as described above, optionally, there is at least one cargo box position between the first end of the picking conveying line and the second end of the picking conveying line.

As described above, the cargo conveying system may optionally be provided with an identification device at an upstream position of each picking conveying line, and the identification device is used to identify a cargo box close to the picking conveying line to determine whether the cargo box needs to enter the picking conveying line.

As described above, the cargo conveying system, optionally, the picking conveying line includes two picking positions, and two adjacent third transfer devices are arranged between the two picking positions; the third transfer device close to the first end of the picking conveying line transfers the cargo on the picking conveying line to the second conveying section, and the third transfer device close to the second end of the picking conveying line transfers the cargo on the second conveying section to the picking conveying line.

In the cargo conveying system as described above, optionally, the conveying surface of the picking conveying line is arranged obliquely, and a side of the conveying surface far from the second conveying section is lower than a side of the conveying surface close to the second conveying section.

The cargo conveying system as described above may optionally further include an auxiliary conveying line, which is arranged above the picking conveying line; the projection of the side of the auxiliary conveying line far from the second conveying section in the vertical direction falls between the side of the picking conveying line far from the second conveying section and the second conveying section; the bottom surface of the cargo box transported by the cargo conveying system is rectangular, the width of the conveying surface of the auxiliary conveying line is consistent with the width of the bottom surface of the cargo box, and the width of the conveying surface of the picking conveying line is consistent with the length of the bottom surface of the cargo box.

As described above, the cargo transportation system may optionally include at least one picking and conveying line and/or at least one set of cargo inlets and outlets disposed between two adjacent first transfer devices.

As described above, the cargo conveying system, optionally, the unloader includes a unloading rack and a first lifting mechanism, the first lifting mechanism is arranged between the unloading rack and the cargo entrance; the unloading rack transfers the cargo on the handling robot to the unloading rack, and the first lifting mechanism transfers the cargo on the unloading rack to the cargo entrance.

As described above, the cargo conveying system, optionally, the loading machine includes a loading rack and a second lifting mechanism, the second lifting mechanism is arranged between the loading rack and the cargo outlet; the second lifting mechanism transfers the cargo from the cargo outlet to the loading rack, and the loading rack transfers the cargo on the loading rack to the handling robot.

As described above, the cargo conveying system, optionally, the loading and unloading integrated machine includes an upper unloading rack and a third lifting mechanism, and the third lifting mechanism is arranged between the upper unloading rack and the cargo entrance; when the upper unloading integrated machine is loading, the third lifting mechanism transfers the cargo from the cargo exit to the cargo entrance to the upper unloading rack, and the upper unloading rack transfers the cargo on the upper unloading rack to a handling robot; when the upper unloading integrated machine is unloading, the upper unloading rack transfers the cargo on the handling robot to the upper unloading rack, and the third lifting mechanism transfers the cargo on the upper unloading rack to the cargo entrance.

As described above, the cargo transport system, optionally, the handling robot includes a mobile base and a robot rack disposed on the mobile base, and the robot rack is used to dock with a loader, an unloader or an integrated loading and unloading machine and transfer cargo.

As described above, the cargo conveying system, optionally, is provided with a conveying roller or a conveying belt on the closed-loop conveying line, and the conveying roller or the conveying belt on the closed-loop conveying line drives the cargo to move along the conveying direction of the closed-loop conveying line; and is provided with a conveying roller or a conveying belt on the picking conveying line, and the conveying roller or the conveying belt on the picking conveying line drives the cargo to move along the conveying direction of the picking conveying line.

In the cargo transport system as described above, optionally, the first transfer device or the second transfer device is a push-pull rod, and the push-pull rod transfers the cargo along the transfer direction.

In the cargo transport system as described above, optionally, the first transfer device or the second transfer device is a lifting roller. When the lifting roller is raised, the cargo is supported on the lifting roller, and the lifting roller drives the cargo to move along the transfer direction; when the lifting roller is lowered, the cargo resumes the transport state.

In the cargo transport system as described above, optionally, the third transfer device is a push-pull rod, and the push-pull rod transfers the cargo along the transfer direction.

In the cargo transport system as described above, optionally, the third transfer device is a lifting roller. When the lifting roller is raised, the cargo is supported on the lifting roller, and the lifting roller drives the cargo to move along the transfer direction; when the lifting roller is lowered, the cargo resumes the transport state.

In a second aspect, the disclosed embodiment provides a cargo transportation method, which is applied to any of the cargo transportation systems described above, and the cargo transportation method includes:

When the target cargo is picked on one or more target picking conveying lines, the target cargo is determined to be located at the second conveying section; according to the location of the target cargo, the first target first transfer device is determined so that the target cargo passes through the first target first transfer device, enters the first conveying section, and leaves the closed-loop conveying line through any target cargo exit.

The cargo transportation method as described above, optionally, further includes: Determining a second target first transfer device according to the target cargo import of the target cargo and the one or more target picking conveying lines corresponding to the target cargo, so that the target cargo enters the first conveying section through the target cargo import, and enters the second conveying section through the second target first transfer device; wherein, the position where the target cargo enters the second conveying section through the second target first transfer device is located upstream of all the target picking conveying lines corresponding to the target cargo; controlling the target cargo to enter the target picking conveying line through the second conveying section, so that the target picking conveying line completes the picking operation of the target cargo.

The cargo transportation method as described above, optionally, after controlling the target cargo to enter the target picking conveyor line through the second conveying section so that the target picking conveyor line completes the picking operation on the target cargo, further includes: Determining whether the target cargo needs to enter other picking conveyor lines: if so, controlling the target cargo to enter the other picking conveyor line through the second conveying section so that the other picking conveyor line completes the picking operation on the target cargo; if not, controlling the target cargo to leave the closed-loop conveyor line.

The cargo transportation method as described above, optionally, controls the target cargo to enter the other picking and conveying line through the second conveying section, including: Determining whether the target cargo is located in the second conveying section: if so, and the other picking and conveying line is located upstream of the current position of the target cargo, then control the target cargo to go around the upstream of the second conveying section by the third target first transfer device and the fourth target first transfer device, and enter the other picking and conveying line; if so, and the other picking and conveying line is located downstream of the current position of the target cargo, then control the target cargo to pass through the second conveying section and enter the other picking and conveying line; if not, control the target cargo to enter the second conveying section by the fifth target first transfer device, and enter the other picking and conveying line.

As described above, the cargo transportation method, optionally, each upstream position of the picking and conveying line is provided with an identification device, which controls the target cargo to enter the target picking and conveying line through the second conveying section, and further includes: Identifying the target cargo entering the identification area through the identification device corresponding to the target picking and conveying line, and judging whether the target cargo needs to enter the target picking and conveying line: if so, controlling the target cargo to enter the target picking and conveying line.

As described above, the cargo transportation method, optionally, each entrance cargo box position of the picking conveyor line is provided with a sensor, which controls the target cargo to enter the target picking conveyor line through the second conveyor section, and further includes: Detecting whether the entrance cargo box position of the target picking conveyor line is occupied by the sensor: if not, controlling the target cargo to enter the entrance cargo box position of the target picking conveyor line through the second conveyor section.

The cargo transportation method as described above, optionally, after the sensor detects whether the entrance cargo box position of the target picking conveyor line is occupied, the method further includes: If the sensor detects that the entrance cargo box position of the target picking conveyor line is occupied, then determine whether the target cargo is waiting: if so, control the target cargo to stop moving and wait, and repeatedly execute the step of detecting whether the entrance cargo box position of the target picking conveyor line is occupied by the sensor until the target cargo enters the entrance cargo box position of the target picking conveyor line; if not, control the target cargo to loop around to the entrance end of the target picking conveyor line via the closed-loop conveyor line.

