JP7564922B1 - Item transport method and multi-level warehouse system - Google Patents

Abstract

[Problem] To provide an item transport method that enables a transport robot to access and transport items using a vertical lifting method in a multi-story warehouse structure and is suitable for a highly flexible control system, and a multi-story warehouse system that includes the multi-story warehouse structure and a control system.
[Solution] An article transport method includes determining whether an obstructing article for the target article is stored in the vertical storage structure in response to a transport task for a target article stored in the vertical storage structure. The transport task indicates transporting the target article from a current position to a target position. The method also includes controlling a transport support robot to transfer the obstructing article from the vertical storage structure in response to determining that an obstructing article for the target article is stored in the vertical storage structure, and controlling a first transport robot to move toward the current position and transport the target article to the target position in response to determining that an obstructing article for the target article is not stored in the vertical storage structure.
[Selected figure] Figure 3

Description

The present invention relates to a warehouse management mechanism, and in particular to an item transport method and a multi-level warehouse system.

The accelerated development of e-commerce during the epidemic has promoted the development of B2C (business-to-consumer) logistics. As the epidemic reaches its final stages, people are increasingly relying on e-commerce purchases. However, the labor shortage problem is becoming more serious, and smart logistics is being actively developed.

To improve transportation efficiency, many logistics and warehousing companies have begun to devise new solutions through the integration of software and hardware to simultaneously solve the problems of large numbers of e-commerce goods, fast delivery, and difficult retrieval in storage space.

In light of the above, a technical solution is needed to solve problems such as the large number of e-commerce products, rapid delivery, and difficult retrieval from storage space.

An embodiment of the present invention provides an item transport method suitable for a control system. The method includes determining whether at least one obstructing item for the first target item is stored in the first vertical warehouse structure in response to a first transport task for a first target item stored in the first vertical warehouse structure, where the first transport task indicates transporting the first target item from a current position to a first target position, the first vertical warehouse structure includes a plurality of first item storage positions arranged vertically, and the current position of the first target item corresponds to one of the plurality of first item storage positions, and in response to determining that at least one obstructing item for the first target item is stored in the first vertical warehouse structure, controlling at least one transport support robot to transfer the at least one obstructing item from the first vertical warehouse structure, and in response to determining that no obstructing item for the first target item is present in the first vertical warehouse structure, controlling the first transport robot to move toward the current position and transport the first target item to the first target position.

An embodiment of the present invention provides a multi-level warehouse system including a multi-level warehouse structure and a control system. The multi-level warehouse structure includes a first vertical warehouse structure, and the first vertical warehouse structure includes a plurality of first item storage positions arranged vertically. The control system is configured to execute, in response to a first transport task of a first target item stored in the first vertical warehouse structure, determining whether at least one obstructing item for the first target item is stored in the first vertical warehouse structure, where the first transport task indicates that the first target item is to be transported from a current position to a first target position, and the current position of the first target item corresponds to one of the plurality of first item storage positions, and in response to determining that at least one obstructing item for the first target item is stored in the first vertical warehouse structure, control at least one transport support robot to transfer the at least one obstructing item from the first vertical warehouse structure, and in response to determining that no obstructing item for the first target item exists in the first vertical warehouse structure, control the first transport robot to move to the current position and transport the first target item to the first target position.

Embodiments of the present invention allow a transport robot to access and transport items (e.g., boxes and/or pallets) in a vertical lifting manner within a multi-level warehouse structure, thus providing greater flexibility in the method of embodiments of the present invention compared to known large automated warehouses.

FIG. 1 is a schematic diagram of a multi-level warehouse system according to an embodiment of the present invention. FIG. 2 is a schematic diagram of an article transport according to an embodiment of the present invention. 2 is a flowchart of an item transport method according to an embodiment of the present invention. FIG. 2 is an application scenario diagram according to an embodiment of the present invention. 4 is a flowchart of performing a screening task according to an embodiment of the present invention. 6 is a flowchart of the warehouse return process shown in FIG. 5 . 13 is a flowchart illustrating an execution of an loading task according to a seventh embodiment of the present invention.

Referring to FIG. 1, a schematic diagram of a multi-level warehouse system according to one embodiment of the present invention is shown. In FIG. 1, the multi-level warehouse system 10 includes a control system 11 and a multi-level warehouse structure 12.

In different embodiments, the control system 11 may be implemented as, but is not limited to, various smart devices and/or computing devices. In some embodiments, the control system 11 may include a memory circuit and a processor, where the memory circuit may be, for example, any type of fixed or removable Random Access Memory (RAM), Read-Only Memory (ROM), Flash memory, a hard disk or other similar device, or a combination of these devices, that may be used to store multiple program codes or modules.

Furthermore, the processor is coupled to the memory circuitry and may be a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, a controller, a microcontroller, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), any other type of integrated circuit, an Advanced RISC Machine (ARM) based processor, and the like.

