WO2022206375A1 - 物料输送方法及设备 - Google Patents

物料输送方法及设备 Download PDF

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Publication number
WO2022206375A1
WO2022206375A1 PCT/CN2022/081006 CN2022081006W WO2022206375A1 WO 2022206375 A1 WO2022206375 A1 WO 2022206375A1 CN 2022081006 W CN2022081006 W CN 2022081006W WO 2022206375 A1 WO2022206375 A1 WO 2022206375A1
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WO
WIPO (PCT)
Prior art keywords
layer
pick
storage
storage layer
pickup
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/081006
Other languages
English (en)
French (fr)
Inventor
周红霞
朱开磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hai Robotics Co Ltd
Shenzhen Kubo Software Co Ltd
Original Assignee
Hai Robotics Co Ltd
Shenzhen Kubo Software Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hai Robotics Co Ltd, Shenzhen Kubo Software Co Ltd filed Critical Hai Robotics Co Ltd
Priority to JP2023560747A priority Critical patent/JP7642856B2/ja
Priority to EP22778558.1A priority patent/EP4299476A4/en
Publication of WO2022206375A1 publication Critical patent/WO2022206375A1/zh
Priority to US18/475,897 priority patent/US20240017942A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/005—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/023—Arrangements of article supporting rollers on racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads

Definitions

  • the embodiments of the present application relate to the technical field of material handling, and in particular, to a material conveying method and equipment.
  • Robots can replace manual handling of materials and play an important role in intelligent warehousing.
  • the robot can place the material on the conveyor and transport it to the workstation through the conveyor.
  • the operator at the workstation sorts the material.
  • the conveyor transfers the sorted material from the workstation to the pick-up location, and the robot picks up the material from the pick-up location. .
  • Embodiments of the present application provide a material conveying method and device, so as to shorten the moving distance of a pick-and-place device on a robot.
  • an embodiment of the present application provides a material conveying method, which is applied to an unloading device.
  • the unloading device includes: a robot and a conveyor, and the robot includes at least one picking and placing device and at least two layers of first storage.
  • a cargo layer the conveyor includes a delivery transmission layer and a delivery transmission layer arranged in parallel up and down;
  • the method includes:
  • the pick-and-place device When there are materials obtained from the pickup and delivery layer on the pick-and-place device, the pick-and-place device is controlled to put the materials into the free storage that the pick-and-place device first arrives in the moving process. cargo layer.
  • the method further includes:
  • the pick-and-place transport layer When there is no material on the pick-and-place device, there is at least one free storage layer in the at least two first storage layers, and there is material on the pick-and-place transport layer, control the pick and place The cargo device picks up the material from the pick-up transport layer.
  • the method further includes:
  • the pick-and-place device When there is no material on the pick-and-place device, the pick-and-place device is controlled to pick up materials from the target material layer first reached in the moving process, and the target material layer is the first storage layer or the Pickup transport layer.
  • controlling the pick-and-place device to pick up materials from the target material layer that first arrives in the moving process including:
  • control the first storage that the pick-and-place device first arrives in the moving process Take the material from the layer.
  • the method further includes:
  • the pick-and-place device When there are materials obtained from the first storage layer on the pick-and-place device, the pick-and-place device is controlled to put the materials into the delivery transmission layer.
  • the storage layer that the pick-and-place device reaches for the first time during the moving process is the accessible storage layer, and there are materials to be picked up on the accessible storage layer.
  • controlling the movement of the pick-and-place device along a vertical direction to the delivery transport layer and the pickup transport layer includes:
  • Controlling the pick-and-place device to alternately move along a first vertical direction and a second vertical direction includes: moving from a starting storage layer to an ending storage layer, the moving along the second vertical direction
  • the moving includes: moving from the ending storage layer to the starting storage layer; in an initial state, the starting storage layer and the ending storage layer are respectively in at least two first storage layers the top and bottom layers;
  • the starting storage layer and the ending storage layer are respectively updated to the uppermost layer and the lowermost layer in the accessible storage layers, and the There are items to be picked up on the pickup storage level.
  • a cache shelf is also provided next to the conveyor, and at least one second storage layer is provided on the cache shelf, and the second storage layer is used for placing and taking out the goods from the pickup transmission layer. 's material.
  • the method further includes:
  • control the pickup When there are materials on the pickup transmission layer, and there is no idle storage layer in the at least two first storage layers, and there is an idle storage layer in the second storage layer, control the pickup The delivery device picks up the material from the picking and transporting layer, and puts it into the free storage layer in the second storage layer.
  • the method further includes:
  • control the pickup takes the material from the second storage layer and puts it into the free storage layer in the first storage layer.
  • the method further includes:
  • the pickup and placement device is controlled to pick up the materials from the pickup and transport layer, and put them in into a free storage layer in the first storage layer.
  • an embodiment of the present application provides an unloading device, including: a robot, a conveyor, and a controller, the robot includes at least one picking and placing device and at least two first storage layers, and the conveyor includes The delivery transmission layer and the delivery transmission layer are arranged in parallel up and down;
  • the controller is used to control the pick-and-place device to move along the vertical direction of the delivery transport layer and the pick-up transport layer, and, on the pick-and-place device, there is a transport from the pick-and-place device
  • the pick-and-place device is controlled to put the material into the free storage floor that first arrives during the movement of the pick-and-place device.
  • controller is also used for:
  • the pick-and-place transport layer When there is no material on the pick-and-place device, there is at least one free storage layer in the at least two first storage layers, and there is material on the pick-and-place transport layer, control the pick and place The cargo device picks up the material from the pick-up transport layer.
  • controller is also used for:
  • the pick-and-place device When there is no material on the pick-and-place device, the pick-and-place device is controlled to pick up materials from the target material layer first reached in the moving process, and the target material layer is the first storage layer or the Pickup transport layer.
  • the controller is further configured to:
  • control the first storage that the pick-and-place device first arrives in the moving process Take the material from the layer.
  • controller is also used for:
  • the pick-and-place device When there are materials obtained from the first storage layer on the pick-and-place device, the pick-and-place device is controlled to put the materials into the delivery transmission layer.
  • the storage layer that the pick-and-place device reaches for the first time during the moving process is the accessible storage layer, and there are materials to be picked up on the accessible storage layer.
  • controller is also used for:
  • Controlling the pick-and-place device to alternately move along a first vertical direction and a second vertical direction includes: moving from a starting storage layer to an ending storage layer, the moving along the second vertical direction
  • the moving includes: moving from the ending storage layer to the starting storage layer; in an initial state, the starting storage layer and the ending storage layer are respectively in at least two first storage layers the top and bottom layers;
  • the starting storage layer and the ending storage layer are respectively updated to the uppermost layer and the lowermost layer in the accessible storage layers, and the There are items to be picked up on the pickup storage level.
  • a cache shelf is also provided next to the conveyor, and at least one second storage layer is provided on the cache shelf, and the second storage layer is used for placing and taking out the goods from the pickup transmission layer. 's material.
  • controller is also used for:
  • control the pickup When there are materials on the pickup transmission layer, and there is no idle storage layer in the at least two first storage layers, and there is an idle storage layer in the second storage layer, control the pickup The delivery device picks up the material from the picking and transporting layer, and puts it into the free storage layer in the second storage layer.
  • controller is also used for:
  • control the pickup takes the material from the second storage layer and puts it into the free storage layer in the first storage layer.
  • controller is also used for:
  • the pickup and placement device is controlled to pick up the materials from the pickup and transport layer, and put them in into a free storage layer in the first storage layer.
  • embodiments of the present application provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, a computing device is enabled to implement the first aspect the method described.
  • a computer program for implementing the method according to the first aspect.
  • the material conveying method and device provided by the embodiments of the present application are applied to unloading equipment including a robot and a conveyor.
  • the robot includes at least one picking and placing device and at least two layers of first storage layers, and the conveyor includes an upper and lower parallel arrangement.
  • the pick-and-place device can be controlled to move in the vertical direction to the delivery transport layer and the pick-up transport layer; when there are materials obtained from the pick-up transport layer on the pick-and-place device, the pick-and-place device is controlled to The material is placed into the free storage floor where the pick-and-place device first arrives during the movement.
  • the robot After the robot has finished placing the goods on the first storage layer, it immediately leaves the conveyor or waits for a period of time to leave. In this way, there may be free layers in the first storage layer, and materials will not occupy all the first storage layers.
  • the pick-and-place device puts the material into the free storage floor that is reached for the first time during the moving process, and can try to put the material into the first storage layer that can be reached by the pick-and-place device by moving a small distance.
  • the storage layer that can only be reached by moving the pick-and-place device for a large distance is idle, which helps to reduce the moving distance of the pick-and-place device.
  • Fig. 1 exemplarily shows a side view of the unloading device provided by the embodiment of the present application
  • FIG. 2 exemplarily shows a top view of the robot in the unloading device provided by the embodiment of the present application
  • FIG. 3 exemplarily shows a top view of the conveyor in the unloading device provided by the embodiment of the present application
  • FIG. 4 exemplarily shows a top view of the pick-and-place device of the robot provided by the embodiment of the present application
  • FIG. 5 exemplarily shows a top view of a connecting device in a conveyor provided by an embodiment of the present application
  • Figures 6 and 7 exemplarily show the side views of the connection device in Figure 5 in two states
  • FIG. 8 exemplarily shows a top view of another connection device in the conveyor provided by the embodiment of the present application.