As described above, the cargo transportation method, optionally, controls the target cargo to loop around the closed-loop conveyor line to the inlet end of the target picking conveyor line, including: Obtaining the sixth target first transfer device that the target cargo is transferred from the second conveyor section to the first conveyor section, and the seventh target first transfer device that the target cargo is transferred from the first conveyor section to the second conveyor section; wherein, along the conveying direction of the second conveyor section, the sixth target first transfer device is located downstream of the inlet end of the target picking conveyor line, and the seventh target first transfer device is located upstream of the inlet end of the target picking conveyor line; the target cargo passes through the sixth target first transfer device and the seventh target first transfer device in turn and returns to the inlet end of the target picking conveyor line.

In the cargo transportation method as described above, optionally, the target cargo corresponds to a plurality of target picking and conveying lines, and the plurality of target picking and conveying lines are all located between the sixth target first transfer device and the seventh target first transfer device.

The cargo transportation system and cargo transportation method provided by the disclosed embodiment have the following advantages: The cargo transportation system provided by the disclosed embodiment provides at least two picking conveyor lines on a closed-loop conveyor line, so that the cargo that needs to enter multiple picking conveyor lines can be directly transported along the closed-loop conveyor line and enter multiple picking conveyor lines one by one for picking, thereby not only eliminating the transfer device between each picking conveyor line, but also helping to improve the efficiency of cargo transportation. The closed-loop conveyor line can also allow the cargo to bypass back to the entrance of the missed picking conveyor line when the cargo misses entering the picking conveyor line.

Furthermore, at least three first transfer devices are arranged on the closed-loop conveyor line, so that the first transfer device transfers the goods on the second conveyor section to the first conveyor section, or transfers the goods on the first conveyor section to the second conveyor section. On the one hand, the goods entering the first conveyor section through the goods entrance can choose to enter the second conveyor section and enter the sorting conveyor line through the first transfer device with a shorter conveying path, or the goods sorted on the sorting conveyor line can choose to enter the first conveyor section and leave from the goods exit through the first transfer device with a shorter conveying path, so that the goods do not need to go around the closed-loop conveyor line, which is conducive to further improving the efficiency of goods transportation. On the other hand, the goods that miss the picking conveying line can be returned to the missed picking conveying line by the first transfer device with a shorter conveying path, thereby further improving the efficiency of goods transportation.

The cargo transportation method provided by the disclosed embodiment is also helpful in improving the efficiency of cargo transportation by being applied to the cargo transportation system provided by the disclosed embodiment.

In addition to the technical problems solved by the disclosed embodiment described above, the technical features constituting the technical solution, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the cargo transportation system and cargo transportation method provided by the disclosed embodiment, other technical features included in the technical solution, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation method.

Since multiple U-shaped picking workstations of the cargo transportation system in the related technology are independently set, the cargo that needs to enter multiple U-shaped picking workstations for picking needs to be transported between various picking conveying lines through a handling device. In this process, the cargo needs to be transferred from the previous U-shaped picking workstation to the handling device, and the handling device transports the cargo to the next picking workstation, and the cargo is then transferred from the handling device to another U-shaped picking workstation, which not only leads to a relatively low efficiency of cargo transportation, but also requires more handling devices.

In order to solve the above problems, the disclosed embodiment provides a cargo transportation system and a cargo transportation method, by setting at least two picking conveyor lines on a closed-loop conveyor line, so that the cargo that needs to enter multiple picking conveyor lines can be directly transported along the closed-loop conveyor line and enter the multiple picking conveyor lines one by one for picking, thereby not only eliminating the transfer device between each picking conveyor line, but also helping to improve the efficiency of cargo transportation. Furthermore, the disclosed embodiment provides a cargo transportation system by setting at least three first transfer devices on a closed-loop conveyor line, so that the first transfer device transfers the cargo on the second conveying section to the first conveying section, or transfers the cargo on the first conveying section to the second conveying section. On the one hand, the goods entering the first conveying section through the goods entrance can choose to enter the second conveying section and enter the picking conveying line through the first transfer device with a shorter conveying path, or the goods that have been picked on the picking conveying line can choose to enter the first conveying section through the first transfer device with a shorter conveying path and leave from the goods exit, so that the goods do not need to go around the closed-loop conveying line, which is conducive to further improving the efficiency of goods transportation. On the other hand, the goods that miss the picking conveying line can choose to go around the first transfer device with a shorter conveying path and return to the missed picking conveying line, which is conducive to further improving the efficiency of goods transportation.

In order to make the purpose, technical solution and advantages of the disclosed embodiments clearer, the technical solution in the disclosed embodiments will be described clearly and completely below in conjunction with the attached drawings in the disclosed embodiments. Obviously, the described embodiments are part of the embodiments of the disclosed embodiments, not all of them. Based on the embodiments in the disclosed embodiments, all other embodiments obtained by ordinary technicians in this field without creative labor are within the scope of protection of the disclosed embodiments.

Embodiment 1

Figure 1 is a schematic top view of a cargo conveying system provided in the present disclosed embodiment; Figure 2 is a schematic top view of a cargo conveying system provided in the present disclosed embodiment; Figure 3 is a schematic top view of a cargo conveying system provided in the present disclosed embodiment; Figure 4 is a schematic top view of a partially closed-loop conveyor line and a picking conveyor line provided in the present disclosed embodiment; Figure 5 is a schematic top view of a partially closed-loop conveyor line and a picking conveyor line provided in the present disclosed embodiment; Figure 6 is a side view schematic diagram of an auxiliary conveyor line arranged above the picking conveyor line in Figure 4; Figure 7 is a structural schematic diagram of the docking of the handling robot and the unloader provided in the present disclosed embodiment.

1 to 7 , the disclosed embodiment provides a cargo transportation system, including a closed-loop conveyor line 100, the closed-loop conveyor line 100 including a first conveying section 110 and a second conveying section 120 connected end to end, and the conveying directions of the first conveying section 110 and the second conveying section 120 are opposite. Exemplarily, the first conveying section 110 and the second conveying section 120 both extend along a straight line and are parallel to each other.

At least two groups of cargo inlets and outlets are arranged at intervals on one side of the first conveying section 110, and the cargo inlets and outlets include a cargo inlet 111 and a cargo outlet 112. At least two sorting conveying lines 121 are arranged at one side of the second conveying section 120, and both ends of the sorting conveying lines 121 are connected to the second conveying section 120 at intervals, so that the cargo on the second conveying section 120 enters the sorting conveying line 121 from the first end of the sorting conveying line 121, or, the cargo on the sorting conveying line 121 enters the second conveying section 120 from the second end of the sorting conveying line 121. Exemplarily, the sorting conveyor line 121 can be U-shaped, and the two ends of the U-shaped sorting conveyor line can be connected to the second conveying section 120 respectively through a transfer device; or, the sorting conveyor line 121 can be straight, and the two ends of the straight sorting conveyor line can be connected to the second conveying section 120 respectively through a transfer device.

At least three first transfer devices 130 are arranged on the closed-loop conveyor line 100, wherein two first transfer devices are respectively located at two ends of the first conveying section 110, so that two ends of the first conveying section 110 and the second conveying section 120 are respectively connected via the first transfer devices 130, so that the first conveying section 110, the second conveying section 120 and the first transfer devices 130 located at two ends of the first conveying section 110 together form a closed loop, so as to realize the closed-loop conveying function of the closed-loop conveyor line 100. Optionally, the first conveying section 110 and the second conveying section 120 can change the conveying direction according to actual needs, and the first transfer devices 130 located at both ends of the first conveying section 110 can also change the transfer direction according to actual needs, so that the closed-loop conveyor line 100 can convey both clockwise and counterclockwise.

The remaining first transfer devices 130 are located between any two selection conveying lines 121, and the remaining first transfer devices 130 are located between any two groups of cargo inlets and outlets. Optionally, the remaining first transfer devices 130 can change the transfer direction according to actual needs; the number of the remaining first transfer devices 130 can be set to one, two or more according to actual needs.

In specific implementation, the first transfer device 130 transfers the goods on the second conveying section 120 to the first conveying section 110, so that the goods that have completed the picking can choose a shorter path to leave the closed-loop conveyor line 100; or, the first transfer device 130 transfers the goods on the first conveying section 110 to the second conveying section 120, so that the goods that enter the first conveying section 110 can choose a shorter path to enter the picking conveyor line 121. It should be understood that this is only an example of the role of the first transfer device 130 in the cargo transportation system, and it is not a limitation on the role of the first transfer device 130 in the cargo transportation system.