In embodiments of the present invention, the processor of the control system 11 can realize various operations mentioned in the following embodiments by accessing modules/program codes in the storage circuit. In some embodiments, the control system 11 may also include multiple subsystems (such as a micro warehouse center, a warehouse management system, a warehouse control system, a warehouse execution system, an article material handling system, a vehicle dispatching system, etc.), which can communicate and cooperate with each other to achieve various operations described below, but are not limited to these.

In an embodiment of the present invention, the multi-level warehouse structure 12 may include a plurality of vertical warehouse structures (e.g., vertical warehouse structures 121, 122), and each vertical warehouse structure may include a plurality of item storage locations. Taking the vertical warehouse structure 121 as an example, it may include two item storage locations 121a and 121b, and the item storage locations 121a and 121b may be arranged, for example, from high to low in the vertical warehouse structure 121. Taking the vertical warehouse structure 122 as an example again, it may include two item storage locations 122a and 122b, and the item storage locations 122a and 122b may be arranged, for example, from high to low in the vertical warehouse structure 122.

In FIG. 1, each item storage location can store an item OB, where each item OB is, for example, an item storage item (e.g., a box) used to store items. In other embodiments, each item OB can be realized as other types of item storage items, such as, but not limited to, a pallet, depending on the needs of the designer.

In an embodiment of the present invention, each item storage position and item OB may be provided with a corresponding engagement mechanism (such as, but not limited to, a tenon) to securely store each item OB on the corresponding item storage position.

In one embodiment of the present invention, the control system 11 can arrange and control the transport robot RB (e.g., an automated guided vehicle (AGV)) to move and transport the required item OB in the multi-level warehouse structure 12. In one embodiment, for an item OB stored in a particular item storage location, the control system 11 can control the transport robot RB to move to a corresponding vertical warehouse structure, in which the transport robot RB can vertically ascend/descend to pick up and transport the required OB. In a different embodiment, the transport robot RB can be designed with, but is not limited to, a climbing mechanism that can be used for vertical ascend/descend in the vertical warehouse structure.

For example, for an item OB stored in the item storage position 122b, the control system 11 can arrange for the transport robot RB to head to the corresponding entry/exit point E122 of the vertical warehouse structure 122 (e.g., located at the bottom of the vertical warehouse structure 122, or on the ground that can be understood to correspond to the location of the vertical warehouse structure 122). After the transport robot RB reaches the entry/exit point E122, the transport robot RB can climb vertically to below the item storage position 122b in the vertical warehouse structure 122. Then, the transport robot RB can release the engagement mechanism between the item storage position 122b and the item OB and load the item OB onto the transport robot RB.

The transport robot RB loaded with the item OB can then descend vertically in the vertical warehouse structure 122 to the entry/exit point E122 (such as the ground), and transport the loaded item OB to the required target position according to instructions from the control system 11.

In the first embodiment, assuming that the target position is the item storage position 121a in the vertical warehouse structure 121, the transport robot RB located at the entry/exit point E122 can head toward the entry/exit point E121 (e.g., located at the bottom of the vertical warehouse structure 121) corresponding to the vertical warehouse structure 121, and after reaching the entry/exit point E121, can vertically climb the vertical warehouse structure 121 until the loaded item OB enters the item storage position 121a. Then, the transport robot 121 can activate the engagement mechanism between the item storage position 121a and the item OB, and store the item OB in the item storage position 121a, but is not limited thereto.

In the second embodiment, assuming that the target position is the outbound point of the multi-level warehouse structure 12, the transport robot RB located at the entrance/exit point E122 can head toward the outbound point and transport the loaded item OB to the outbound point, but is not limited to this.

In one embodiment, if it is determined that the item OB loaded on the transport robot RB is an obstructing item that obstructs other items, the control system 11 can arrange for the transport robot RB to transport the item OB to another item storage position in the multi-story warehouse structure 12 according to the method of the first embodiment.

For example, when the control system 11 needs to access an item OB (hereinafter referred to as the target item) stored in item storage location 122a in response to a certain task, the item OB stored in item storage location 122b in FIG. 1 is understood to be an obstructing item for the target item because it blocks the path for the transport robot RB to directly pick up the target item.

In this case, the control system 11 may, in accordance with the teachings above, arrange for one or more transport robots RB to move the items OB stored at item storage location 122b to be stored at other item storage locations in the multi-level warehouse structure 12, and the control system 11 may record these other item storage locations accordingly so that these items OB can be picked up when required, but is not limited to this.

In another embodiment, if the item OB loaded on the transport robot RB is an item that the relevant person wishes to access, the control system 11 can arrange for the transport robot RB to transport the item OB to the outgoing point of the multi-story warehouse structure 12 according to the method of the second embodiment, but is not limited to this.