  • Figures 9 and 10 exemplarily show side views of the connection device in Figure 8 in two states
  • FIG. 11 exemplarily shows a flow chart of steps of a material conveying method provided by an embodiment of the present application.
  • Materials can include, but are not limited to: cargo and totes. Materials are usually stored on several levels of shelves in a warehouse. When it needs to be shipped from the warehouse, the robot can take the material from the warehouse shelf and put it on the conveyor. The conveyor can transfer the material to the workbench, so that the workbench can pick the material, the selected material is the material to be shipped, and the remaining material can be transferred to the robot by the conveyor, so that the robot can put it back into the warehouse. on the shelf.
  • the embodiments of the present application provide a material conveying method and equipment, which can enable a pick-and-place device to put materials into an idle storage floor that first arrives during the movement process. After the robot has finished placing the goods on the first storage layer, it immediately leaves the conveyor or waits for a period of time to leave. In this way, there may be free layers in the first storage layer, and materials will not occupy all the first storage layers.
  • the pick-and-place device puts the material into the free storage floor that is reached for the first time during the moving process, and can try to put the material into the first storage layer that can be reached by the pick-and-place device by moving a small distance.
  • the storage layer that can only be reached by moving the pick-and-place device for a large distance is idle, which helps to reduce the moving distance of the pick-and-place device.
  • the material conveying method provided by the embodiment of the present application can be applied to the unloading equipment.
  • FIG. 1 exemplarily shows a side view of the unloading device provided by the embodiment of the present application
  • FIG. 2 exemplarily shows the top view of the robot 102 in the unloading device provided by the embodiment of the present application
  • FIG. 3 exemplarily shows the A top view of the conveyor 101 in the unloading device provided in the embodiment of the present application.
  • FIG. 1 for the convenience of illustration, there is a certain distance between the conveyor 101 and the robot 102. In practical applications, when the two transport materials 103, the distance is less than a preset threshold to prevent the material 103 from slipping between the two.
  • the unloading equipment includes: a conveyor 101 and a robot 102, the conveyor 101 includes a delivery transport layer 1011 and a pickup transport layer 1012 arranged in parallel up and down, and the robot 102 includes at least one pick-and-place device 1023 and at least two first storage layers 1024.
  • the robot 102 also has a chassis 1025 for moving the robot 102 .
  • FIG. 1 also exemplarily shows a support frame 1022 for supporting the first storage layer 1024, a support frame 1021 for supporting the pick-and-place device 1023, and a support frame for the pick-up transport layer 1012 and the delivery transport layer Support rod 1010 of 1011.
  • the support frame 1021 is located around the pick-and-place device 1023
  • the support frame 1022 is located around the first storage layer 1024 .
  • the support frame 1010 is located around the delivery transport layer 1011 and the delivery transport layer 1012 .
  • the support frame 1021 can be prevented from affecting the picking and placing of the materials 103 on the pick-and-place device 1023
  • the support frame 1022 can be prevented from affecting the picking and placing of the materials 103 on the first storage layer 1024
  • the support frame 1010 can be prevented from affecting the delivery transmission layer 1011 and the picking and placing.
  • Picking and placing of materials 103 on the cargo transport layer 1012
  • the positions and quantities of the support frame 1010 , the support frame 1021 and the support frame 1022 can be set flexibly, as long as the picking and placing of the material 103 is not affected.
  • the pick-and-place device 1023 can move along the first direction of the support frame 1021, and the first direction is perpendicular to the delivery transport layer 1011 and the pick-up transport layer 1012; Put into the delivery transport layer 1011 , or put the materials in the pickup transport layer 1012 into the first storage layer 1024 .
  • FIG. 1 exemplarily shows four first storage layers 1024. In practical applications, the number of the first storage layers 1024 can be flexibly changed, which is not limited in this embodiment of the present application.
  • a transfer mechanism 10231 may be provided on the pick-and-place device 1023 , and a transfer mechanism 10241 may be provided on the first storage layer 1024 .
  • the transfer mechanism 10231 and the transfer mechanism 10241 are used to transfer the material 103 by rotation.
  • the pick-and-place device 1023 can also be as shown in FIG. 4 .
  • the pick-and-place device 1023 includes a pallet 10232 , a telescopic arm 10233 , a fixed push rod 10234 and a movable push rod 10235 .
  • the support plate 10232 is used for placing the material 103, and the support plate 10232 can be a flat plate arranged horizontally.
  • the telescopic arm 10233 can be extended or retracted.
  • the movable push rod 10235 receives the inner side of the telescopic arm 10233, and the fixed push rod 10234 extends along with it to push the material 103 out of the pallet 10232.
  • the fixed push rod 10234 is retracted together, the movable push rod 10235 is opened to be perpendicular to the telescopic arm 10233, and the movable push rod 10235 pulls the material 103 onto the pallet 10232.
  • the structure of the picking and placing device may be selected according to the actual application scenario, which is not limited in this application. It can also be seen from FIG. 3 that there is a transfer mechanism 10111 on the delivery transport layer 1011 for transporting the material 103 through rotation. It can be understood that when the pickup transport layer 1012 is located above the delivery transport layer 1011, the top view shown in FIG. 3 shows the structure of the pickup transport layer 1012, the structure of the pickup transport layer 1012 and the delivery transport layer. The structure of the layer 1011 is the same, and details are not repeated here.
  • the material 103 is conveyed at the same speed by the picking and placing device 1023 , the first storage layer 1024 , the placing transport layer 1011 , and the pickup transport layer 1012 .
  • the pick-and-place device 1023 , the first storage layer 1024 , the delivery transport layer 1011 , and the delivery transport layer 1012 have the same transmission speed for the material 103 , and the pick-and-place device 1023 can be respectively connected with the first storage layer 1024 , the delivery layer 1024 , and the delivery device 1023
  • the transport layer 1011 and the pickup transport layer 1012 transmit the material 103, the material 103 is prevented from being turned over due to different rotation speeds.
  • the conveyor 101 in the above-mentioned unloading equipment is used to transfer the received materials 103 to the workstation, and after the workstation is selected, the remaining materials 103 are transferred out.
  • the material 103 received by the conveyor 101 may be placed by the robot 102 or the unloader, and the conveyor 101 may transfer the remaining material 103 to the robot 102 or the unloader.
  • the first end of the delivery transmission layer 1011 of the conveyor 101 is used to place the material 103, the first end of the delivery transmission layer 1012 is used to pick up the material 103, and the delivery transmission layer 1011 is used to transfer the material 103 from the delivery to the delivery.
  • the first end of the layer 1011 is transported to the second end of the release transport layer 1011 , and the pickup transport layer 1012 is used to transport the material 103 from the second end of the pickup transport layer 1012 to the first end of the pickup transport layer 1012 .
  • the above-mentioned conveyor 101 also includes a connecting device 1013 for transferring the material 103 from the second end of the delivery transport layer 1011 to the second end of the pickup transport layer 1012 .
  • FIG. 5 exemplarily shows a top view of a connection device 1013 in the conveyor 101 provided by the embodiment of the present application
  • FIGS. 6 and 7 exemplarily show the connection device 1013 corresponding to FIG. 5 in two connection states. side view.
  • the above-mentioned connecting device 1013 includes: a third storage layer 10131, a transfer mechanism 10132 and a rotating fixing device 10133.
  • the first end of the third storage layer 10131 is fixedly connected to the rotating fixing device 10133, and the third storage layer 10131
  • the cargo layer 10131 moves between the second end of the delivery transport layer 1011 and the second end of the pickup transport layer 1012 ; the transfer mechanism 10132 is arranged on the third storage layer 10131 for transporting the material 103 .
  • the second end of the third storage layer 10131 is connected to the second end of the delivery transmission layer 1011 .
  • the second end of the third storage layer 10131 is connected to the delivery transmission layer 1012 the second end of the connection.
  • the material 103 can be placed on the transfer mechanism 10132 to transfer the material 103 through the rotation of the transfer mechanism 10132 .
  • the direction of rotation of the transfer mechanism 10132 can be changed.
  • the rotation fixing device 10133 can be used to fix the first end of the third storage layer 10131 so that the first end cannot move, and the third storage layer 10131 can be around the rotation fixing device 10133 and perpendicular to the direction of the third storage layer 10131 rotate.
  • the second end of the third storage layer 10131 will move along with it, so as to be between the second end of the pickup transport layer 1012 and the second end of the delivery transport layer 1011 switch. That is, the second end of the third storage layer 10131 can be docked with the second end of the pickup transport layer 1012 , and can also be switched to be connected to the second end of the delivery transport layer 1011 , and can also be switched to be connected to the pickup transport layer again.
  • the second end of the transport layer 1012 is connected.