1, 2 and 7, the cargo conveying system may further include a discharger 200 and a loader 300. The discharger 200 is disposed at the cargo inlet 111 and is used to transfer the cargo on the discharger 200 to the cargo inlet 111. The loader 300 is disposed at the cargo outlet 112 and is used to transfer the cargo at the cargo outlet 112 to the loader 300.

The cargo transport system may further include a transport robot 500. When the transport robot 500 is docked with the unloader 200, the unloader 200 is used to simultaneously transfer multiple cargoes on the transport robot 500 to the unloader 200. When the transport robot 500 is docked with the loader 300, the loader 300 is used to simultaneously transfer multiple cargoes on the loader 300 to the transport robot 500.

In specific implementation, the handling robot 500 can take goods from the storage shelf and carry the goods to the handling robot 500 to be docked with the unloader 200. The unloader 200 can transfer multiple goods on the handling robot 500 to the unloader 200 at the same time. The unloader 200 can transfer the goods on the unloader 200 to the goods inlet 111, so that the goods enter the closed-loop conveyor line 100 through the goods inlet 111. The goods on the closed-loop conveyor line 100 enter the loader 300 through the goods outlet 112. The loader 300 can transfer multiple goods on the loader 300 to the handling robot 500 docked with the loader at the same time. The handling robot 500 can transport the processed goods to the storage shelf.

Exemplarily, the unloader 200 includes an unloading rack 210 and a first lifting mechanism 220, and the first lifting mechanism 220 is disposed between the unloading rack 210 and the cargo inlet 111. The unloading rack 210 transfers multiple cargoes on the handling robot 500 to the unloading rack 210 at the same time, and the first lifting mechanism 220 transfers the cargoes on the unloading rack 210 to the cargo inlet 111. In a specific implementation, the unloading rack 210 includes multiple cargo layers arranged in the height direction, the cargo inlet 111 is aligned with the first conveying section 110, and the first lifting mechanism 220 has a conveying platform that can be lifted and moved, and the conveying platform can transfer the cargoes on any cargo layer of the unloading rack 210 to the cargo inlet 111.

Exemplarily, the loading machine 300 includes a loading rack and a second lifting mechanism, and the second lifting mechanism is arranged between the loading rack and the cargo outlet 112. The second lifting mechanism transfers the cargo at the cargo outlet 112 to the loading rack, and the loading rack transfers the cargo on the loading rack to the handling robot 500. In a specific implementation, the loading rack includes multiple cargo layers arranged in the height direction, the cargo outlet 112 is aligned with the first conveying section 110, and the second lifting mechanism has a conveying platform that can be lifted and moved, and the conveying platform can transfer the cargo at the cargo outlet 112 to any cargo layer of the loading rack.

Exemplarily, the transport robot 500 includes a mobile base 510 and a robot rack 520 disposed on the mobile base 510. The robot rack 520 may include multiple cargo layers arranged along the height direction. The robot rack 520 is used to dock with the loader 300, the unloader 200 or the loading and unloading integrated machine 400 described below. In specific implementation, the robot rack 520 can be docked with the unloading rack 210 so that multiple goods on the robot rack 520 can be transferred to the unloading rack at the same time, and the multi-layer cargo layers of the robot rack 520 and the multi-layer cargo layers of the unloading rack 210 can have the same number of layers and correspond to each other in a flush manner; the robot rack 520 can be docked with the loading rack so that multiple goods on the loading rack can be transferred to the robot rack 520 at the same time, and the multi-layer cargo layers of the robot rack 520 and the multi-layer cargo layers of the loading rack can have the same number of layers and correspond to each other in a flush manner.

1 to 3 , the cargo inlet 111 and the cargo outlet 112 may be disposed adjacent to each other. Of course, the cargo inlet 111 and the cargo outlet 112 may also be disposed spaced apart according to actual needs.

3 , when the cargo inlet 111 and the cargo outlet 112 are adjacently disposed, a second transfer device 140 may be disposed on at least one of the cargo inlet 111 and the cargo outlet 112 , and the second transfer device 140 transfers the cargo from the cargo outlet 112 to the cargo inlet 111 .

Furthermore, the cargo inlet 111 is provided with an upper and lower loading and unloading integrated machine 400, which is used to transfer the cargo on the upper and lower loading and unloading integrated machine 400 to the cargo inlet 111, or the upper and lower loading and unloading integrated machine 400 is used to transfer the cargo transferred from the cargo outlet 112 to the cargo inlet 111 to the upper and lower loading and unloading integrated machine 400.

In specific implementation, the handling robot 500 can take goods from the storage shelf and move with the goods on its back to dock with the loading and unloading integrated machine 400. The loading and unloading integrated machine 400 can transfer multiple goods on the handling robot 500 to the loading and unloading integrated machine 400 at the same time. The loading and unloading integrated machine 400 can transfer the goods on the loading and unloading integrated machine 400 to the goods entrance 111, so that the goods enter the closed-loop conveyor line 100 through the goods entrance 111. The goods leaving the closed-loop conveyor line 100 enter the goods outlet 112, enter the goods inlet 111 through the second transfer device 140, and enter the loading and unloading integrated machine 400. The loading and unloading integrated machine 400 can simultaneously transfer multiple goods on the loading and unloading integrated machine 400 to the handling robot 500 connected to the loading and unloading integrated machine 400, and the handling robot 500 can transport the processed goods to the storage shelf. On the one hand, the loading and unloading of goods at the goods inlet 111 and the unloading of goods at the goods outlet 112 can share one loading and unloading integrated machine 400, which is conducive to simplifying the structure of the goods transportation system and saving costs. On the other hand, after the loading and unloading integrated machine 400 completes unloading, the handling robot 500 does not need to move, and the loading and unloading integrated machine 400 loads the recovered goods onto the handling robot 500, which is beneficial to reducing the operation path of the handling robot 500 and saving the energy consumption of the handling robot 500.

Exemplarily, the upper and lower integrated machine 400 includes an upper and lower unloading shelf and a third lifting mechanism, and the third lifting mechanism is arranged between the upper and lower unloading shelf and the cargo inlet 111. When the upper and lower integrated machine 400 is loading, the third lifting mechanism transfers the cargo transferred from the cargo outlet 112 to the cargo inlet 111 to the upper and lower unloading shelf, and the upper and lower unloading shelf transfers the multiple cargoes on the upper and lower unloading shelf to the handling robot 500 at the same time; when the upper and lower integrated machine 400 is unloading, the upper and lower unloading shelf transfers the multiple cargoes on the handling robot 500 to the upper and lower unloading shelf at the same time, and the third lifting mechanism transfers the cargoes on the upper and lower unloading shelf to the cargo inlet 111.

In a specific implementation, the upper unloading rack includes multiple cargo layers arranged in the height direction, the cargo inlet 111 is aligned with the first conveying section 110, and the third lifting mechanism has a conveying platform that can be lifted and moved, and the conveying platform can transfer the cargo on any cargo layer of the upper unloading rack to the cargo inlet 111, or transfer the cargo on the cargo inlet 111 to any cargo layer of the upper unloading rack. The robot rack 520 can be docked with the upper unloading rack, so that the cargo on the upper unloading rack can be transferred to the robot rack 520 when loading, or the cargo on the robot rack 520 can be transferred to the upper unloading rack when unloading. The multi-layer cargo layers of the robot rack 520 and the multi-layer cargo layers of the upper unloading rack can have the same number of layers and correspond to each other.

The conveying direction of the picking conveyor line 121 is from the first end of the picking conveyor line 121 to the second end of the picking conveyor line 121. In a possible implementation, referring to FIG. 2 , the first end of the picking conveyor line 121 and the second end of the picking conveyor line 121 are sequentially arranged along the conveying direction of the second conveying section 120. In specific implementation, the goods are conveyed to the first end of the picking conveyor line 121 along the second conveying section 120, and can directly enter the picking conveyor line 121 from the first end of the picking conveyor line 121 to improve the picking rate, and leave the picking conveyor line 121 from the second end of the picking conveyor line 121 and re-enter the second conveying section 120.