Referring to Figure 2, a schematic diagram of item transport according to one embodiment of the present invention is shown.

2, it is assumed that the considered multi-level warehouse structure 12 has the configuration shown (i.e., each vertical warehouse structure includes seven item storage positions). In this embodiment, assuming that the transport robot 299a is arranged to transport the item OB located at the item storage position 211a to the corresponding target position, the transport robot 299a can reach the entry/exit point E211 (e.g., located at the bottom/ground of the vertical warehouse structure 211) of the vertical warehouse structure 211 to which the item storage position 211a belongs, and then vertically climb up in the vertical warehouse structure 211 to below the item storage position 211a. The transport robot 299a can then release the engagement mechanism between the item storage position 211a and the item OB, and load the item OB onto the transport robot 299a.

Then, the transport robot 299a loaded with the item OB can descend vertically in the vertical warehouse structure 211 to the entry/exit point E211 and transport the item OB to the corresponding target position.

Also, assuming that the control system 11 needs to access a target item located at item storage location 212a in response to a particular task, the control system 11 can regard any item OB between the entry/exit point E212 of the corresponding vertical warehouse structure 212 and the target item as an obstructing item (i.e., item OB located at item storage locations 212b-212d). In this case, the control system 11 can arrange for one or more transport robots (e.g., transport robot 299b) to transport the item OB located at item storage locations 212b-212d to other item storage locations in the multi-level warehouse structure 12. In an embodiment of the present invention, the transport robot used to transport the obstructing item may be referred to as, but is not limited to, a transport support robot.

Referring to FIG. 3, there is shown a flowchart of an article conveying method according to one embodiment of the present invention. The method of this embodiment can be realized by the control system 11 of FIG. 1, and the details of each step of FIG. 3 will be described below using the components shown in FIG. 1.

First, in step S310, in response to a first transport task of a first target item stored in a first vertical warehouse structure, the control system 11 determines whether an obstructing item for the first target item is stored in the first vertical warehouse structure, where the first transport task indicates transporting the first target item from a current position to a first target position. Also, the first vertical warehouse structure includes a plurality of first item storage positions vertically arranged, and the current position of the first target item corresponds to one of the first item storage positions.

In one embodiment, the first vertical warehouse structure is, for example, but not limited to, one of a plurality of vertical warehouse structures in the multi-level warehouse structure 12.

In one embodiment, the control system 11 can determine whether at least one item is stored in a first item storage location between the current location of the first target item and a first entry/exit point of the first vertical warehouse structure.

In response to determining that the first item storage location between the current location of the first target item and the first entry/exit point stores at least one item, the control system 11 can determine whether the at least one item is the at least one obstructing item for the first target item. On the other hand, in response to determining that no item is stored in the first item storage location between the current location of the first target item and the first entry/exit point, the control system 11 can determine that no obstructing items for the first target item exist in the first vertical warehouse structure.

In the third embodiment, assuming that the first target item is an item OB stored at item storage location 211a in FIG. 2, the corresponding first vertical warehouse structure is, for example, vertical warehouse structure 211. Next, the control system 11 can determine whether at least one item is stored in an item storage location between the current location of the first target item (i.e., item storage location 211a) and the entry/exit point E211 of the vertical warehouse structure 211.

As can be seen from FIG. 2, since no items are stored in the item storage positions between the entry/exit point E211 and the item storage position 211a, the control system 11 can determine that there are no obstructing items for the first target item in the first vertical warehouse structure.

In the fourth embodiment, assuming that the first target item is an item OB stored at item storage location 212a in FIG. 2, the corresponding first vertical warehouse structure is, for example, vertical warehouse structure 212. Next, the control system 11 can determine whether at least one item is stored in an item storage location between the current location of the first target item (i.e., item storage location 212a) and the entry/exit point E212 of the vertical warehouse structure 212.

As can be seen from FIG. 2, other items OB are stored in item storage positions 212b-212d between entry/exit point E212 and item storage position 212a, so the control system 11 can determine that the items OB stored in item storage positions 212b-212d are obstructing items relative to the first target item, but is not limited to this.

In one embodiment, in response to determining that no obstructing items are stored in the first vertical warehouse structure for the first target item, the control system 11 performs execution step S330 following step S310.

Meanwhile, in response to a determination that an obstructing item for the first target item is stored in the first vertical warehouse structure, the control system 11 can perform execution step S320 following step S310 to control the transport support robot to transfer the obstructing item from the first vertical warehouse structure. For example, if the first target item is an item OB stored in item storage position 212a, the control system 11 arranges for the transport support robot to transfer the item OB stored in item storage positions 212b-212d from the vertical warehouse structure 212.