  • a baffle 10134 may also be provided at the first end of the third storage layer 10131 .
  • the third storage layer 10131 moves between the second end of the delivery transport layer 1011 and the second end of the pickup transport layer 1012 under the action of its own elastic force and the gravity of the material 103 thereon.
  • the second end of the third storage layer 10131 is connected to the second end of the delivery transmission layer 1011 .
  • the gravity of the material 103 lowers the second end of the third storage level 10131 to connect with the second end of the pickup transport level 1012.
  • the second end of the third storage layer 10131 returns to the second end of the release transport layer 1011 again. so cycle.
  • the embodiment of the present application can realize the movement of the second end of the third storage layer 10131 through its own elastic force and the gravity of the material 103 , avoid using other control structures or components, and help simplify the structure of the third storage layer 10131 .
  • the above-mentioned connecting device 1013 includes, in addition to the third storage layer 10131, the transfer mechanism 10132 and the rotary fixing device 10133, a second controller and a material quantity detection device, which is used to detect The amount of materials on the third storage layer 10131, the second controller is used to control the second The end is connected to the second end of the pickup transmission layer 1012, or, when the material amount on the third storage layer 10131 is less than the preset material amount threshold, the second end of the third storage layer 10131 is controlled to be connected to the delivery transmission layer. The second end of 1011 is connected.
  • the material amount may be the weight of the material 103 or the quantity of the material 103, and accordingly, the material amount detection device may be a pressure sensor or an image acquisition device.
  • the pressure sensor can be arranged at the bottom of the third storage layer 10131 to detect the pressure of the material 103 on the third storage layer 10131 to the third storage layer 10131 , and the pressure is the weight of the material 103 .
  • the image capturing device faces the third storage layer 10131 to capture the image of the material 103 on the third storage layer 10131 , and identify the quantity of the material 103 from the image of the material 103 .
  • the above-mentioned material quantity detection device is electrically connected to the second controller, so as to send the material quantity to the second controller, and the second controller can control the movement of the third storage layer 10131 according to the material quantity.
  • the material quantity detection device is an image acquisition device
  • the image acquisition device can also send the image of the material 103 to the second controller, so that the second controller can recognize the quantity of the material 103 and control the third storage layer 10131 moves.
  • the above-mentioned connecting device 1013 includes, in addition to the third storage layer 10131 , the transfer mechanism 10132 and the rotation fixing device 10133 , a second controller for controlling the second end of the third storage layer 10131 It is alternately connected with the second end of the pickup transport layer 1012 and the second end of the delivery transport layer 1011 in a preset time period, respectively.
  • the preset time period may be determined according to the transmission speed of the delivery transmission layer 1012 and the delivery transmission layer 1011 .
  • the preset time period can be set to be small; when the transmission speed is low, the preset time period can be set to be large.
  • the transmission speed and the length of the third storage layer 10131 can also be determined.
  • the transmission speed is fixed, if the length of the third storage layer 10131 is larger, the preset time period can be set larger, and if the length of the third storage layer 10131 is smaller, the preset time period can be set smaller.
  • the functional relationship between the preset time period, the transmission speed, and the length of the third storage layer 10131 can be constructed based on experience.
  • the functional relationship may be a linear function, which may be a linear function of the ratio of the length of the third storage layer 10131 to the transmission speed.
  • the second end of the third storage layer 10131 may alternate with the second end of the pickup transport layer 1012 and the second end of the delivery transport layer 1011 respectively according to the preset time period connect.
  • the preset time period is 1 minute
  • the second end of the third storage layer 10131 may be connected to the second end of the pickup transport layer 1012 within the first minute
  • the third storage layer may be connected within the second minute.
  • the second end of the cargo layer 10131 is connected to the second end of the delivery transport layer 1011
  • the second end of the third storage layer 10131 is connected to the second end of the take-out transport layer 1012 within the third minute, and the cycle is repeated.
  • the transmission direction of the third storage layer 10131 is away from the pickup and transport. layer 1012 so that the material 103 is transferred from the pickup transfer layer 1012 to the third storage layer 10131 .
  • the transmission direction of the third storage layer 10131 is toward the delivery transmission layer 1011, so that the material 103 can be transferred from the third storage layer to the delivery transmission layer 1011. 10131 is transmitted to the release transport layer 1011.
  • the second controller can be electrically connected with the rotation fixing device 10133, so that the rotation fixing device 10133 rotates the third storage layer 10131, and the rotation direction and angle are preset of.
  • FIG. 8 exemplarily shows a top view of another connection device 1013 in the conveyor 101 provided in the embodiment of the present application
  • FIGS. 9 and 10 exemplarily show the connection device 1013 corresponding to FIG. 8 in two states. side view.
  • the connecting device 1013 in FIGS. 8 to 10 is a lift.
  • the elevator includes: four support frames 10136 , a fourth storage layer 10135 arranged on the support frames 10136 , and a transfer mechanism 10137 provided on the fourth storage layer 10135 , and the transfer mechanism 10137 can be rotated by rotating Material 103 is transported.
  • the fourth storage layer 10135 can slide up and down along the support frame 10136 . In the process of sliding up and down, it can be docked with the second end of the delivery transmission layer 1011 or the second end of the delivery transmission layer 1012 .
  • the second end of the fourth storage layer 10135 is butted with the second end of the pickup transport layer 1012
  • the second end of the fourth storage layer 10135 is connected to the second end of the delivery transport layer 1011 . Two-end docking.
  • the material 103 is obtained from the second end of the delivery transmission layer 1011, and then the elevator slides down to dock with the second end of the delivery transmission layer 1012, so as to Put the material 103 into the second end of the pick-up transmission layer 1012, and then the elevator slides up again to dock with the second end of the delivery transmission layer 1011 to obtain the material 103 from the second end of the delivery transmission layer 1011 again, so cycle.
  • the delivery transport layer 1011 shown in FIG. 9 or FIG. 10 is located above the pickup transport layer 1012 . In practical applications, the delivery transport layer 1011 may also be located below the pickup transport layer 1012 .
  • FIG. 11 exemplarily shows a flow chart of steps of a material conveying method provided by an embodiment of the present application.
  • the method includes:
  • S201 Control the pick-and-place device to move in a vertical direction to the delivery transport layer and the pick-up transport layer.
  • the vertical direction includes the direction from the delivery transmission layer to the delivery transmission layer, and the direction from the delivery transmission layer to the delivery transmission layer.
  • the pick-and-place device moves along a support rod where the pick-and-place device is located, and the support rod is perpendicular to the pick-up and delivery transport layer and the delivery transport layer. It can be seen that the vertical direction is the aforementioned first direction, and the vertical direction includes a first vertical direction and a second vertical direction. Since the delivery transport layer and the delivery transport layer are arranged in parallel up and down, the first vertical direction and the second vertical direction are upward and downward respectively.
  • the pick-and-place device can be controlled to alternately move along the first vertical direction and the second vertical direction, and the moving along the first vertical direction includes: moving from the starting storage layer to the ending storage layer, moving along the second vertical direction Including: moving from the ending storage layer to the starting storage layer; in the initial state, the starting storage layer and the ending storage layer are respectively the uppermost layer and the lowermost layer in the at least two first storage layers; in which After the material is placed in the first storage layer of one layer, the starting storage layer and the ending storage layer are respectively updated to the uppermost and lowermost layers in the accessible storage layer, and there are materials to be picked up on the accessible storage layer.
  • the first storage layer cannot place materials, nor can they take materials, so that the pick-and-place device can be controlled to no longer move to the first storage layer.
  • materials are usually put into successive first storage layers, so that after each material is put into one of the first storage layers, the starting storage layer and the ending storage layer can be updated. cargo layer.
  • the starting storage layer and the ending storage layer are respectively the highest layer and the lowest layer that can take and place materials in the first storage layer.
  • the pick-and-place unit can be switched between up and down.
  • a pick-and-place device can be cyclically moved as follows: move up a distance - move down a distance - ... - move up a distance.
  • the idle storage layer is the first storage layer in an idle state, and the idle storage layer may be the first storage layer in which the material has not been placed, or the first storage layer in which the material has been taken away.
  • control the pick-and-place device from the pick-and-place device when there is no material on the pick-and-place device, and there is at least one free storage layer in the at least two first storage layers, and there is material on the pick-and-place transport layer, control the pick-and-place device from the pick-and-place device. Pick up materials on the cargo transport layer.
  • the delivery transport layer can transmit materials to the workstation, and the workstation is used to sort the materials, and the sorted materials are continued to be transported by the pickup transport layer.
  • the material on the pickup and transport layer cannot be taken away in time, it will cause material accumulation on the pickup and transport layer. In this way, the sorted materials cannot continue to be transferred to the pickup transport layer, which affects the material sorting progress.
  • the goods when there are materials on the pickup and transport layer, as long as there is no material on the pickup and release device and there is an idle storage layer in the first storage layer, the goods can be preferentially picked up from the pickup and transport layer. In this way, material accumulation on the pick-up transport layer can be avoided, thereby avoiding the impact on the material sorting progress.