In another possible implementation, referring to FIG1 , the second end of the picking conveyor line 121 and the first end of the picking conveyor line 121 are sequentially arranged along the conveying direction of the second conveying section 120. In specific implementation, the goods are transported along the second conveying section 120, pass through the second end of the picking conveyor line 121, and arrive at the first end of the picking conveyor line 121. The goods can enter the picking conveyor line 121 from the first end of the picking conveyor line 121, and leave the picking conveyor line 121 from the second end of the picking conveyor line 121 to re-enter the second conveying section 120. In this process, on the one hand, the goods have a longer buffer time before being transported along the second conveying section 120 to the first end of the picking conveyor line 121, thereby reducing the probability that the goods cannot enter the picking conveyor line 121 due to the small number of buffer positions on the picking conveyor line 121 being occupied, so that the goods can queue up to enter the picking conveyor line 121; on the other hand, after the goods leave the picking conveyor line 121 from the second end of the picking conveyor line 121, they can be transported again along the second conveying section 120 to the first end of the picking conveyor line 121, so that when the picking conveyor line 121 makes an error or misses the picking, the goods can return to the picking conveyor line 121 with the shortest distance to correct the error or complete the picking.

Optionally, there is at least one container position between the first end of the picking conveyor line 121 and the second end of the picking conveyor line 121. Exemplarily, one, two or more cargo box positions may be spaced between the first end of the picking conveyor line 121 and the second end of the picking conveyor line 121. On the one hand, this is beneficial to ensure the length of the picking conveyor line 121 and facilitate picking. On the other hand, this is beneficial to ensure the length of the second conveyor section 120 between the first end of the picking conveyor line 121 and the second end of the picking conveyor line 121, so that when the position where the first end of the picking conveyor line 121 is connected to the second conveyor section 120 is downstream of the position where the second end of the picking conveyor line 121 is connected to the second conveyor section 120, the goods can have a longer buffer cargo box position before entering the first end of the picking conveyor line 121 to avoid congestion.

Optionally, an identification device 122 is provided at the upstream position of each picking conveyor line 121, and the identification device 122 is used to identify the cargo box near the picking conveyor line 121 to determine whether the cargo box needs to enter the picking conveyor line 121. Exemplarily, the identification device 122 can be a barcode scanner, and an identification code is provided on the cargo box. The barcode scanner can scan the identification code of the cargo box to identify the cargo box. Of course, the identification device 122 can also be other devices known to those skilled in the art, which will not be described here.

5 , the picking conveyor line 121 may include two picking positions, and two adjacent third transfer devices 150 are arranged between the two picking positions. The third transfer device 150 near the first end of the picking conveyor line 121 transfers the goods on the picking conveyor line 121 to the second conveying section 120, and the third transfer device 150 near the second end of the picking conveyor line 121 transfers the goods on the second conveying section 120 to the picking conveyor line 121.

Exemplarily, the third transfer device 150 can be a push-pull rod, which transfers the goods along the transfer direction. The push-pull rod can be set on the conveying line at the front end of the transfer direction, or the push-pull rod can be set on the conveying line at the rear end of the transfer direction. Alternatively, the third transfer device 150 can be a lifting roller. When the lifting roller is raised, the goods are supported on the lifting roller, and the lifting roller drives the goods to move along the transfer direction; when the lifting roller is lowered, the goods resume the conveying state. The lifting roller can be set on the conveying line at the rear end of the transfer direction, or the lifting roller can be set on two adjacent conveying lines in the transfer direction at the same time. The lifting roller can be spherical, cylindrical, etc. Alternatively, the third transfer device 150 may be a device known to those skilled in the art that can transfer goods between the picking conveying line 121 and the second conveying section 120.

When the picking amount is relatively small, the picking position located upstream in the conveying direction of the picking conveyor line 121 can be closed, so that the picking position located downstream in the conveying direction of the picking conveyor line 121 can work normally, and at the same time, the two adjacent third transfer devices 150 between the two picking positions are closed. In specific implementation, the goods enter the picking conveyor line 121 from the first end of the picking conveyor line 121, and after being picked by the picking position downstream of the picking conveyor line 121, they leave the picking conveyor line 121 from the second end of the picking conveyor line 121. This is not only beneficial to increase the buffer position before the cargo box reaches the picking position, but also beneficial to reduce the input of picking personnel.

When the picking amount is relatively large, two picking positions of the picking conveying line 121 can be opened, and at the same time, two adjacent third transfer devices 150 between the two picking positions can be opened. In specific implementation, a part of the goods can enter the picking conveyor line 121 from the first end of the picking conveyor line 121, and after being picked by the picking position upstream of the picking conveyor line 121, they are transferred from the third transfer device 150 near the first end of the picking conveyor line 121 to the second conveying section 120; another part of the goods can enter the picking conveyor line 121 from the third transfer device 150 near the second end of the picking conveyor line 121, and after being picked by the picking position downstream of the picking conveyor line 121, they leave the picking conveyor line 121 from the second end of the picking conveyor line 121. This is conducive to improving the picking efficiency and reducing the waiting time of the cargo box.

Furthermore, along the conveying direction of the second conveying section 120, an identification device can be set near the upstream of the first end of the sorting conveyor line 121 to identify the goods that need to enter the sorting conveyor line 121 from the first end of the sorting conveyor line 121; an identification device can also be set near the upstream of the third transfer device 150 near the second end of the sorting conveyor line 121 to identify the goods entering the sorting conveyor line 121 from the third transfer device 150 near the second end of the sorting conveyor line 121.

6 , the conveying surface of the picking conveyor line 121 may be tilted, and the side of the conveying surface far from the second conveying section 120 is lower than the side of the conveying surface close to the second conveying section 120. In a specific implementation, the picker is located on the side of the picking conveyor line 121 far from the second conveying section 120, and when the cargo box is transported on the conveying surface of the picking conveyor line 121, the side of the cargo box close to the picker is tilted downward, so that the picker can pick the cargo in the cargo box.

Continuing to refer to FIG6 , the cargo transportation system may further include an auxiliary conveyor line 600, which is disposed above the sorting conveyor line 121; the projection of the side of the auxiliary conveyor line 600 away from the second conveying section 120 in the vertical direction falls between the side of the sorting conveyor line 121 away from the second conveying section 120 and the second conveying section 120. The bottom surface of the cargo box transported by the cargo transportation system is rectangular, the width of the conveying surface of the auxiliary conveyor line 600 is consistent with the width of the bottom surface of the cargo box, and the width of the conveying surface of the sorting conveyor line 121 is consistent with the length of the bottom surface of the cargo box. This not only prevents the auxiliary conveyor line from interfering with the picking personnel from picking goods from the picking conveyor line 121, but also facilitates the empty boxes to be placed on the auxiliary conveyor line 600 for recycling, or to complete other conveying tasks through the auxiliary conveyor line 600.

Referring to FIG. 1 to FIG. 3 , at least one picking conveyor line 121 may be arranged between two adjacent first transfer devices 130; or at least one set of cargo entrances and exits may be arranged between two adjacent first transfer devices 130; or at least one picking conveyor line 121 and at least one set of cargo entrances and exits may be arranged between two adjacent first transfer devices 130. This is conducive to forming more transport paths for the cargo transport system, making the transport strategy more flexible, and thus conducive to improving the transport efficiency and transport flexibility of the cargo transport system.