In one embodiment, during the execution step S320, the control system 11 can sequentially execute the following steps: (a) find a specific obstructing item among the at least one obstructing item that is closest to the first entry/exit point; (b) control a transport robot as one of the at least one transport support robot to move to the first entry/exit point (e.g., located at the bottom of the first vertical warehouse structure) and control the transport robot to climb vertically in the first vertical warehouse structure to pick up the specific obstructing item; (c) control the transport robot to move the specific obstructing item to a second item storage location in the multi-level warehouse structure 12, where the second item storage location belongs to the second vertical warehouse structure in the multi-level warehouse structure 12; (d) repeat steps (a) to (c) until all obstructing items for the first target item are removed from the first vertical warehouse structure.

During execution step (c), the control system 11 controls the transport robot to descend vertically through the first vertical warehouse structure to a first entry/exit point of the first vertical warehouse structure, controls the transport robot to move from the first entry/exit point of the first vertical warehouse structure to a second entry/exit point of the second vertical warehouse structure, and also controls the transport robot to climb vertically through the second vertical warehouse structure to the second item storage position and fix the specific obstructing item to the second item storage position.

In one embodiment, before controlling the transport robot to move from the first entry/exit point of the first vertical warehousing structure to the second entry/exit point of the second vertical warehousing structure, the control system 11 may also determine whether the second vertical warehousing structure is targeted. In response to a determination that the second vertical warehousing structure is not targeted, the control system 11 may control the transport robot to target the second vertical warehousing structure and move from the first entry/exit point of the first vertical warehousing structure to the second entry/exit point of the second vertical warehousing structure. On the other hand, in response to a determination that the second vertical warehousing structure is already targeted, the control system 11 may control the transport robot to move from the first entry/exit point of the first vertical warehousing structure to the second entry/exit point of the second vertical warehousing structure.

Based on this, in the fourth embodiment, the control system 11 first determines that the item OB stored at the item storage position 212d is a specific obstructing item, arranges for the transport robot 299b as a transport support robot to head toward the entry/exit point E212, and controls the transport robot 299b to climb vertically through the vertical warehouse structure 212 to pick up the item OB stored at the item storage position 212d.

Then, the control system 11 controls the transport robot 299b to descend vertically in the vertical storage structure 212 to the entry/exit point E212 and determines whether the second vertical storage structure is targeted. If not, the control system 11 determines that the second vertical storage structure is targeted, and then controls the transport robot 299b to move from the entry/exit point E212 to the second entry/exit point of the second vertical storage structure, and if it is targeted, the control system 11 can directly control the transport robot 299b to move from the entry/exit point E212 to the second entry/exit point of the second vertical storage structure, but is not limited thereto. Then, the control system 11 can control the transport robot 299b to climb vertically in the second vertical storage structure to the second item storage position and fix the specific obstructing item at the second item storage position.

The above concepts can be used again to move items OB stored at item storage locations 212c, 212b to other item storage locations in the multi-level warehouse structure 12, and the details will not be repeated here.

When step S320 is completed, the control system 11 performs the execution step S310 again, and since there is no obstructing item for the first target item at this time, the control system 11 can subsequently perform the execution step S330. In another embodiment, after completing step S320, the control system 11 can also directly perform the execution step S330, but is not limited thereto.

In step S330, the control system 11 controls the first transport robot to move toward the current position and transport the first target item to the first target position.

During execution step S330, the control system 11 can control the first transport robot to move toward the first entry/exit point, and can also control the first transport robot to climb vertically in the first vertical warehouse structure to the current position of the target item to pick up the first target item.

Then, the control system 11 controls the first transport robot to move the first target item from the current position to the first target position. For example, the control system 11 can control the first transport robot to descend vertically from the current position of the first target item to a first entry/exit point of the first vertical warehouse structure, and can also control the first transport robot to move from the first entry/exit point of the first vertical warehouse structure to the first target position (e.g., the exit point of the multi-level warehouse structure 12).

In one embodiment of the present invention, the first transport task may be a sorting task or an inspection task.

In the fifth embodiment, when the control system 11 determines that one or more of the items stored in the first target item need to be obtained in a particular purchase order (e.g., an e-commerce purchase order), the control system 11 accordingly determines a sorting task as the first transport task, and based on this, sets the first target location corresponding to the first transport task as an output point of the multi-story warehouse structure 12. Based on this, the control system 11 can correspondingly perform the operations in the previous embodiments to arrange for the first transport robot to transport the first target item to the output point of the multi-story warehouse structure 12 to facilitate subsequent sorting.

For ease of understanding, the following embodiment will be further described using the situation shown in FIG. 4, which is an application situation diagram according to one embodiment of the present invention.

In FIG. 4, the control system 11 can arrange for the first transport robot to transport the first target item to the output point OUTB1 of the multi-level warehouse structure 12 in response to the sorting task. The control system 11 can then execute the method shown in FIG. 5 accordingly.

Referring now to FIG. 5, a flowchart illustrating a method for performing a sorting task according to one embodiment of the present invention is shown.