  • the amount of material on the pickup and delivery layer can be detected. If the material quantity exceeds the preset material quantity threshold, the pick-and-place device can be controlled to pick up materials from the pick-up transmission layer. If the material quantity does not exceed the preset material quantity threshold, the pick-and-place device can be controlled to pick up materials from the pick-up transmission layer or from the first storage layer.
  • the pick-and-place device is controlled to pick up materials from a target material layer first reached in the moving process, where the target material layer is the first storage layer or the pick-up transmission layer.
  • the pick-and-place device can be used to pick up materials when there is no material on the pick-and-place device. Specifically, materials can be taken from the first storage layer and placed on the delivery transport layer, or materials can be taken from the pickup transport layer and placed on the first storage layer. In the embodiment of the present application, in order to further shorten the moving distance of the pick-and-place device, the pick-and-place device can be controlled to pick up materials from the target material layer that arrives for the first time in the moving process.
  • the pick-and-place device is controlled from the first storage layer that arrives for the first time during the movement process. Take material.
  • the picking and placing device can be controlled to preferentially take materials from the first storage layer, and after picking up the materials, it will be judged whether the storage space of the delivery transmission layer is free. Put the fetched material on the delivery transmission layer. If there is material on the delivery position of the delivery transmission layer, it will be judged at a certain interval until the fetched material is placed on the delivery transmission layer.
  • the pick-and-place device is controlled to put the materials into the delivery transport layer.
  • the storage layer that the pick-and-place device reaches for the first time during the movement process is the accessible storage layer, and there are materials to be picked up on the accessible storage layer.
  • the material to be picked up is the material that needs to be placed on the delivery transport layer, which needs to be distinguished from the material taken from the pickup transport layer, and the material taken from the pickup transport layer is put into the first storage. After the level, the material can no longer be taken out of the first storage level.
  • a buffer rack is also provided beside the conveyor, and at least one second storage layer is arranged on the buffer rack, and the second storage layer is used to place the materials taken out from the pickup and transmission layer.
  • the robot can use the pick-and-place device to pick up the materials from the pick-up transmission layer of the conveyor and put them on the second storage layer of the cache shelf.
  • the material is placed in the first storage level.
  • a transfer mechanism may also be provided on the second storage layer to transfer materials.
  • the pick-and-place device can push the material onto the second storage layer or pull the material from the second storage layer, the second storage layer may not be provided with a transfer mechanism.
  • the materials on the pickup transport layer can be placed on the cache rack, which helps to avoid the accumulation of materials on the pickup transport layer, thereby avoiding the impact on material sorting.
  • the pickup and release device is controlled from The material is picked up on the pickup transport layer and placed in the free storage layer in the second storage layer.
  • the pick-and-place device cannot put the materials on the pick-up transmission layer into the first storage layer.
  • the robot can first pick up the material from the pickup transmission layer and put it into the idle storage layer in the second storage layer. After that, the robot can put the materials in the first storage layer into the delivery transmission layer. After there is a free storage layer in the first storage layer, the robot can take the materials from the pickup transmission layer and put them into the first storage layer. in the free storage floor.
  • the material on the pickup transport layer can be detected. If the material on the pickup transport layer exceeds the preset material quantity threshold, and there is an idle storage deck in the second storage deck, the pickup and release device will be controlled to pick up the material from the pickup transport deck and put it into the second storage deck In the free storage layer in the layer. If the material on the pickup and transport layer does not exceed the preset material quantity threshold, the pickup and release device can be controlled to pick up the material from the pickup and transport layer and put it into the free storage layer in the second storage layer, or, Take the material from the first storage layer and put it into the release transport layer.
  • control the pick-and-place device from The materials are taken from the second storage layer and put into the free storage layer in the first storage layer.
  • the pickup and release device When there are materials on the pickup and transmission layer, and there are free storage layers in at least two first storage layers, the pickup and release device is controlled to take the materials from the pickup and transport layer, and put them into the first storage layer. in free storage.
  • materials can be taken from the pickup and transport layer in advance, and only when there is no material on the pickup and transport layer, the materials are taken from the buffer storage layer. In this way, material accumulation on the pick-up transport layer can be avoided, thereby avoiding the impact on material sorting.
  • a plurality of robots can be controlled to take materials from the second storage layer, and the robot has a preset amount in the first storage layer.
  • free storage floor Ideally, all first storage levels of the robot are free storage levels.
  • the embodiment of the present application further provides a unloading device, including: a robot, a conveyor and a controller, the robot includes at least one pick-and-place device and at least two layers of first storage layers, and the conveyor includes up and down parallel A delivery transmission layer and a delivery delivery layer are provided; wherein, the controller is used to control the movement of the delivery delivery device along the vertical direction of the delivery delivery layer and the delivery delivery layer, and, in the When there are materials obtained from the pickup and delivery layer on the pick-and-place device, the pick-and-place device is controlled to put the materials into the free storage layer first reached during the movement of the pick-and-place device.
  • a unloading device including: a robot, a conveyor and a controller, the robot includes at least one pick-and-place device and at least two layers of first storage layers, and the conveyor includes up and down parallel A delivery transmission layer and a delivery delivery layer are provided; wherein, the controller is used to control the movement of the delivery delivery device along the vertical direction of the delivery delivery layer and the delivery delivery layer
  • the above controller is also used for:
  • the pick-and-place transport layer When there is no material on the pick-and-place device, there is at least one free storage layer in the at least two first storage layers, and there is material on the pick-and-place transport layer, control the pick and place The cargo device picks up the material from the pick-up transport layer.
  • the above controller is also used for:
  • the pick-and-place device When there is no material on the pick-and-place device, the pick-and-place device is controlled to pick up materials from the target material layer first reached in the moving process, and the target material layer is the first storage layer or the Pickup transport layer.
  • the above-mentioned controller is further used for:
  • control the first storage that the pick-and-place device first arrives in the moving process Take the material from the layer.
  • the above controller is also used for:
  • the pick-and-place device When there are materials obtained from the first storage layer on the pick-and-place device, the pick-and-place device is controlled to put the materials into the delivery transmission layer.
  • the storage layer that the pick-and-place device reaches for the first time during the moving process is the accessible storage layer, and there are materials to be picked up on the accessible storage layer.
  • the above controller is also used for:
  • Controlling the pick-and-place device to alternately move along a first vertical direction and a second vertical direction includes: moving from a starting storage layer to an ending storage layer, the moving along the second vertical direction
  • the moving includes: moving from the ending storage layer to the starting storage layer; in an initial state, the starting storage layer and the ending storage layer are respectively in at least two first storage layers the top and bottom layers;
  • the starting storage layer and the ending storage layer are respectively updated to the uppermost layer and the lowermost layer in the accessible storage layers, and the There are items to be picked up on the pickup storage level.
  • a cache shelf is also provided next to the conveyor, and at least one second storage layer is provided on the cache shelf, and the second storage layer is used for placing and taking out the goods from the pickup transmission layer. 's material.
  • the above controller is also used for:
  • control the pickup When there are materials on the pickup transmission layer, and there is no idle storage layer in the at least two first storage layers, and there is an idle storage layer in the second storage layer, control the pickup The delivery device picks up the material from the picking and transporting layer, and puts it into the free storage layer in the second storage layer.
  • the above controller is also used for:
  • control the pickup takes the material from the second storage layer and puts it into the free storage layer in the first storage layer.
  • the above controller is also used for:
  • the pickup and placement device is controlled to pick up the materials from the pickup and transport layer, and put them in into a free storage layer in the first storage layer.
  • the unloading equipment provided in the embodiments of the present application is a device embodiment corresponding to the method embodiment, and has the same technical effect as the method embodiment. For detailed description, refer to the method embodiment, which will not be repeated here.
  • Embodiments of the present application also provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, a computing device is made to implement the aforementioned material conveying method.
  • the embodiment of the present application also provides a computer program, and the computer program is used to implement the aforementioned material conveying method.