Optionally, a conveyor roller or a conveyor belt is provided on the closed-loop conveyor line 100, and the conveyor roller or the conveyor belt on the closed-loop conveyor line 100 drives the goods to move along the conveying direction of the closed-loop conveyor line 100. Exemplarily, a plurality of conveyor rollers are provided on the closed-loop conveyor line 100, and the plurality of conveyor rollers are arranged in parallel along the conveying direction of the closed-loop conveyor line 100, so as to drive the goods to move along the conveying direction of the closed-loop conveyor line 100. A conveyor roller or a conveyor belt is provided on the picking conveyor line 121, and the conveyor roller or the conveyor belt on the picking conveyor line 121 drives the goods to move along the conveying direction of the picking conveyor line 121. Exemplarily, a plurality of conveying rollers are disposed on the picking conveying line 121 , and the plurality of conveying rollers are arranged in parallel along the conveying direction of the picking conveying line 121 , so as to drive the goods to move along the conveying direction of the picking conveying line 121 .

In a possible implementation, the first transfer device 130 or the second transfer device 140 is a push-pull rod, which transfers the goods along the transfer direction. Exemplarily, the push-pull rod can be arranged on the conveyor line at the front end of the transfer direction, or the push-pull rod can be arranged on the conveyor line at the rear end of the transfer direction.

In another possible implementation, the first transfer device 130 or the second transfer device 140 is a lifting roller. When the lifting roller is raised, the goods are supported on the lifting roller, and the lifting roller drives the goods to move along the transfer direction; when the lifting roller is lowered, the goods resume the conveying state. Exemplarily, the lifting roller can be set on the conveying line at the rear end of the transfer direction, or the lifting roller can be set on two adjacent conveying lines in the transfer direction at the same time. The lifting roller can be spherical, cylindrical, etc.

It is understandable that the first transfer device 130 and the second transfer device 140 may also include other devices known to those skilled in the art, as long as they can meet the requirements of the disclosed embodiment for the first transfer device 130 and the second transfer device 140, which will not be elaborated here.

In summary, the cargo transportation system provided by the disclosed embodiment is provided with at least two picking conveyor lines on a closed-loop conveyor line, so that the cargo that needs to enter multiple picking conveyor lines can be directly transported along the closed-loop conveyor line and enter the multiple picking conveyor lines one by one for picking, thereby not only eliminating the transfer device between each picking conveyor line, but also helping to improve the efficiency of cargo transportation. Furthermore, the disclosed embodiment provides a cargo transportation system by arranging at least three first transfer devices on a closed-loop conveyor line, so that the first transfer device transfers the cargo on the second conveying section to the first conveying section, or transfers the cargo on the first conveying section to the second conveying section. On the one hand, the goods entering the first conveying section through the goods entrance can choose to enter the second conveying section and enter the picking conveying line through the first transfer device with a shorter conveying path, or the goods that have been picked on the picking conveying line can choose to enter the first conveying section through the first transfer device with a shorter conveying path and leave from the goods exit, so that the goods do not need to go around the closed-loop conveying line, which is conducive to further improving the efficiency of goods transportation. On the other hand, the goods that miss the picking conveying line can choose to go around the first transfer device with a shorter conveying path and return to the missed picking conveying line, which is conducive to further improving the efficiency of goods transportation.

Embodiment 2

Figure 8 is a flow chart 1 of a cargo transportation method provided in the present disclosed embodiment; Figure 9 is a flow chart 2 of a cargo transportation method provided in the present disclosed embodiment; Figure 10 is a flow chart 3 of a cargo transportation method provided in the present disclosed embodiment; Figure 11 is a flow chart 4 of a cargo transportation method provided in the present disclosed embodiment.

Referring to Figures 8 to 11, the disclosed embodiment provides a cargo transportation method, which is applied to the cargo transportation system in the first embodiment. The components and specific structures of the cargo transportation system involved in the present embodiment can refer to the description in the first embodiment. The execution subject of the cargo transportation method can be a management device, which can include a computer, a server, and a chip. The management device can control the working status of each component of the cargo transportation system, and can plan the transportation path of the cargo, so that the cargo transportation system in the first embodiment can implement the cargo transportation method of the disclosed embodiment.

Referring to FIG. 8 , the cargo transportation method provided by the disclosed embodiment includes the following steps: Step S100, when the target cargo is selected on one or more target selection and transportation lines, determine the location of the target cargo at the second transportation section.

It can be understood that the second conveying section of the closed-loop conveyor line can be provided with multiple picking conveyor lines, and the target picking conveyor line is the picking conveyor line that the target goods need to enter and be picked before entering the closed-loop conveyor line, that is, the target picking conveyor line can be one or more. When there is one target picking conveyor line, the target goods enter the target picking conveyor line to complete the picking, and at this time, the position of the target goods that have completed the picking in the second conveying section can be the exit position of the target picking conveyor line. When there are multiple target picking conveying lines, the target goods enter the target picking conveying lines in sequence and complete picking. At this time, the position of the target goods that have completed picking on multiple target picking conveying lines and are located in the second conveying section can be the exit position of the last target picking conveying line.

Exemplarily, referring to Figures 1 to 3, a position sensor can be set on the second transport section, which can detect the position of the target cargo on the second transport section and transmit the position information of the target cargo on the second transport section to the management device, so that the management device can plan the transportation route of the target cargo.

In step S200, a first target first transfer device is determined according to the location of the target cargo, so that the target cargo passes through the first target first transfer device, enters the first conveying section, and leaves the closed-loop conveying line through any target cargo exit.

For example, the management device can plan the path for the target goods to leave the closed-loop conveyor line according to the position of the target goods on the second conveying section, that is, the management device can determine the first target first transfer device, and can also determine the target goods exit, so that the selected target goods can leave the closed-loop conveyor line along the path planned by the management device. The path planned by the management device can be the shortest path for goods transportation, or it can be a path that avoids congestion during the goods transportation process, which is conducive to improving the efficiency of goods transportation.

Referring to FIG. 9 , the cargo transportation method provided by the disclosed embodiment further includes the following steps: Step S300, determining the second target first transfer device according to the target cargo import of the target cargo and one or more target selection conveying lines corresponding to the target cargo, so that the target cargo enters the first conveying section through the target cargo import, and enters the second conveying section through the second target first transfer device.

The position where the target cargo enters the second conveying section through the second target first transfer device is located upstream of all target picking conveying lines corresponding to the target cargo.

Step S400, controlling the target cargo to enter the target picking conveying line through the second conveying section, so that the target picking conveying line completes the picking operation on the target cargo.

Exemplarily, the management device can plan the path of the target cargo entering the target picking conveying line according to the target cargo import of the target cargo and one or more target picking conveying lines corresponding to the target cargo, that is, the management device can determine the second target first transfer device so that the cargo entering the first conveying section through the target cargo import can enter the second conveying section through the second target first transfer device. The path planned by the management device can be the shortest path for cargo transportation, or it can be a path that avoids congestion during cargo transportation, which is conducive to improving the efficiency of cargo transportation.

In some embodiments, the target goods can enter the target picking conveyor line through step S300 and step S400, so that the target picking conveyor line completes the picking operation of the target goods. The target goods that have completed the picking can leave the closed-loop conveyor line through step S100 and step S200.

In some embodiments, the target goods can enter the target picking conveyor line through step S300 and step S400, so that the target picking conveyor line completes the picking operation of the target goods. The target goods that have completed the picking can be uniformly detoured to any goods exit along the last first transfer device in the conveying direction of the second conveying section of the closed-loop conveyor line without going through the method of step S100 and step S200, and leave the closed-loop conveyor line. In this way, there can be more goods exit options, which is conducive to improving the efficiency of returning the target goods to the warehouse.

In some embodiments, the target cargo can be detoured along the last first transfer device in the conveying direction of the first conveying section of the closed-loop conveyor line to the second conveying section, and enter the target picking conveyor line under the conveyance of the second conveying section, so that the target picking conveyor line completes the picking operation of the target cargo, which is beneficial to reduce the probability of the target cargo detouring when a target picking conveyor line is added during the cargo picking process. The target cargo that has completed the picking can leave the closed-loop conveyor line through steps S100 and S200.

Continuing to refer to FIG. 9 , the cargo transportation method provided by the disclosed embodiment, after controlling the target cargo to enter the target picking conveying line through the second conveying section in step S400 so that the target picking conveying line completes the picking operation on the target cargo, further includes: Step S500, determining whether the target cargo needs to enter other picking conveying lines.