In step S510, in response to determining that the first target item has already been transported to the first target location (e.g., the output point OUTB1 of the multi-story warehouse structure 12), the control system 11 determines whether the sorting work station 411 is available. In one embodiment, if there is space to place the first target item on the sorting work station 411, the control system 11 can determine that the sorting work station 411 is available, and if not, can determine that the sorting work station 411 is unavailable, but is not limited thereto.

In one embodiment, the sorting work station 411 can be used by personnel and/or a robotic arm to sort (e.g., place into a logistics container) or inspect the items in the purchase order in accordance with the purchase order described above, but is not limited to this.

In one embodiment, in response to determining that the sorting work station 411 is unavailable, the control system 11 may repeat execution step S510 until it is determined that the sorting work station 411 is available, but is not limited to this.

In one embodiment, in response to determining that the sorting work station 411 is available, the control system 11 controls an item moving robot (e.g., a robot arm) to move a first target item loaded on the first transport robot from a first target location (e.g., an output point OUTB1 of the multi-level warehouse structure 12) to the sorting work station 411 to facilitate relevant personnel and/or the robot arm to perform the necessary sorting.

Next, in step S530, after the sorting task of the first target item is completed, the control system 11 can determine whether the first target item located at the sorting work station 411 is empty (i.e., determine whether all the items in the first target item have been transferred from the first target item). If not, it means that there are still items stored in the first target item, and the control system 11 can continue to execute step S540 to control the second transport robot through a warehouse return process to store the first target item in the multi-level warehouse structure 12, of which the warehouse return process will be supplemented and described separately with reference to FIG. 6.

On the other hand, if the first target item in the sorting work station 411 is empty, it means that no item is stored in the first target item, that is, the first target item can be reused to load other items. In this case, the control system 11 continues to execute step S550, controls the item moving robot to move the first target item onto the third transport robot, and controls the third transport robot to transport the first target item to the empty item station 412.

During execution step S550, the control system 11 can, for example, arrange for a third transport robot to be placed at the receiving point INB1 of the multi-level warehouse structure 12, and control the item moving robot to move the first target item located at the sorting work station 411 onto the third transport robot. After that, the third transport robot loaded with the first target item moves to the outgoing point OUTB2 of the multi-level warehouse structure 12, and the first target item can be moved to the empty item station 412 by relevant personnel and/or a mechanical arm.

In an embodiment of the present invention, the empty item station 412 can store a plurality of empty items that have not been loaded with any items, and these empty items can be loaded with corresponding items by relevant personnel and/or mechanical arms according to the corresponding loading task, and then transported and stored at any item storage position within the multi-level warehouse structure 12 by the corresponding transport robot, but is not limited to this. The contents related to the loading task will be described later with reference to FIG. 7.

Referring to FIG. 6, there is shown a flow chart of the warehouse return process shown in FIG. 5. First, in step S610, the control system 11 determines that the first target item is located at a third item storage location in the multi-level warehouse structure 12, where the third item storage location belongs to a third vertical warehouse structure in the multi-level warehouse structure 12, and has a third entry/exit point at the bottom of the third vertical warehouse structure. In different embodiments, the third vertical warehouse structure may be the same as or different from the first and second vertical warehouse structures described above, but is not limited thereto.

Next, in step S620, the control system 11 controls the second transport robot to move toward the receiving point INB1 of the multi-level warehouse structure 12, and controls the item moving robot to move the first target item (not empty) from the sorting work station 411 to the second transport robot located at the receiving point INB1.

In step S630, the control system 11 determines whether the third vertical warehouse structure is targeted. If not, the control system 11 performs execution step S640 to target the third vertical warehouse structure, followed by execution step S650, and if so (if targeted), the control system 11 can directly perform execution step S650, but is not limited thereto.

In step S650, the control system 11 controls the second transport robot to move from the input point INB1 of the multi-level warehouse structure 12 to the third input/output point of the third vertical warehouse structure.

In step S660, the control system 11 controls the second transport robot to climb vertically in the third vertical warehouse structure to the third item storage position and fix the first target item at the third item storage position.

In step S670, the control system 11 controls the second transport robot to descend vertically to the third entry/exit point of the third vertical warehouse structure, thereby removing the third vertical warehouse structure from the target.

In the sixth embodiment, if the control system 11 determines that for some reason it is necessary to check whether the number of items stored in the first target item is accurate, the control system 11 correspondingly determines the inspection task as the above-mentioned first transport task, and based on this, sets the first target position corresponding to the first transport task as the output point of the multi-story warehouse structure 12. Based on this, the control system 11 correspondingly performs the operations in the previous embodiments, and arranges for the first transport robot to transport the first target item to the output point of the multi-story warehouse structure 12, so that the subsequent inspection can be facilitated.