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Abstract

一种物料输送方法及设备，应用于包括机器人（102）和输送机（101）的卸料设备，机器人（102）包括至少一个取放货装置（1023）和至少两层第一储货层（1024），输送机（101）包括上下平行设置的放货传输层（1011）和取货传输层（1012）。该方法可以控制取放货装置沿与放货传输层和取货传输层垂直的方向移动；在取放货装置上存在从取货传输层上获取的物料时，控制取放货装置将物料放入取放货装置在移动过程中首次到达的空闲储货层，可以降低取放货装置的移动距离。

Description

物料输送方法及设备
本申请要求于2021年03月31日提交中国专利局、申请号为202110352761.3、申请名称为“物料输送方法及设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及物料搬运技术领域，尤其涉及一种物料输送方法及设备。
背景技术
智能仓储是物流过程的一个重要环节。机器人可代替人工搬运物料，在智能仓储中扮演着重要的角色。
机器人可以将物料放置在输送机上，通过输送机运输至工作站，工作站的操作人员对物料进行分拣，输送机从工作站将分拣之后的物料传输至取货位置，机器人从取货位置上取物料。
从而，在机器人和输送机之间的物料传输过程中，缩短机器人上的取放货装置的移动距离成为亟待解决的问题。
发明内容
本申请实施例提供一种物料输送方法及设备，以缩短机器人上的取放货装置的移动距离。
第一方面，本申请实施例提供一种物料输送方法，应用于卸料设备，所述卸料设备包括：机器人和输送机，所述机器人包括至少一个取放货装置和至少两层第一储货层，所述输送机包括上下平行设置的放货传输层和取货传输层；
所述方法包括：
控制所述取放货装置沿与所述放货传输层和所述取货传输层的垂直方向移动；
在所述取放货装置上存在从所述取货传输层上获取的物料时，控制所述取放货装置将所述物料放入所述取放货装置在移动过程中首次到达的空闲储 货层。
可选地，所述方法还包括：
在所述取放货装置上不存在物料，且所述至少两层第一储货层中存在至少一层空闲储货层，且所述取货传输层上存在物料时，控制所述取放货装置从所述取货传输层上取物料。
可选地，所述方法还包括：
在所述取放货装置上不存在物料时，控制所述取放货装置从移动过程中首次到达的目标物料层上取物料，所述目标物料层为所述第一储货层或所述取货传输层。
可选地，所述在所述取放货装置上不存在物料时，控制所述取放货装置从移动过程中首次到达的目标物料层上取物料，包括：
在所述取放货装置上不存在物料，且所述至少两层第一储货层中不存在空闲储货层时，控制所述取放货装置从移动过程中首次到达的第一储货层中取所述物料。
可选地，所述方法还包括：
在所述取放货装置上存在从所述第一储货层上获取的物料时，控制所述取放货装置将所述物料放入所述放货传输层。
可选地，所述取放货装置在移动过程中首次到达的储货层为可取储货层，所述可取储货层上存在待取物料。
可选地，所述控制所述取放货装置沿与所述放货传输层和所述取货传输层的垂直方向移动，包括：
控制所述取放货装置沿第一垂直方向和第二垂直方向交替移动，所述沿第一垂直方向移动包括：从起始储货层移动至结束储货层，所述沿第二垂直方向移动包括：从所述结束储货层移动至所述起始储货层；在初始状态下，所述起始储货层和所述结束储货层分别为至少两层第一储货层中的最上层和最下层；
在其中一层所述第一储货层被放置所述物料之后，将所述起始储货层和所述结束储货层分别更新为可取储货层中的最上层和最下层，所述可取储货层上存在待取物料。
可选地，所述输送机旁边还设置有缓存货架，所述缓存货架上设置有至 少一层第二储货层，所述第二储货层用于放置从所述取货传输层上取出的物料。
可选地，所述方法还包括：
在所述取货传输层上存在物料，且所述至少两层第一储货层中不存在空闲储货层，且所述第二储货层中存在空闲储货层时，控制所述取放货装置从所述取货传输层上取物料，并放入所述第二储货层中的空闲储货层中。
可选地，所述方法还包括：
在所述取货传输层上不存在物料，且所述至少两层第一储货层中存在空闲储货层，且至少一层所述第二储货层上存在物料时，控制所述取放货装置从所述第二储货层上取物料，并放入所述第一储货层中的空闲储货层中。
可选地，所述方法还包括：
在所述取货传输层上存在物料，且所述至少两层第一储货层中存在空闲储货层时，控制所述取放货装置从所述取货传输层上取物料，并放入所述第一储货层中的空闲储货层中。
第二方面，本申请实施例提供一种卸料设备，包括：机器人、输送机和控制器，所述机器人包括至少一个取放货装置和至少两层第一储货层，所述输送机包括上下平行设置的放货传输层和取货传输层；
其中，所述控制器用于控制所述取放货装置沿所述放货传输层和所述取货传输层的垂直方向移动，以及，在所述取放货装置上存在从所述取货传输层上获取的物料时，控制所述取放货装置将所述物料放入所述取放货装置移动过程中首次到达的空闲储货层。
可选地，所述控制器还用于：
在所述取放货装置上不存在物料，且所述至少两层第一储货层中存在至少一层空闲储货层，且所述取货传输层上存在物料时，控制所述取放货装置从所述取货传输层上取物料。
可选地，所述控制器还用于：
在所述取放货装置上不存在物料时，控制所述取放货装置从移动过程中首次到达的目标物料层上取物料，所述目标物料层为所述第一储货层或所述取货传输层。
可选地，当所述目标物料层为所述第一储货层时，所述控制器还用于：
在所述取放货装置上不存在物料，且所述至少两层第一储货层中不存在空闲储货层时，控制所述取放货装置从移动过程中首次到达的第一储货层中取所述物料。
可选地，所述控制器还用于：
在所述取放货装置上存在从所述第一储货层上获取的物料时，控制所述取放货装置将所述物料放入所述放货传输层。
可选地，所述取放货装置从移动过程中首次到达的储货层为可取储货层，所述可取储货层上存在待取物料。
可选地，所述控制器还用于：
控制所述取放货装置沿第一垂直方向和第二垂直方向交替移动，所述沿第一垂直方向移动包括：从起始储货层移动至结束储货层，所述沿第二垂直方向移动包括：从所述结束储货层移动至所述起始储货层；在初始状态下，所述起始储货层和所述结束储货层分别为至少两层第一储货层中的最上层和最下层；
在其中一层所述第一储货层被放置所述物料之后，将所述起始储货层和所述结束储货层分别更新为可取储货层中的最上层和最下层，所述可取储货层上存在待取物料。
可选地，所述输送机旁边还设置有缓存货架，所述缓存货架上设置有至少一层第二储货层，所述第二储货层用于放置从所述取货传输层上取出的物料。
可选地，所述控制器还用于：
在所述取货传输层上存在物料，且所述至少两层第一储货层中不存在空闲储货层，且所述第二储货层中存在空闲储货层时，控制所述取放货装置从所述取货传输层上取物料，并放入所述第二储货层中的空闲储货层中。
可选地，所述控制器还用于：
在所述取货传输层上不存在物料，且所述至少两层第一储货层中存在空闲储货层，且至少一层所述第二储货层上存在物料时，控制所述取放货装置从所述第二储货层上取物料，并放入所述第一储货层中的空闲储货层中。
可选地，所述控制器还用于：
在所述取货传输层上存在物料，且所述至少两层第一储货层中存在空闲 储货层时，控制所述取放货装置从所述取货传输层上取物料，并放入所述第一储货层中的空闲储货层中。
第三方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，使计算设备实现如第一方面所述的方法。
第四方面，提供了一种计算机程序，所述计算机程序用于实现如第一方面所述的方法。
本申请实施例提供的物料输送方法及设备，应用于包括机器人和输送机的卸料设备，机器人包括至少一个取放货装置和至少两层第一储货层，输送机包括上下平行设置的放货传输层和取货传输层。本申请实施例可以控制取放货装置沿与放货传输层和取货传输层的垂直方向移动；在取放货装置上存在从取货传输层上获取的物料时，控制取放货装置将物料放入取放货装置在移动过程中首次到达的空闲储货层。机器人将第一储货层上的货物放完之后，立刻离开输送机或等待一段时间后离开。如此第一储货层可能会存在空闲层，物料不会占用所有第一储货层。在这种情况下，取放货装置将物料放入移动过程中首次到达的空闲储货层，可以尽量将物料放入取放货装置移动较小距离即可达到的第一储货层，将取放货装置移动较大距离才能到达的储货层空闲下来，有助于降低取放货装置的移动距离。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1示例性示出了本申请实施例提供的卸料设备的侧视图；
图2示例性示出了本申请实施例提供的卸料设备中的机器人的俯视图；
图3示例性示出了本申请实施例提供的卸料设备中的输送机的俯视图；
图4示例性示出了本申请实施例提供的机器人的取放货装置的俯视图；
图5示例性示出了本申请实施例提供的输送机中的一种连接装置的俯视图；
图6、图7示例性示出了图5中的连接装置在两种状态下的侧视图；
图8示例性示出了本申请实施例提供的输送机中的另一种连接装置的俯视图；
图9、图10示例性示出了图8中的连接装置在两种状态下的侧视图；
图11示例性示出了本申请实施例提供的一种物料输送方法的步骤流程图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请可以应用于物料搬运场景。物料可以包括但不限于：货物和周转箱。物料通常存储在仓库的若干层货架上。当需要从仓库中出货时，可以通过机器人从仓库的货架上取物料并放入输送机。输送机可以将物料传输给工作台，以使工作台对物料进行拣选，拣选出来的物料即为出货的物料，剩余物料可以被输送机继续传输给机器人，以使机器人将其放回仓库的货架上。