In some embodiments, the management device can determine whether the target goods need to enter other picking and conveying lines for picking based on temporarily increased order demand information.

If the target goods need to enter other picking and conveying lines, step S510 is executed to control the target goods to enter other picking and conveying lines through the second conveying section, so that other picking and conveying lines complete the picking operation of the target goods.

In some embodiments, the management device may execute step S510 at any time after the target cargo has been picked on all the target picking conveying lines and before the target cargo leaves the second conveying section.

In some embodiments, the management device may execute step S510 at any time after the target cargo has been picked in all target picking conveying lines, after the target cargo has entered the first conveying section through the first target first transfer device, and before leaving the closed-loop conveying line through any target cargo exit.

If the target cargo does not need to enter other picking conveyor lines, execute step S520 to control the target cargo to leave the closed-loop conveyor line.

In some embodiments, the management device can control the last first transfer device of the target cargo along the second conveying section of the closed-loop conveyor line in the conveying direction to detour to the cargo exit and leave the closed-loop conveyor line.

In some embodiments, the management device may execute step S100 and step S200 to make the target cargo leave the closed-loop conveyor line.

Referring to Figure 10, step S510, controlling the target cargo to enter other picking and conveying lines via the second conveying section, may specifically include: Step S511, determining whether the target cargo is located in the second conveying section.

Exemplarily, whether the target cargo is located in the second conveying section can be determined by a position sensor disposed on the second conveying section.

If the target cargo is located in the second conveying section, and other picking conveying lines are located upstream of the current location of the target cargo, step S512 is executed to control the target cargo to go around the upstream of the second conveying section by the third target first transfer device and the fourth target first transfer device, and enter the other picking conveying lines.

If the target cargo is located in the second conveying section, and other picking conveying lines are located downstream of the current location of the target cargo, step S513 is executed to control the target cargo to pass through the second conveying section and enter other picking conveying lines.

For example, the position of the target cargo on the second conveying section can be detected by a position sensor arranged on the second conveying section, and the position information of the target cargo can be transmitted to the management device. The management device can determine the position relationship between the target cargo and other picking conveying lines based on the position information of the target cargo and the position information of other picking conveying lines that the target cargo is going to enter.

If other picking conveyor lines are located upstream of the current location of the target cargo, the management device can plan a path for the target cargo to enter the other picking conveyor lines based on the location information of the target cargo, the location information of the other picking conveyor lines, and the location information of the first transfer device.

That is, the management device can determine the third target first transfer device and the fourth target first transfer device. For example, the position of the third target first transfer device in the second conveying section is located downstream of the current position of the goods, and the position of the fourth target first transfer device in the second conveying section is located upstream of the position of other picking and conveying lines, so that the target goods can be bypassed to the upstream of the second conveying section via the third target first transfer device and the fourth target first transfer device. At this time, the position of the target goods bypassing to the second conveying section can be upstream of other picking and conveying lines, so that the second conveying section drives the target goods into other picking and conveying lines. The path planned by the management device can be the shortest path for goods transportation, or it can be a path that avoids congestion during goods transportation, which is beneficial to improve the efficiency of goods transportation.

If other picking conveyor lines are located downstream of the current location of the target cargo, the management device can control the second conveying section to drive the target cargo to move and enter the other picking conveyor lines.

If the target cargo is not in the second conveying section, execute step S514 to control the target cargo from the fifth target first transfer device to enter the second conveying section and then enter other picking conveying lines.

In some embodiments, the target cargo is on the first conveying section, and the position of the target cargo on the first conveying section can be detected by a position sensor arranged on the first conveying section, and the position information of the target cargo is transmitted to the management device, and the management device can determine the fifth target first transfer device according to the position information of the target cargo and the position information of other sorting conveying lines that the target cargo is to enter. It can be understood that the position of the fifth target first transfer device on the second conveying section is upstream of the position of other sorting conveying lines, the target cargo on the first conveying section enters the second conveying section through the fifth target first transfer device, and the position of the target cargo entering the second conveying section is upstream of other sorting conveying lines, so that the second conveying section drives the target cargo to enter other sorting conveying lines.

Optionally, an identification device can be provided at an upstream position of each picking conveyor line.

Step S400, controlling the target cargo to enter the target picking conveying line through the second conveying section, may specifically include: Identifying the target cargo entering the identification area through the identification device corresponding to the target picking conveying line, and determining whether the target cargo needs to enter the target picking conveying line.

If the target goods need to enter the target picking conveyor line, control the target goods to enter the target picking conveyor line.

Exemplarily, the identification device, such as a barcode scanner, can scan the identification code of the target goods and transmit the identification code information of the target goods to the management device, and the management device can determine whether the target goods need to enter the target picking conveying line corresponding to the current identification device according to the identification code information of the target goods and the picking order information. If the target goods need to enter the target picking conveying line corresponding to the current identification device, the target goods are controlled to enter the target picking conveying line.

If the target goods do not need to enter the target picking conveyor line, and the target goods still need to enter other target picking conveyor lines, the management device can control the second conveying section to transport the target goods to the next target picking conveyor line; or, if the target goods have completed the picking of all target picking conveyor lines, the management device can plan a path to make the target goods leave the closed-loop conveyor line; or, if the target goods still need to enter other picking conveyor lines, the management device can plan a path to transport the target goods to other picking conveyor lines. The specific steps here can refer to the description above, and will not be repeated here.

Optionally, each entrance cargo box position of the picking conveyor line is provided with a sensor, and illustratively, the sensor may be an infrared sensor.

Referring to FIG. 11 , step S400, controlling the target cargo to enter the target picking conveyor line through the second conveying section, may specifically include: Step S410, detecting by a sensor whether the entrance cargo box position of the target picking conveyor line is occupied: If the entrance cargo box position of the target picking conveyor line is not occupied, executing step S450, controlling the target cargo to enter the entrance cargo box position of the target picking conveyor line through the second conveying section.

In specific implementation, the sensor can detect whether the entry container position of the target picking conveyor line is occupied, and transmit the detected information to the management device. When the entry container position is not occupied, the management device can control the target goods to enter the entry container position of the picking conveyor line so that the target goods can be picked on the picking conveyor line. When the entry container position is occupied, the management device can control the target goods to continue to be transported, and the management device can plan the transportation path of the target goods according to the order information and the picking situation of the target goods.

Optionally, if the sensor detects that the entrance container position of the target picking conveyor line is occupied, step S420 can be executed to determine whether the target cargo is waiting, or the following step S440 can be directly executed, which is not limited here.

Exemplarily, the management device can determine whether the target cargo is waiting based on the transportation status of the picking conveyor line.

If the target cargo needs to wait, execute step S430 to control the target cargo to stop moving and wait, and repeatedly execute the step of detecting whether the entrance container position of the target picking conveyor line is occupied by the sensor until the target cargo enters the entrance container position of the target picking conveyor line.

In some embodiments, the management device may also preset a predetermined time for the target cargo to stop waiting according to actual conditions. Within the predetermined time, if the sensor detects that the inlet cargo box position of the target picking conveyor line is vacant, the target cargo can enter the inlet cargo box position of the target picking conveyor line; if the sensor detects that the inlet cargo box position of the target picking conveyor line is occupied, the target cargo continues to wait. After the predetermined time, if the target cargo has not entered the inlet cargo box position of the target picking conveyor line, the management device may control the target cargo to continue to be transported, and the management device may plan the transportation path of the target cargo according to the order information and the picking situation of the target cargo.

If the target goods do not need to wait, execute step S440 to control the target goods to loop through the closed-loop conveyor line to the entrance end of the target picking conveyor line.

Furthermore, step S440, controlling the target cargo to loop around the closed-loop conveyor line to the inlet end of the target picking conveyor line, may specifically include: Obtaining the sixth target first transfer device that the target cargo will pass through when transferring from the second conveying section to the first conveying section, and the seventh target first transfer device that the target cargo will pass through when transferring from the first conveying section to the second conveying section. Among them, along the conveying direction of the second conveying section, the sixth target first transfer device is located downstream of the inlet end of the target picking conveyor line, and the seventh target first transfer device is located upstream of the inlet end of the target picking conveyor line; the target cargo passes through the sixth target first transfer device and the seventh target first transfer device in turn and returns to the inlet end of the target picking conveyor line.

