High-density storage-based transport method and equipment, storage media, and high-density storage system

摘要

It relates to a high-density storage-based article transfer method and device, a storage medium, and a high-density storage system, in which the target shelf 2 is blocked by at least one blocking shelf (1, 3, 4, 5). If detected, the first autonomous robot to prevent the target shelf 2 from being blocked by the blocking shelf (1, 3, 4, 5) or the target storage box on the target shelf (2) being blocked by the blocking storage box. (303) instructing to take out the blocking shelf (1, 3, 4, 5) and/or the blocking storage box; Instructing the first autonomous driving robot 303 to rotate in the robot driving passage 302 while having the blocking shelf 1, 3, 4, 5 and/or blocking storage box; And the second autonomous driving robot 305 instructs to transfer the target shelf 2 to the workstation 304 from the current position, or the second autonomous driving robot 305 withdraws the target storage box from the target shelf 2 And instructing to transfer the retrieved target storage box to the workstation 304.