UNLOADING METHOD, CONTROL DEVICE, UNLOADING DEVICE, AND WAREHOUSING SYSTEM

An unloading method, a control device, an unloading device and a warehousing system The unloading method is applied to the unloading device (100). The unloading device (100) comprises a storage unit (2) and a mechanical arm (31) capable of moving relative to the storage unit (2), wherein a rotatable conveying member (21) is arranged in the storage unit (2), and the conveying member (21) has a rolling surface which is in a rolling contact with goods. The unloading method comprises: carrying the goods on a transfer robot (200) to the storage unit (2) by means of the mechanical arm (31); measuring the movement speed of the goods in the storage unit (2); and controlling, according to the movement speed, at least one of a state of rotation of the conveying member (21) in the storage unit (2) and a movement speed of the mechanical arm (31) so as to prevent the goods entering the storage unit (2) from being separated from the storage unit (2). The unloading method has high unloading reliability. La présente inventio