本申请实施例提供一种包括物料输送方法及设备，可以使取放货装置将物料放入移动过程中首次到达的空闲储货层。机器人将第一储货层上的货物放完之后，立刻离开输送机或等待一段时间后离开。如此第一储货层可能会存在空闲层，物料不会占用所有第一储货层。在这种情况下，取放货装置将物料放入移动过程中首次到达的空闲储货层，可以尽量将物料放入取放货装置移动较小距离即可达到的第一储货层，将取放货装置移动较大距离才能到达的储货层空闲下来，有助于降低取放货装置的移动距离。
本申请实施例提供的一种物料输送方法可以应用于卸料设备。
图1示例性示出了本申请实施例提供的卸料设备的侧视图，图2示例性示出了本申请实施例提供的卸料设备中的机器人102的俯视图，图3示例性示出了本申请实施例提供的卸料设备中的输送机101的俯视图。图1中为了方便示意，输送机101和机器人102之间存在一定距离，在实际应用中，两者进行物料103传输时，该距离小于预设阈值，以避免物料103在两者之间 滑落。
参照图1至图3所示，卸料设备包括：输送机101和机器人102，输送机101包括上下平行设置的放货传输层1011和取货传输层1012，机器人102包括至少一个取放货装置1023和至少两层第一储货层1024。
从图1中还可以看出，机器人102还具有底盘1025，用于移动机器人102。
另外，图1还示例性示出了用于支撑第一储货层1024的支撑架1022，用于支撑取放货装置1023的支撑架1021，用于支撑取货传输层1012和放货传输层1011的支撑杆1010。参照图2所示，支撑架1021位于取放货装置1023的四周，支撑架1022位于第一储货层1024的四周。参照图3所示，支撑架1010位于放货传输层1011和取货传输层1012的四周。如此，可以避免支撑架1021影响取放货装置1023上物料103的取放，避免支撑架1022影响第一储货层1024上物料103的取放，避免支撑架1010影响放货传输层1011和取货传输层1012上物料103的取放。当然，支撑架1010、支撑架1021和支撑架1022的位置和数量可以灵活设定，以不影响物料103的取放为准。
取放货装置1023可沿支撑架1021的第一方向移动，第一方向垂直于放货传输层1011和取货传输层1012；取放货装置1023用于将第一储货层1024中的物料放入放货传输层1011，或，将取货传输层1012中的物料放入第一储货层1024中。
可以看出，第一方向为机器人102的高度方向。图1中示例性示出了四层第一储货层1024，在实际应用中，第一储货层1024的数量可以灵活变更，本申请实施例对其不加以限制。
从图2中还可以看出，取放货装置1023上可以设置有转运机构10231，第一储货层1024上设置有转运机构10241。转运机构10231和转运机构10241用于通过转动传输物料103。
当然，除图2所示的取放货装置1023的结构，取放货装置1023还可以如图4所示。参照图4所示，取放货装置1023包括托板10232、伸缩臂10233、固定推杆10234和活动推杆10235，固定推杆10234和活动推杆10235均安装于伸缩臂10233上。
其中，托板10232用于放置物料103，托板10232可以为一水平设置的平板。
伸缩臂10233可以伸出或缩回。伸缩臂10233在伸出时，活动推杆10235收到伸缩臂10233的内侧，固定推杆10234随着一起伸出，以将物料103推出托板10232。伸缩臂10233在缩回时，固定推杆10234随着一起缩回，活动推杆10235打开至垂直于伸缩臂10233，活动推杆10235将物料103拉到托板10232上。
在实际应用中，可以根据实际应用场景选择取放货装置的结构，本申请对其不加以限制。从图3中还可以看出，放货传输层1011上具有转运机构10111，用于通过转动传输物料103。可以理解的是，当取货传输层1012位于放货传输层1011的上方时，图3所示的俯视图看到的是取货传输层1012的结构，取货传输层1012的结构和放货传输层1011的结构相同，在此不再赘述。
可选地，取放货装置1023、第一储货层1024、放货传输层1011、取货传输层1012对物料103的传输速度相同。
可以理解的是，当取放货装置1023、第一储货层1024、放货传输层1011、取货传输层1012上均具有转运机构时，这些转运机构的转动速度相同。
取放货装置1023、第一储货层1024、放货传输层1011、取货传输层1012对物料103的传输速度相同，可以在取放货装置1023分别与第一储货层1024、放货传输层1011、取货传输层1012进行物料103传输时，避免转动速度不同导致物料103翻转。
上述卸料设备中的输送机101用于将接收的物料103传输给工作站，经过工作站进行拣选之后，再将剩余的物料103传输出来。输送机101接收的物料103可以是机器人102或卸料机放置的，输送机101可以将剩余的物料103传输给机器人102或卸料机。
上述输送机101的放货传输层1011的第一端用于放置物料103，上述取货传输层1012的第一端用于取物料103，放货传输层1011用于将物料103从放货传输层1011的第一端传输至放货传输层1011的第二端，取货传输层1012用于将物料103从取货传输层1012的第二端传输至取货传输层1012的第一端。
除放货传输层1011和取货传输层1012外，上述输送机101还包括连接装置1013，用于将物料103从放货传输层1011的第二端传输给取货传输层 1012的第二端。
图5示例性示出了本申请实施例提供的输送机101中的一种连接装置1013的俯视图，图6和图7示例性示出了图5对应的连接装置1013在两种连接状态下的侧视图。参照图5所示，上述连接装置1013包括：第三储货层10131、转运机构10132和旋转固定装置10133，第三储货层10131的第一端固定连接在旋转固定装置10133上，第三储货层10131在放货传输层1011的第二端和取货传输层1012的第二端之间移动；转运机构10132设置于第三储货层10131上，用于传输物料103。
参照图6所示，第三储货层10131的第二端与放货传输层1011的第二端连接，如图7所示，第三储货层10131的第二端与取货传输层1012的第二端连接。
在上述图5中，物料103可以放置于转运机构10132上，以通过转运机构10132的转动对该物料103进行传输。转运机构10132的转动方向可以改变。
旋转固定装置10133可以用于固定第三储货层10131的第一端，使第一端无法移动，并且第三储货层10131可以绕旋转固定装置10133且垂直于第三储货层10131的方向旋转。在第三储货层10131的旋转过程中，第三储货层10131的第二端会随着移动，以在取货传输层1012的第二端和放货传输层1011的第二端之间切换。也就是：第三储货层10131的第二端可以与取货传输层1012的第二端对接，还可以切换为与放货传输层1011的第二端连接，还可以再次切换为与取货传输层1012的第二端连接。
参照图5、图6和图7所示，为了避免第三储货层10131上的物料103滑落，还可以在第三储货层10131的第一端设置挡板10134。
为了实现第三储货层10131在放货传输层1011的第二端和取货传输层1012的第二端之间移动，可以采用三种方式。
第一种方式下，第三储货层10131在自身弹力和其上物料103的重力作用下在放货传输层1011的第二端和取货传输层1012的第二端之间移动。
其中，第三储货层10131由于自身弹力在其上不存在物料103时，第三储货层10131的第二端与放货传输层1011的第二端连接。在放货传输层1011上的物料103被传输给第三储货层10131之后，物料103的重力 使第三储货层10131的第二端下降到与取货传输层1012的第二端连接。在第三储货层10131上的物料103被传输给取货传输层1012之后，第三储货层10131的第二端又重新回到放货传输层1011的第二端处。如此循环。
本申请实施例可以通过自身弹力和物料103的重力作用实现第三储货层10131的第二端的移动，避免使用其余控制结构或组件，有助于简化第三储货层10131的结构。
第二种方式下，上述连接装置1013除包括第三储货层10131、转运机构10132和旋转固定装置10133外，还包括：第二控制器和物料量检测装置，该物料量检测装置用于检测第三储货层10131上的物料量，该第二控制器，用于在第三储货层10131上的物料量大于或等于预设物料量阈值时，控制第三储货层10131的第二端与取货传输层1012的第二端连接，或，在第三储货层10131上的物料量小于预设物料量阈值时，控制第三储货层10131的第二端与放货传输层1011的第二端连接。
其中，物料量可以是物料103的重量或物料103的数量，相应地，物料量检测装置可以为压力传感器或图像采集装置。
压力传感器可以设置在第三储货层10131的底部，以检测第三储货层10131上的物料103对第三储货层10131的压力，该压力即为物料103的重量。
图像采集装置朝向第三储货层10131，以采集第三储货层10131上的物料103图像，并从物料103图像中识别出物料103的数量。
上述物料量检测装置和第二控制器电连接，以将物料量发送给第二控制器，第二控制器可以根据物料量控制第三储货层10131的移动。此外，当物料量检测装置为图像采集装置时，图像采集装置还可以将物料103图像发送给第二控制器，以使第二控制器从中识别得到物料103的数量，并控制第三储货层10131的移动。