In the sixth embodiment, the control system 11 can also execute execution steps S510 to S520 in a similar manner to move the first target item to the sorting work station 411, so that relevant personnel can easily check the number of items in the first target item.

In response to determining that the item of the first target item is correct upon inspection, the control system 11 correspondingly executes execution step S540 to control the second transport robot to store the first target item in the multi-level warehouse structure through a warehouse return process. For relevant details, reference may be made to the description of the previous embodiment, which will not be repeated here.

On the other hand, upon determining upon inspection that the number of items in the first target item is not correct, the relevant personnel may input the correct number of items, and then the control system 11 may perform execution step S540 accordingly, but is not limited thereto.

Referring to FIG. 7, there is shown a flow chart for executing a loading task according to a seventh embodiment of the present invention. In the seventh embodiment, relevant personnel and/or a robotic arm can retrieve an empty item from the empty item station 412 at the loading work station 413 in response to a particular loading task, and load the empty item (hereinafter referred to as the second target item).

Based on this, in step S710, the control system 11 can obtain a loading task and associate the loading task with the second target item. In one embodiment, an identification label (e.g., a barcode and/or a two-dimensional code) corresponding to the entity of the second target item may be provided on the body of the second target item, and relevant personnel can, for example, read the identification label with a corresponding reader when processing the loading task, and associate the loading task with the second target item, but is not limited to this.

Then, the relevant personnel can load the corresponding items into the second target item according to the loading task. For example, assuming the loading task is an instruction to load 10 dolls into the second target item, the relevant personnel and/or the robot arm can load 10 dolls into the second target item accordingly, but not limited thereto.

Next, in step S720, during the process of loading the item into the second target item, the control system 11 determines whether the weight of the second target item is about to exceed the weight threshold.

If so (e.g., loading one more item would cause the weight of the second target item to exceed the weight threshold), the control system 11 correspondingly performs execution step S730 to control the second transport robot to store the second target item in the multi-level warehouse structure 12 via a warehouse return process, and also introduces a third target item to support the loading task. On the other hand, in response to determining that the weight of the second target item is not yet likely to exceed the weight threshold, the control system 11 may perform execution step S740 to allow the loading of items to continue into the second target item and return to step S720, but is not limited to this.

In FIG. 4, in the process of transporting the second target item to the multi-level warehouse structure 12, the item moving robot first moves the second target item located at the loading work station 413 to the second transport robot located at the input point INB2 of the multi-level warehouse structure 12, and then the second transport robot transports the second target item to the corresponding item storage position, but this is not limited to this.

For example, if six dolls are already stored in the second target item, and the control system 11 determines that adding one more doll would cause the weight of the second target item to exceed the weight threshold, the control system 11 can transport and store the second target item in the three-dimensional warehouse structure 12 using the warehouse return process, and then introduce a new empty item (e.g., the third target item) to store the remaining four dolls, but is not limited to this.

In summary, the embodiments of the present invention provide a technical solution for moving target and/or obstructing items within a multi-level warehouse structure. Compared to known large automated warehouses, the method of the embodiments of the present invention has high flexibility since the embodiments of the present invention allow a transport robot to access and transport items (e.g. boxes and/or pallets) in a vertical lifting manner within the multi-level warehouse structure. This allows the multi-level warehouse structure to be located closer to the final consumer, thus significantly reducing the pick-up time of the goods.

As described above, this invention has been disclosed through embodiments, but of course, this is not intended to limit the invention. As a person skilled in the art can easily understand, appropriate changes and modifications can be made within the scope of the technical concept of this invention, and therefore the scope of patent protection must be determined based on the scope of the claims and equivalent areas.

The item transport method and multi-level warehouse system of the present invention can be applied to logistics and warehouse management.

10: Multi-level warehouse system 11: Control system 12: Multi-level warehouse structure 121, 122, 211, 212: Vertical warehouse structure 121a, 121b, 122a, 122b, 211a, 212a-212d: Item storage positions E121, E122, E211, E212: Entry/exit points RB, 299a, 299b: Transport robot 411: Sorting work station 412: Empty item station 413: Loading work station INB1, INB2: Entry point OUTB1, OUTB2: Exit point OB: Item S310-S330, S510-S550, S610-S670, S710-S740: Steps

Claims (17)