In some embodiments, if the target cargo does not need to wait, the target cargo can be controlled to directly bypass the entrance end of the target picking and conveying line that has not been successfully entered. At this time, the sixth target first transfer device and the seventh target first transfer device only need to include the target picking and conveying line that has not been successfully entered.

In some embodiments, if the target goods do not need to wait, the target goods can be controlled to continue to be transported and complete the picking of the subsequent target picking conveyor line, and then the target goods can be controlled to bypass the entrance end of the target picking conveyor line that has not successfully entered. At this time, multiple target picking conveyor lines need to be included between the sixth target first transfer device and the seventh target first transfer device, and the multiple target picking conveyor lines include the target picking conveyor line that the target goods have not successfully entered and the subsequent target picking conveyor line.

It can be understood that if the target picking conveyor line that the target cargo has not successfully entered is the first target picking conveyor line that needs to be entered, at this time, the multiple target picking conveyor lines included between the sixth target first transfer device and the seventh target first transfer device can be all target picking conveyor lines corresponding to the target cargo. If the target picking conveyor line that the target cargo has not successfully entered is not the first target picking conveyor line that needs to be entered, at this time, the multiple target picking conveyor lines included between the sixth target first transfer device and the seventh target first transfer device can be part of the target picking conveyor lines corresponding to the target cargo.

In specific implementation, the management device can determine the sixth target first transfer device and the seventh target first transfer device according to the position of the target picking conveyor line so that the path for the target goods to bypass the entrance end of the target picking conveyor line is the shortest, or the path for the target goods to bypass the entrance end of the target picking conveyor line is not congested.

It can be understood that, since the sixth target first transfer device and the seventh target first transfer device, as well as the third target first transfer device and the fourth target first transfer device are all determined according to the position of the specific picking conveying line, and can form a small loop line containing the specific picking conveying line with the first conveying section and the second conveying section, in some embodiments, the sixth target first transfer device and the seventh target first transfer device, as well as the third target first transfer device and the fourth target first transfer device can be completely the same, partially the same, or completely different.

In some embodiments, the target cargo may correspond to a plurality of target picking conveying lines, and the plurality of target picking conveying lines may be located between the sixth target first transferring device and the seventh target first transferring device.

Exemplarily, the multiple target picking conveying lines corresponding to the target cargo may be all the target picking conveying lines corresponding to the target cargo, or may be some of the target picking conveying lines among all the target picking conveying lines corresponding to the target cargo.

In specific implementation, the sixth target first transfer device, the seventh target first transfer device, the first conveying section and the second conveying section form a small ring, and multiple target picking and conveying lines corresponding to the target goods are located within the range of the small ring line. The management equipment can control the transportation of the goods on the small ring line and enter the multiple target picking and conveying lines respectively to complete the picking.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the above embodiments, ordinary technical personnel in this field should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

100: Closed-loop conveyor line 110: First conveyor section 111: Cargo inlet 112: Cargo outlet 120: Second conveyor section 121: Picking conveyor line 122: Identification device 130: First transfer device 140: Second transfer device 150: Third transfer device 200: Unloader 210: Unloading rack 220: First lifting mechanism 300: Loader 400: Loading and unloading integrated machine 500: Handling robot 510: Mobile base 520: Robot rack 600: Auxiliary conveyor line

In order to more clearly explain the technical solutions in the embodiments of this application or related technologies, the following will briefly introduce the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Figure 1 is a schematic diagram of a cargo conveying system provided in the disclosed embodiment; Figure 2 is a schematic diagram of a cargo conveying system provided in the disclosed embodiment; Figure 3 is a schematic diagram of a cargo conveying system provided in the disclosed embodiment; Figure 4 is a schematic diagram of a partially closed-loop conveying line and a picking conveying line provided in the disclosed embodiment; Figure 5 is a schematic diagram of a partially closed-loop conveying line and a picking conveying line provided in the disclosed embodiment; Figure 6 is a schematic diagram of a side view of an auxiliary conveying line arranged above the picking conveying line in Figure 4; Figure 7 is a schematic diagram of the structure of the handling robot and the unloader provided in the disclosed embodiment; Figure 8 is a flow chart of a cargo conveying method provided in the disclosed embodiment; Figure 9 is a flow chart 2 of a cargo transportation method provided by the disclosed embodiment; Figure 10 is a flow chart 3 of a cargo transportation method provided by the disclosed embodiment; Figure 11 is a flow chart 4 of a cargo transportation method provided by the disclosed embodiment.

100: Closed loop conveyor line

110: First conveying section

111: Import of goods

112: Export of goods

120: Second conveying section

121: Picking conveyor line

122: Identification device

130: First transfer device

200: Unloader

300: Loading machine

500: Transport robot

Claims (27)