第三种方式下，上述连接装置1013除包括第三储货层10131、转运机构10132和旋转固定装置10133外，还包括：第二控制器，用于控制第三储货层10131的第二端分别与取货传输层1012的第二端和放货传输层1011的第二端以预设时间周期交替连接。
其中，预设时间周期可以根据取货传输层1012和放货传输层1011的传输速度确定。当传输速度较大时，该预设时间周期可以设置较小；当传输速度较小时，该预设时间周期可以设置较大。
进一步地，还可以结合传输速度和第三储货层10131的长度确定。当传输速度固定时，若第三储货层10131的长度较大，则预设时间周期可以设置较大，若第三储货层10131的长度较小，则预设时间周期可以设置较小。
在实际应用中，可以根据经验构建预设时间周期和传输速度、第三储货层10131的长度之间的函数关系。例如，函数关系可以为线性函数，其可以为第三储货层10131的长度与传输速度的比值的线性函数。
根据上述方式确定预设时间周期之后，可以按照该预设时间周期使第三储货层10131的第二端分别与取货传输层1012的第二端和放货传输层1011的第二端交替连接。例如，当预设时间周期为1分钟时，可以在第一分钟内使第三储货层10131的第二端与取货传输层1012的第二端连接，在第二分钟内使第三储货层10131的第二端与放货传输层1011的第二端连接，在第三分钟内使第三储货层10131的第二端与取货传输层1012的第二端连接，如此循环。
需要说明的是，在上述三种方式中，在第三储货层10131的第二端与取货传输层1012的第二端连接时，第三储货层10131的传输方向背向取货传输层1012，以使物料103从取货传输层1012被传输至第三储货层10131。在第三储货层10131的第二端与放货传输层1011的第二端连接时，第三储货层10131的传输方向朝向放货传输层1011，以使物料103从第三储货层10131被传输至放货传输层1011。从而在将第三储货层10131的第二端在取货传输层1012的第二端和放货传输层1011的第二端之间切换之后，需要切换转运机构10132的转动方向，切换前后的转动方向相反。
为了移动第三储货层10131的第二端，第二控制器可以与旋转固定装置10133电连接，以使旋转固定装置10133将第三储货层10131进行旋转，旋转方向和角度是预先设定的。
图8示例性示出了本申请实施例提供的输送机101中的另一种连接装置1013的俯视图，图9、图10示例性示出了图8对应的连接装置1013在两种 状态下的侧视图。图8至图10中的连接装置1013为升降机。
从图8中可以看出，升降机包括：四个支撑架10136、设置于支撑架10136上的第四储货层10135、第四储货层10135上设置有转运机构10137，转运机构10137通过转动可以对物料103进行传输。
参照图9或图10所示，第四储货层10135可沿支撑架10136上下滑动。在上下滑动的过程中可以与放货传输层1011的第二端或取货传输层1012的第二端对接。在图9中，第四储货层10135的第二端与取货传输层1012的第二端对接，在图10中，第四储货层10135的第二端与放货传输层1011的第二端对接。如此，在与放货传输层1011的第二端对接时，从放货传输层1011的第二端上获取物料103，之后升降机向下滑动到与取货传输层1012的第二端对接，以将物料103放入取货传输层1012的第二端，之后升降机再次向上滑动到与放货传输层1011的第二端对接，以再次从放货传输层1011的第二端上获取物料103，如此循环。
可以理解的是，在第四储货层10135的第二端与放货传输层1011的第二端对接时，第四储货层10135上的转运机构10137的转动方向背向放货传输层1011；在第四储货层10135的第二端与取货传输层1012的第二端对接时，第四储货层10135上的转运机构10137的转动方向朝向取货传输层1012。
需要说明的是，图9或图10中示出的放货传输层1011位于取货传输层1012的上方，在实际应用中，放货传输层1011还可以位于取货传输层1012的下方。
以下具体对本申请实施例的物料输送方法及设备进行详细说明。
图11示例性示出了本申请实施例提供的一种物料输送方法的步骤流程图。参照图11所示，该方法包括：
S201：控制取放货装置沿与放货传输层和取货传输层的垂直方向移动。
其中，垂直方向包括放货传输层向取货传输层的方向、取货传输层向放货传输层的方向。取放货装置沿着取放货装置所在的支撑杆移动，支撑杆垂直于取货传输层和放货传输层。可以看出，该垂直方向为前述第一方向，垂直方向包括第一垂直方向和第二垂直方向。由于取货传输层和放货传输层是上下平行设置的，从而第一垂直方向和第二垂直方向分别为向上、向下。
可选地，可以控制取放货装置沿第一垂直方向和第二垂直方向交替移动， 沿第一垂直方向移动包括：从起始储货层移动至结束储货层，沿第二垂直方向移动包括：从结束储货层移动至起始储货层；在初始状态下，起始储货层和结束储货层分别为至少两层第一储货层中的最上层和最下层；在其中一层第一储货层被放置物料之后，将起始储货层和结束储货层分别更新为可取储货层中的最上层和最下层，可取储货层上存在待取物料。
可以理解的是，在第一储货层被放置物料之后，该第一储货层不可以放物料，也不可以取物料，从而可以控制取放货装置不再移动至该第一储货层。在本申请实施例中，通常向连续的第一储货层中放入物料，从而可以在每次向其中一层第一储货层中放入物料之后，更新起始储货层和结束储货层。起始储货层和结束储货层分别为第一储货层中可以取放物料的最高层、可以取放物料的最低层。
在移动过程中，取放货装置可以在向上和向下之间进行切换。例如，取放货装置可以按照如下方式循环移动：向上移动一段距离-向下移动一段距离-…-向上移动一段距离。
S202：在取放货装置上存在从取货传输层上获取的物料时，控制取放货装置将物料放入取放货装置在移动过程中首次到达的空闲储货层。
其中，空闲储货层为空闲状态的第一储货层，该空闲储货层可以是未曾放置物料的第一储货层，还可以是物料被取走的第一储货层。
可选地，在取放货装置上不存在物料，且至少两层第一储货层中存在至少一层空闲储货层，且取货传输层上存在物料时，控制取放货装置从取货传输层上取物料。
在实际应用中，放货传输层可以将物料传输给工作站，工作站用于对物料进行分拣，分拣之后的物料由取货传输层继续传输。当取货传输层的物料不能被及时取走，会造成取货传输层上的物料堆积。这样，分拣之后的物料无法继续传输到取货传输层上，影响物料分拣进度。
本申请实施例在取货传输层上有物料时，只要取放货装置上没有物料，第一储货层中存在空闲储货层，即可以优先从取货传输层上取货。如此，可以避免取货传输层上的物料堆积，进而避免对物料分拣进度的影响。
进一步地，在取放货装置上不存在物料，且至少两层第一储货层中存在至少一层空闲储货层时，可以检测取货传输层上的物料量。若物料量超过预 设物料量阈值，则可以控制取放货装置从取货传输层上取物料。若物料量未超过预设物料量阈值，则可以控制取放货装置从取货传输层上取物料或从第一储货层中取物料。
可选地，在取放货装置上不存在物料时，控制取放货装置从移动过程中首次到达的目标物料层上取物料，该目标物料层为第一储货层或取货传输层。
在取放货装置上不存在物料时，取放货装置可以用于取物料。具体地，可以从第一储货层上取物料放到放货传输层上，也可以从取货传输层上取物料放到第一储货层上。在本申请实施例中，为了进一步缩短取放货装置的移动距离，可以控制取放货装置从移动过程中首次到达的目标物料层上取物料。
可选地，在取放货装置上不存在物料，且至少两层第一储货层中不存在空闲储货层时，控制取放货装置从移动过程中首次到达的第一储货层中取物料。
可以理解的是，在第一储货层中不存在空闲储货层时，若取放货装置从取货传输层上取物料，则取的物料无法放入第一储货层。从而本申请实施例可以在这种场景下，控制取放货装置优先从第一储货层中取物料，取过物料之后，会判断放货传输层的放货位是否空闲，如果空闲，则将取的物料放入放货传输层上，如果放货传输层的放货位上存在物料，则会每间隔一定时间判断一次，直至将取的物料放入放货传输层上。
可选地，在取放货装置上存在从第一储货层上获取的物料时，控制取放货装置将物料放入放货传输层。
可选地，取放货装置在移动过程中首次到达的储货层为可取储货层，该可取储货层上存在待取物料。
需要说明的是，待取物料是需要放到放货传输层上的物料，需要与从取货传输层上取的物料相区分，将从取货传输层上取的物料放入第一储货层之后，不能再将该物料从第一储货层中取出。
可选地，输送机旁边还设置有缓存货架，该缓存货架上设置有至少一层第二储货层，该第二储货层用于放置从取货传输层上取出的物料。
机器人可以通过取放货装置将从输送机的取货传输层上取的物料，放入缓存货架的一层第二储货层上，还可以通过取放货装置将第二储货层上的物料放入第一储货层中。当取放货装置上具有转运机构时，第二储货层上也可 以设置有转运机构，以对物料进行传输。当取放货装置可以将物料推到第二储货层上或从第二储货层上拉物料时，第二储货层上可以不设置有转运机构。
可以理解的是，当取货传输层上的物料有堆积时，无法再将分拣之后的物料传输到取货传输层上，此时，需要暂停对物料的分拣。本申请实施例可以将取货传输层上的物料放入缓存货架上，有助于避免取货传输层上物料的堆积，进而避免对物料分拣的影响。
可选地，在取货传输层上存在物料，且至少两层第一储货层中不存在空闲储货层，且第二储货层中存在空闲储货层时，控制取放货装置从取货传输层上取物料，并放入第二储货层中的空闲储货层中。