1. An article transport method suitable for a multi-level warehouse system including a control system and a multi-level warehouse structure including a first vertical warehouse structure, comprising:
Using the control system
determining whether an obstructing item for a first target item is stored in the first vertical storage structure in response to a first transport task for the first target item stored in the first vertical storage structure, the first transport task indicating transporting the first target item from a current location to a first target location, the first vertical storage structure including a plurality of first item storage locations arranged vertically, the current location of the first target item corresponding to one of the plurality of first item storage locations;
In response to a determination that the obstructing item is stored in the first vertical storage structure with respect to the first target item, at least one transport support robot is controlled to move to the bottom of the first vertical storage structure at the bottom of the multi-level storage structure, and then vertically climb to below the obstructing item in the first vertical storage structure , so that the at least one transport support robot picks up the obstructing item, and then vertically descends to the bottom of the first vertical storage structure in the first vertical storage structure to transfer the obstructing item from the first vertical storage structure;
In response to determining that no obstructing object exists for the first target item in the first vertical warehouse structure , controlling a first transport robot to move from the bottom of the multi-level warehouse structure to the bottom of the first vertical warehouse structure, and then to climb vertically to the current position in the first vertical warehouse structure, so that the first transport robot picks up the first target item, and then descends vertically to the bottom of the first vertical warehouse structure in the first vertical warehouse structure to transport the first target item to the first target position;
A method for transporting goods comprising : the first vertical storage structure has a first access point located at a bottom of the first vertical storage structure;
The method comprises:
The method of claim 1, further comprising determining that at least one item is stored in the plurality of first item storage locations between the current location of the first target item and the first entry/exit point, and determining that each of the items is an obstructing item with respect to the first target item in response to determining that at least one item is stored in the plurality of first item storage locations between the current location of the first target item and the first entry/exit point. the first vertical storage structure includes a first entry/exit point located at a bottom of the first vertical storage structure, and in response to determining that a plurality of the obstructing articles for the first target article are stored in the first vertical storage structure, controlling the at least one transport support robot to transfer the plurality of the obstructing articles from the first vertical storage structure;
(a) locating a particular obstructing article among each of said obstructing articles that is closest to said first entry/exit point;
(b) controlling the transport robot as one of the at least one transport support robots to move to the first entry/exit point at the bottom of the multi-level warehouse structure , and to climb vertically from the first entry/exit point to below the specific obstructing item within the first vertical warehouse structure , so that the transport robot picks up the specific obstructing item , and then descends vertically to the first entry/exit point in the first vertical warehouse structure to transfer the specific obstructing item from the first vertical warehouse structure ;
(c) controlling the transport robot to move the specific obstructing item to a second item storage location of the multi-level warehouse structure, the second item storage location belonging to a second vertical warehouse structure of the multi-level warehouse structure;
2. The method of claim 1, further comprising: (d) repeating steps (a) through (c) until all obstructing articles to said first target article are removed from said first vertical storage structure. The second vertical storage structure has a second access point located at a bottom of the second vertical storage structure, and step (c) comprises :
controlling the transport robot to move from the first entry/exit point of the first vertical storage structure to the second entry/exit point of the second vertical storage structure at the bottom of the multi-level storage structure ;
4. The method of claim 3, further comprising controlling the transport robot to climb vertically in the second vertical warehouse structure from the second entry/exit point to the second item storage location and secure the particular obstructing item to the second item storage location. Prior to the step of controlling the transport robot to move from the first entry/exit point of the first vertical storage structure to the second entry/exit point of the second vertical storage structure at the bottom of the multi-level storage structure , the method further comprises:
determining whether the second vertical storage structure is targeted;
responsive to determining that the second vertical warehousing structure is not targeted, controlling the transport robot to target the second vertical warehousing structure and move from the first entry/exit point of the first vertical warehousing structure to the second entry/exit point of the second vertical warehousing structure;
5. The method of claim 4, comprising controlling the transport robot to move from the first entry/exit point of the first vertical warehousing structure to the second entry/exit point of the second vertical warehousing structure in response to a determination that the second vertical warehousing structure has already been targeted. the first vertical warehouse structure has a first entry/exit point located at a bottom of the first vertical warehouse structure, and the step of controlling the first transport robot to move toward the current position and transport the first target item to the first target position includes:
moving to the first entry/exit point at the bottom of the multi-level warehouse structure , and controlling the first transport robot to vertically climb from the first entry/exit point to the current position of the first target item in the first vertical warehouse structure , thereby causing the first transport robot to pick up the first target item;
The method of claim 1 , further comprising controlling the first transport robot to move the first target item from the current location to a first target location. A step of controlling the first transport robot to transport the first target article from the current position to the first target position,
7. The method of claim 6, further comprising: controlling the first transport robot to descend vertically from the current position of the first target item to the first entry/exit point of the first vertical warehouse structure; and controlling the first transport robot to move from the first entry/exit point of the first vertical warehouse structure to the first target position. The method of claim 1 , wherein the first target location is an output point of the multi-storey warehouse structure. The first transport task corresponds to a sorting task, and the first transport robot is controlled to move to a bottom of the first vertical warehouse structure at a bottom of the multi-level warehouse structure, and then to vertically climb up to the current position in the first vertical warehouse structure, so that the first transport robot picks up the first target item, and then vertically descends to the bottom of the first vertical warehouse structure at the first vertical warehouse structure to transport the first target item to the first target position, and the method further comprises:
determining whether a sorting work station is available in response to determining that the first target article has been delivered to the first target location;
9. The method of claim 8, further comprising, in response to determining that the sorting work station is available, controlling an article moving robot to move the first target article from the first target location to the sorting work station. the first target item is an item storage item configured to store at least one item, and the method further comprises:
determining whether the first target item located at the sorting work station is empty after the sorting task is completed;
10. The method of claim 9, further comprising, in response to determining that the first target item is not empty, controlling a second transport robot via a warehouse return process to store the first target item in the multi-level warehouse structure. The warehouse return process,
Determining that the first target item is located at a third item storage location in the multi-level warehouse structure, the third item storage location belonging to a third vertical warehouse structure in the multi-level warehouse structure, and a third entry/exit point at the bottom of the third vertical warehouse structure;
controlling the second transport robot to move to an input point of the multi-level warehouse structure, and controlling the item moving robot to move the first target item from the sorting work station onto the second transport robot located at the input point;
controlling the second transport robot to move from a front entry point of the multi-level warehouse structure to the third entry/exit point of the third vertical warehouse structure;
11. The method of claim 10, further comprising controlling the second transport robot to climb vertically in the third vertical warehouse structure to the third item storage location and secure the first target item at the third item storage location. Before the step of controlling the second transport robot to move from a front entry point of the multi-level warehouse structure to the third entry/exit point of the third vertical warehouse structure, the method further comprises:
determining whether the third vertical storage structure is targeted;
in response to a determination that the third vertical warehouse structure is not the target, defining the third vertical warehouse structure as the target and controlling the second transport robot to move from a front entry point of the multi-level warehouse structure to the third entry/exit point of the third vertical warehouse structure;
12. The method of claim 11, comprising controlling the second transport robot to move from a front entry/exit point of the multi-level warehouse structure to the third entry/exit point of the third vertical warehouse structure in response to a determination that the third vertical warehouse structure is targeted. After the step of securing the first target item at the third item storage location, the method further comprises:
The method of claim 11 , further comprising: the second transport robot vertically descending to the third entry/exit point of the third vertical warehousing structure and clearing the third vertical warehousing structure. The method of claim 10, further comprising: in response to determining that the first target item is empty, controlling the item moving robot to move the first target item onto a third transport robot and controlling the third transport robot to transport the first target item to an empty item station. The first target item is an item storage item that stores at least one item, and the first transport task corresponds to an inspection task, and the method further comprises:
10. The method of claim 9, further comprising controlling a second transport robot to store the first target item in the multi-level warehouse structure through a warehouse return process in response to a determination that the at least one item stored in the first target item is correct upon inspection. obtaining a loading task and associating the loading task with a second target item, the second target item being an item storage item and being initially empty, and indicating that the loading task is to load at least one item into the second target item;
determining whether a weight of the second target item is about to exceed a weight threshold during the loading of the at least one item into the second target item;
in response to determining that the weight of the second target article is not yet likely to exceed the weight threshold, allowing the loading of the at least one item into the second target article to continue.
and controlling a second transport robot to store the second target item in a third item storage location belonging to a third vertical warehouse structure in the multi-storey warehouse structure of the multi-storey warehouse structure through a warehouse return process in response to determining that the weight of the second target item will soon exceed the weight threshold value , and introducing a third target item to support the loading task ;
The method of claim 1 , wherein the warehouse return process includes controlling the second transport robot to vertically climb to the third item storage location in the third vertical warehouse structure and secure the second target item at the third item storage location . a multi-level warehouse structure including a first vertical warehouse structure including a plurality of first item storage locations arranged vertically;
a control system;
The control system comprises:
determining whether an obstructing item for the first target item is stored in the first vertical storage structure in response to a first transport task for a first target item stored in the first vertical storage structure, the first transport task indicating that the first target item is to be transported from a current location to a first target location, and the current location of the first target item corresponds to one of the plurality of first item storage locations;
In response to a determination that the obstructing item for the first target item is stored in the first vertical storage structure, at least one transport support robot is controlled to move to the bottom of the first vertical storage structure at the bottom of the multi-level storage structure, and then to climb vertically to below the obstructing item in the first vertical storage structure , so that the at least one transport support robot picks up the obstructing item, and then vertically descends to the bottom of the first vertical storage structure in the first vertical storage structure to transfer the obstructing item from the first vertical storage structure;
in response to a determination that there is no obstructing object for the first target object in the first vertical storage structure , a first transport robot is controlled to move to the bottom of the first vertical storage structure at the bottom of the multi-level storage structure, and then to vertically climb up to the current position in the first vertical storage structure, so that the first transport robot picks up the first target object, and then vertically descends to the bottom of the first vertical storage structure in the first vertical storage structure to transport the first target object to the first target position;
Multi-level warehouse system.

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