A cargo transportation system, characterized in that it includes a closed-loop conveyor line, the closed-loop conveyor line includes a first conveyor section and a second conveyor section connected end to end, the conveying directions of the first conveyor section and the second conveyor section are opposite; at least two groups of cargo inlets and outlets are arranged at intervals on one side of the first conveyor section, the cargo inlets and outlets include a cargo inlet and a cargo outlet; at least two sorting conveyor lines are arranged at one side of the second conveyor section, the two ends of the sorting conveyor lines are arranged at intervals connected to the second conveying section so that the goods on the second conveying section enter the picking conveying line from the first end of the picking conveying line, or, so that the goods on the picking conveying line enter the second conveying section from the second end of the picking conveying line; at least three first transfer devices are arranged on the closed-loop conveying line, two of which are respectively located at the two ends of the first conveying section; the remaining first transfer devices are located between any two of the picking conveying lines, Furthermore, the remaining first transfer devices are located between any two groups of the cargo inlet and outlet, and the first transfer devices transfer the cargo on the second conveying section to the first conveying section, or transfer the cargo on the first conveying section to the second conveying section; wherein the conveying surface of the selection conveying line is inclined, and the side of the conveying surface far from the second conveying section is lower than the side of the conveying surface close to the second conveying section; wherein, an auxiliary conveying line is also included, the The auxiliary conveyor line is arranged above the picking conveyor line; the projection of the side of the auxiliary conveyor line far from the second conveyor section in the vertical direction falls between the side of the picking conveyor line far from the second conveyor section and the second conveyor section; the bottom surface of the cargo box transported by the cargo transport system is rectangular, the width of the conveying surface of the auxiliary conveyor line is consistent with the width of the bottom surface of the cargo box, and the width of the conveying surface of the picking conveyor line is consistent with the length of the bottom surface of the cargo box. The cargo transportation system of claim 1 is characterized in that it also includes a discharger and a loader; the discharger is arranged at the cargo inlet and used to transfer the cargo on the discharger to the cargo inlet; the loader is arranged at the cargo outlet and used to transfer the cargo at the cargo outlet to the loader. The cargo transport system of claim 2 is characterized in that it also includes a transport robot. When the transport robot is docked with the unloader, the unloader is used to transfer the cargo on the transport robot to the unloader; when the transport robot is docked with the loader, the loader is used to transfer the cargo on the loader to the transport robot. The cargo transportation system of claim 1 is characterized in that the cargo inlet and the cargo outlet are adjacently arranged. The cargo transportation system of claim 4 is characterized in that the cargo import and/or cargo export is provided with a second transfer device, and the second transfer device transfers the cargo from the cargo export to the cargo import. The cargo transportation system of claim 5 is characterized in that the cargo inlet is provided with an integrated loading and unloading machine, which is used to transfer the cargo on the integrated loading and unloading machine to the cargo inlet, or the integrated loading and unloading machine is used to transfer the cargo transferred from the cargo outlet to the cargo inlet to the integrated loading and unloading machine. The cargo conveying system of claim 1 is characterized in that the first end of the picking conveying line and the second end of the picking conveying line are arranged in sequence along the conveying direction of the second conveying section; or, the second end of the picking conveying line and the first end of the picking conveying line are arranged in sequence along the conveying direction of the second conveying section; the conveying direction of the picking conveying line is from the first end of the picking conveying line to the second end of the picking conveying line. The cargo conveying system of claim 1 or 7 is characterized in that there is at least one cargo box position between the first end of the picking conveying line and the second end of the picking conveying line. The cargo conveying system of claim 1 or 7 is characterized in that an identification device is provided at the upstream position of each picking conveying line, and the identification device is used to identify the cargo box near the picking conveying line to determine whether the cargo box needs to enter the picking conveying line. The cargo conveying system of claim 1 or 7 is characterized in that the picking conveying line includes two picking positions, and two adjacent third transfer devices are arranged between the two picking positions; the third transfer device near the first end of the picking conveying line transfers the cargo on the picking conveying line to the second conveying section, and the third transfer device near the second end of the picking conveying line transfers the cargo on the second conveying section to the picking conveying line. A cargo transportation system as in any one of claims 1-7, characterized in that at least one picking conveying line and/or at least one set of cargo inlets and outlets are provided between two adjacent first transfer devices. The cargo conveying system of claim 3 is characterized in that the unloading machine includes a unloading rack and a first lifting mechanism, and the first lifting mechanism is arranged between the unloading rack and the cargo entrance; the unloading rack transfers the cargo on the handling robot to the unloading rack, and the first lifting mechanism transfers the cargo on the unloading rack to the cargo entrance. The cargo transport system of claim 3 is characterized in that the loading machine includes a loading rack and a second lifting mechanism, and the second lifting mechanism is arranged between the loading rack and the cargo outlet; the second lifting mechanism transfers the cargo from the cargo outlet to the loading rack, and the loading rack transfers the cargo on the loading rack to the transport robot. The cargo conveying system of claim 6 is characterized in that the loading and unloading integrated machine includes an upper unloading shelf and a third lifting mechanism, and the third lifting mechanism is arranged between the upper unloading shelf and the cargo entrance; when the upper unloading integrated machine is loading, the third lifting mechanism transfers the cargo transferred from the cargo exit to the cargo entrance to the upper unloading shelf, and the upper unloading shelf transfers the cargo on the upper unloading shelf to the handling robot; when the upper unloading integrated machine is unloading, the upper unloading shelf transfers the cargo on the handling robot to the upper unloading shelf, and the third lifting mechanism transfers the cargo on the upper unloading shelf to the cargo entrance. The cargo transport system of claim 3 is characterized in that the transport robot includes a mobile base and a robot rack mounted on the mobile base, and the robot rack is used to dock with a loader, unloader or integrated loading and unloading machine and transfer cargo. The cargo conveying system of any one of claim items 1-7 is characterized in that a conveying roller or a conveying belt is provided on the closed-loop conveying line, and the conveying roller or the conveying belt on the closed-loop conveying line drives the cargo to move along the conveying direction of the closed-loop conveying line; a conveying roller or a conveying belt is provided on the picking conveying line, and the conveying roller or the conveying belt on the picking conveying line drives the cargo to move along the conveying direction of the picking conveying line. The cargo transport system of claim 5 is characterized in that the first transfer device or the second transfer device is a push-pull rod, and the push-pull rod transfers the cargo along the transfer direction. The cargo transport system of claim 5 is characterized in that the first transfer device or the second transfer device is a lifting roller. When the lifting roller is raised, the cargo is supported on the lifting roller, and the lifting roller drives the cargo to move along the transfer direction; when the lifting roller is lowered, the cargo resumes the transport state. A cargo transportation method, characterized in that it is applied to a cargo transportation system as in any one of claims 1-18, and the cargo transportation method includes: when the target cargo is selected on one or more target selection conveying lines, determining the position of the target cargo in the second conveying section; according to the position of the target cargo, determining the first target first transfer device, so that the target cargo passes through the first target first transfer device, enters the first conveying section, and leaves the closed-loop conveying line through any target cargo exit. The cargo transportation method of claim 19 is characterized in that the cargo transportation method further includes: determining a second target first transfer device according to the target cargo import of the target cargo and the one or more target picking conveying lines corresponding to the target cargo, so that the target cargo enters the first conveying section through the target cargo import, and enters the second conveying section through the second target first transfer device; wherein the position where the target cargo enters the second conveying section through the second target first transfer device is located upstream of all the target picking conveying lines corresponding to the target cargo; controlling the target cargo to enter the target picking conveying line through the second conveying section, so that the target picking conveying line completes the picking operation of the target cargo. The cargo transportation method of claim 20 is characterized in that after controlling the target cargo to enter the target picking conveyor line through the second conveying section so that the target picking conveyor line completes the picking operation on the target cargo, it also includes: Determining whether the target cargo needs to enter other picking conveyor lines: if so, controlling the target cargo to enter the other picking conveyor line through the second conveying section so that the other picking conveyor line completes the picking operation on the target cargo; if not, controlling the target cargo to leave the closed-loop conveyor line. The cargo transportation method of claim 21 is characterized in that the control of the target cargo to enter the other picking and conveying line through the second conveying section includes: determining whether the target cargo is located in the second conveying section: if so, and the other picking and conveying line is located upstream of the current location of the target cargo, then the target cargo is controlled to go around the upstream of the second conveying section by the third target first transfer device and the fourth target first transfer device, and enter the other picking and conveying line; if so, and the other picking and conveying line is located downstream of the current location of the target cargo, then the target cargo is controlled to pass through the second conveying section and enter the other picking and conveying line; if not, the target cargo is controlled to enter the second conveying section by the fifth target first transfer device, and then enter the other picking and conveying line. The cargo transportation method of any one of claim items 20-22 is characterized in that an identification device is provided at the upstream position of each picking and conveying line, and the target cargo is controlled to enter the target picking and conveying line through the second conveying section, including: identifying the target cargo entering the identification area through the identification device corresponding to the target picking and conveying line, and judging whether the target cargo needs to enter the target picking and conveying line: if so, controlling the target cargo to enter the target picking and conveying line. The cargo transportation method of any one of claim items 20-22 is characterized in that each entrance cargo box position of the picking conveyor line is provided with a sensor, and the target cargo is controlled to enter the target picking conveyor line through the second conveying section, including: detecting whether the entrance cargo box position of the target picking conveyor line is occupied through the sensor; if not, controlling the target cargo to enter the entrance cargo box position of the target picking conveyor line through the second conveying section. The cargo transportation method of claim 24 is characterized in that after the sensor detects whether the entrance cargo box position of the target picking conveyor line is occupied, the method further includes: if the sensor detects that the entrance cargo box position of the target picking conveyor line is occupied, then determine whether the target cargo is waiting: if so, control the target cargo to stop moving and wait, and repeatedly execute the step of detecting whether the entrance cargo box position of the target picking conveyor line is occupied by the sensor until the target cargo enters the entrance cargo box position of the target picking conveyor line; if not, control the target cargo to loop around to the entrance end of the target picking conveyor line via the closed-loop conveyor line. The cargo transportation method of claim 25 is characterized in that the control of the target cargo to loop around the closed-loop conveyor line to the inlet end of the target picking conveyor line includes: obtaining the sixth target first transfer device that the target cargo is transferred from the second conveying section to the first conveying section, and the seventh target first transfer device that the target cargo is transferred from the first conveying section to the second conveying section; wherein, along the conveying direction of the second conveying section, the sixth target first transfer device is located downstream of the inlet end of the target picking conveyor line, and the seventh target first transfer device is located upstream of the inlet end of the target picking conveyor line; the target cargo passes through the sixth target first transfer device and the seventh target first transfer device in sequence and returns to the inlet end of the target picking conveyor line. The cargo transportation method of claim 26 is characterized in that the target cargo corresponds to multiple target picking and conveying lines, and the multiple target picking and conveying lines are all located between the sixth target first transfer device and the seventh target first transfer device.

Images