可以理解的是，当至少两层第一储货层中不存在空闲储货层时，取放货装置无法将取货传输层上的物料放入第一储货层中，此时，若第二储货层中存在空闲储货层时，机器人可以先从取货传输层上取物料放入第二储货层中的空闲储货层中。之后，机器人可以将第一储货层中的物料放入放货传输层上，在第一储货层中存在空闲储货层之后，从取货传输层上取物料放入第一储货层中的空闲储货层中。
进一步地，在至少两层第一储货层中不存在空闲储货层时，可以检测取货传输层上的物料。若取货传输层上的物料超过预设物料量阈值，且第二储货层中存在空闲储货层，则控制取放货装置从取货传输层上取物料，并放入第二储货层中的空闲储货层中。若取货传输层上的物料未超过预设物料量阈值，则可以控制取放货装置从取货传输层上取物料，并放入第二储货层中的空闲储货层中，或，从第一储货层中取物料，并放入放货传输层中。
可选地，在取货传输层上不存在物料，且至少两层第一储货层中存在空闲储货层，且至少一层第二储货层上存在物料时，控制取放货装置从第二储货层上取物料，并放入第一储货层中的空闲储货层中。
在取货传输层上存在物料，且至少两层第一储货层中存在空闲储货层时，控制取放货装置从取货传输层上取物料，并放入第一储货层中的空闲储货层中。
本申请实施例可以预先从取货传输层上取物料，若取货传输层上不存在物料时，才从缓存储货层中取物料。如此，可以避免取货传输层上的物料堆积，进而避免对物料分拣的影响。
可选地，在第二储货层上的物料量超出预设物料量阈值时，可以控制多个机器人从第二储货层中取物料，该机器人的第一储货层中存在预设数量的空闲储货层。理想情况下，该机器人的所有第一储货层均为空闲储货层。
本申请实施例还提供了一种卸料设备，包括：机器人、输送机和控制器，所述机器人包括至少一个取放货装置和至少两层第一储货层，所述输送机包括上下平行设置的放货传输层和取货传输层；其中，所述控制器用于控制所述取放货装置沿所述放货传输层和所述取货传输层的垂直方向移动，以及，在所述取放货装置上存在从所述取货传输层上获取的物料时，控制所述取放货装置将所述物料放入所述取放货装置移动过程中首次到达的空闲储货层。
可选地，上述控制器还用于：
在所述取放货装置上不存在物料，且所述至少两层第一储货层中存在至少一层空闲储货层，且所述取货传输层上存在物料时，控制所述取放货装置从所述取货传输层上取物料。
可选地，上述控制器还用于：
在所述取放货装置上不存在物料时，控制所述取放货装置从移动过程中首次到达的目标物料层上取物料，所述目标物料层为所述第一储货层或所述取货传输层。
可选地，当所述目标物料层为所述第一储货层时，上述控制器还用于：
在所述取放货装置上不存在物料，且所述至少两层第一储货层中不存在空闲储货层时，控制所述取放货装置从移动过程中首次到达的第一储货层中取所述物料。
可选地，上述控制器还用于：
在所述取放货装置上存在从所述第一储货层上获取的物料时，控制所述取放货装置将所述物料放入所述放货传输层。
可选地，所述取放货装置从移动过程中首次到达的储货层为可取储货层，所述可取储货层上存在待取物料。
可选地，上述控制器还用于：
控制所述取放货装置沿第一垂直方向和第二垂直方向交替移动，所述沿第一垂直方向移动包括：从起始储货层移动至结束储货层，所述沿第二垂直方向移动包括：从所述结束储货层移动至所述起始储货层；在初始状态下， 所述起始储货层和所述结束储货层分别为至少两层第一储货层中的最上层和最下层；
在其中一层所述第一储货层被放置所述物料之后，将所述起始储货层和所述结束储货层分别更新为可取储货层中的最上层和最下层，所述可取储货层上存在待取物料。
可选地，所述输送机旁边还设置有缓存货架，所述缓存货架上设置有至少一层第二储货层，所述第二储货层用于放置从所述取货传输层上取出的物料。
可选地，上述控制器还用于：
在所述取货传输层上存在物料，且所述至少两层第一储货层中不存在空闲储货层，且所述第二储货层中存在空闲储货层时，控制所述取放货装置从所述取货传输层上取物料，并放入所述第二储货层中的空闲储货层中。
可选地，上述控制器还用于：
在所述取货传输层上不存在物料，且所述至少两层第一储货层中存在空闲储货层，且至少一层所述第二储货层上存在物料时，控制所述取放货装置从所述第二储货层上取物料，并放入所述第一储货层中的空闲储货层中。
可选地，上述控制器还用于：
在所述取货传输层上存在物料，且所述至少两层第一储货层中存在空闲储货层时，控制所述取放货装置从所述取货传输层上取物料，并放入所述第一储货层中的空闲储货层中。
本申请实施例提供的卸料设备是与方法实施例对应的装置实施例，具有与方法实施例相同的技术效果，详细说明可以参照方法实施例，在此不再赘述。
本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，使计算设备实现如前述物料输送方法。
本申请实施例还提供了一种计算机程序，所述计算机程序用于实现前述物料输送方法。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的 普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (14)

  1. 一种物料输送方法，其特征在于，应用于卸料设备，所述卸料设备包括：机器人和输送机，所述机器人包括至少一个取放货装置和至少两层第一储货层，所述输送机包括上下平行设置的放货传输层和取货传输层；
    所述方法包括：
    控制所述取放货装置沿与所述放货传输层和所述取货传输层的垂直方向移动；
    在所述取放货装置上存在从所述取货传输层上获取的物料时，控制所述取放货装置将所述物料放入所述取放货装置在移动过程中首次到达的空闲储货层。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述取放货装置上不存在物料，且所述至少两层第一储货层中存在至少一层空闲储货层，且所述取货传输层上存在物料时，控制所述取放货装置从所述取货传输层上取物料。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述取放货装置上不存在物料时，控制所述取放货装置从移动过程中首次到达的目标物料层上取物料，所述目标物料层为所述第一储货层或所述取货传输层。
  4. 根据权利要求3所述的方法，其特征在于，所述在所述取放货装置上不存在物料时，控制所述取放货装置从移动过程中首次到达的目标物料层上取物料，包括：
    在所述取放货装置上不存在物料，且所述至少两层第一储货层中不存在空闲储货层时，控制所述取放货装置从移动过程中首次到达的第一储货层中取所述物料。
  5. 根据权利要求1至4任一项所述的方法，其特征在于，所述方法还包括：
    在所述取放货装置上存在从所述第一储货层上获取的物料时，控制所述取放货装置将所述物料放入所述放货传输层。
  6. 根据权利要求3所述的方法，其特征在于，所述取放货装置在移动过程中首次到达的储货层为可取储货层，所述可取储货层上存在待取物料。
  7. 根据权利要求1所述的方法，其特征在于，所述控制所述取放货装置沿与所述放货传输层和所述取货传输层的垂直方向移动，包括：
    控制所述取放货装置沿第一垂直方向和第二垂直方向交替移动，所述沿第一垂直方向移动包括：从起始储货层移动至结束储货层，所述沿第二垂直方向移动包括：从所述结束储货层移动至所述起始储货层；在初始状态下，所述起始储货层和所述结束储货层分别为至少两层第一储货层中的最上层和最下层；
    在其中一层所述第一储货层被放置所述物料之后，将所述起始储货层和所述结束储货层分别更新为可取储货层中的最上层和最下层，所述可取储货层上存在待取物料。
  8. 根据权利要求1所述的方法，其特征在于，所述输送机旁边还设置有缓存货架，所述缓存货架上设置有至少一层第二储货层，所述第二储货层用于放置从所述取货传输层上取出的物料。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    在所述取货传输层上存在物料，且所述至少两层第一储货层中不存在空闲储货层，且所述第二储货层中存在空闲储货层时，控制所述取放货装置从所述取货传输层上取物料，并放入所述第二储货层中的空闲储货层中。
  10. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    在所述取货传输层上不存在物料，且所述至少两层第一储货层中存在空闲储货层，且至少一层所述第二储货层上存在物料时，控制所述取放货装置从所述第二储货层上取物料，并放入所述第一储货层中的空闲储货层中。
  11. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    在所述取货传输层上存在物料，且所述至少两层第一储货层中存在空闲储货层时，控制所述取放货装置从所述取货传输层上取物料，并放入所述第一储货层中的空闲储货层中。
  12. 一种卸料设备，其特征在于，包括：机器人、输送机和控制器，所述机器人包括至少一个取放货装置和至少两层第一储货层，所述输送机包括上下平行设置的放货传输层和取货传输层；
    其中，所述控制器用于控制所述取放货装置沿所述放货传输层和所述取货传输层的垂直方向移动，以及，在所述取放货装置上存在从所述取货传输 层上获取的物料时，控制所述取放货装置将所述物料放入所述取放货装置移动过程中首次到达的空闲储货层。
  13. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，使计算设备实现如权利要求1至11任一项所述的方法。
  14. 一种计算机程序，其特征在于，所述计算机程序用于实现如权利要求1至11任一项所述的方法。
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