US 12,221,282 B2
Warehousing apparatus and system and control method
Xinhao Wang, Shanghai (CN); Dan Tang, Shanghai (CN); Yangwei Zou, Shanghai (CN); Yundi He, Shanghai (CN); and Wei Yang, Shanghai (CN)
Assigned to SHANGHAI QUICKTRON INTELLIGENT TECHNOLOGY CO., LTD, Shanghai (CN)
Filed by SHANGHAI QUICKTRON INTELLIGENT TECHNOLOGY CO., LTD, Shanghai (CN)
Filed on Apr. 4, 2023, as Appl. No. 18/295,508.
Application 18/295,508 is a continuation of application No. 17/878,577, filed on Aug. 1, 2022, granted, now 11,702,288.
Application 17/878,577 is a continuation of application No. PCT/CN2021/070888, filed on Jan. 8, 2021.
Claims priority of application No. 202010231545.9 (CN), filed on Mar. 27, 2020; application No. 202010231552.9 (CN), filed on Mar. 27, 2020; application No. 202010232310.1 (CN), filed on Mar. 27, 2020; application No. 202021892576.0 (CN), filed on Sep. 2, 2020; and application No. 202022292766.5 (CN), filed on Oct. 15, 2020.
Prior Publication US 2023/0242343 A1, Aug. 3, 2023
Int. Cl. G06F 7/00 (2006.01); B65G 1/04 (2006.01); B65G 1/137 (2006.01)
CPC B65G 1/1375 (2013.01) [B65G 1/0471 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A warehousing apparatus, comprising:
at least one temporary storage layer board, wherein the at least one temporary storage layer board is used to provide a temporary storage position;
at least one shelf, wherein the at least one shelf comprises at least one storage layer board and a plurality of columns spaced apart in a horizontal direction, the at least one storage layer board is used to provide a storage position, and the at least one storage layer board is arranged spaced above or below the at least one temporary storage layer board in a vertical direction between the plurality of columns;
a first robot channel for a first robot to drive, wherein the first robot is used to access cargo on the at least one temporary storage layer board; and
a second robot channel for a second robot to drive, wherein the second robot is used to transfer the cargo between the at least one temporary storage layer board and the at least one storage layer board;
wherein the warehousing apparatus further comprises a docking platform, wherein the first robot channel comprises a fifth driving channel, the fifth driving channel is located between the docking platform and the at least one shelf, and
wherein the at least one temporary storage layer board comprises a first cross beam arranged along a horizontal direction and a plurality of temporary storage members arranged at an interval on an inner side of the first cross beam; each of two ends of the first cross beam is fixed to a column; each of the temporary storage members comprises two support arms and a furcal groove formed between the two support arms, and the furcal groove is used to cooperate with a furcal arm of the first robot to access the cargo.
 
14. An in-warehouse control method for storing cargo, comprising:
determining a target temporary storage position according to a target storage position of a target cargo;
instructing a first robot to transfer the target cargo to the target temporary storage position; and
when a warehousing apparatus receives a transfer completion signal sent by the first robot, instructing a second robot to transfer the target cargo from the target temporary storage position to the target storage position;
wherein the determining the target temporary storage position according to the target storage position of the target cargo, comprises:
determining a first idle temporary storage position closest to the target storage position;
instructing the first robot to drive toward the first idle temporary storage position; and
during a driving process of the first robot, updating an occupancy status of each of temporary storage positions based on a preset time interval.