Shelf, storage device, control method, device, equipment and readable storage medium

Abstract

The present application proposes a shelf, a storage device, a control method, a device, an equipment and a readable storage medium, wherein the shelf includes: a plurality of first columns and a plurality of second columns spaced apart along the circumference of the shelf, wherein the first column is located between the two second columns in the width direction of the shelf; at least one temporary storage shelf, wherein the temporary storage shelf includes a first beam arranged in the horizontal direction, a plurality of temporary storage components spaced apart along both sides of the first beam, wherein the two ends of the first beam are respectively arranged at the two first columns, the temporary storage components include two support arms and a fork groove formed between the two support arms, and the temporary storage shelf is used to provide a plurality of temporary storage positions; and at least one storage shelf is spaced apart from the temporary storage shelf in the vertical direction by the first column and the second column, and the storage shelf is used to provide a plurality of storage positions. The technical solution of the present application can improve the temporary storage capacity of the shelf, so that the shelf space can be fully utilized in scenarios with low cargo flow.

Description

Technical Field

[0001] The present application relates to the field of warehousing technology, and in particular to a shelf, a warehousing device, a control method, a device, an equipment and a readable storage medium. Background Art

[0002] Shelves are a type of equipment for storing goods in a three-dimensional manner, which can increase the utilization efficiency of the warehouse.

[0003] At present, in order to improve the efficiency of goods in and out of the warehouse, a driving channel for the handling robot is usually set at the bottom of the shelf for the handling robot to drive when loading goods. This will take up space on the shelf, limiting the shelf's temporary storage capacity, and resulting in space waste in scenarios with low cargo flow. Summary of the Invention

[0004] The embodiments of the present application provide a shelf, a storage device, a control method, a device, an apparatus, and a readable storage medium to solve the problems existing in the related art. The technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a shelf, comprising:

[0006] A plurality of first columns and a plurality of second columns are spaced apart along the circumference of the shelf, wherein a first column is located between two second columns in the width direction of the shelf;

[0007] At least one temporary storage shelf, the temporary storage shelf comprising a first horizontal beam arranged in a horizontal direction, a plurality of temporary storage members arranged at intervals along both sides of the first beam, the ends of the first beam being respectively provided at two first upright posts, the temporary storage members comprising two support arms and a fork groove formed between the two support arms, the temporary storage shelf being used to provide a plurality of temporary storage positions;

[0008] At least one storage layer is spaced apart from the temporary storage layer in a vertical direction by a first column and a second column, and the storage layer is used to provide a plurality of storage positions.

[0009] In one embodiment, a plurality of temporary storage components are detachably disposed on the first beam.

[0010] In a second aspect, an embodiment of the present application provides a storage device comprising a shelf according to any one of the above-mentioned embodiments.

[0011] In a third aspect, an embodiment of the present application provides a warehousing control method applicable to the shelves of any of the above embodiments, the control method comprising:

[0012] According to the hit count of each product in the order information, determine the first target product whose hit count meets the threshold condition;

[0013] Instructing the first robot to move the first target cargo to the first temporary storage location;

[0014] When a hit instruction of the first target cargo is detected, the first robot is instructed to transport the first target cargo from the first temporary storage location to an operation area for shipping the first target cargo out of the warehouse.

[0015] In a fourth aspect, an embodiment of the present application provides a method for controlling outbound delivery, applicable to the shelves of any of the above embodiments, the control method comprising:

[0016] According to the hit count of each product in the order information, determine the target product whose hit count meets the threshold condition;

[0017] Determine the corresponding target temporary storage location based on the storage location of the target goods;

[0018] At the first moment, instruct the second robot to move the target goods from the storage location to the target temporary storage location;

[0019] At a second moment, the first robot is instructed to move the target goods from the target temporary storage location to an operation area for shipping the target goods out of the warehouse; wherein the second moment is later than the first moment.

[0020] In a fifth aspect, an embodiment of the present application provides a warehousing control device applicable to a shelf in any of the above embodiments, the control device comprising:

[0021] A first determination module is configured to determine, based on the hit counts of each product in the order information, a first target product whose hit counts meet a threshold condition;

[0022] A first instruction module is used to instruct the first robot to move the first target cargo to the first temporary storage location;

[0023] The second instruction module is used to instruct the first robot to move the first target goods from the first temporary storage location to the operation area for shipping the first target goods out of the warehouse when a hit instruction of the first target goods is detected.

[0024] In a sixth aspect, an embodiment of the present application provides a delivery control device applicable to a shelf in any of the above embodiments, the control device comprising:

[0025] The third determination module is used to determine the target goods whose hit counts meet the threshold condition based on the hit counts of each product in the order information;

[0026] A fourth determination module is used to determine a corresponding target temporary storage location according to the storage location of the target goods;

[0027] A fifth instruction module is configured to, at a first moment, instruct the second robot to move the target cargo from the storage location to the target temporary storage location;

[0028] The sixth instruction module is used to instruct the first robot to move the target goods from the target temporary storage location to the operation area for shipping the target goods out of the warehouse at a second moment; wherein the second moment is later than the first moment.

[0029] In a seventh aspect, embodiments of the present application provide an electronic device comprising: a memory and a processor. The memory and the processor communicate with each other via an internal connection path, the memory is configured to store instructions, and the processor is configured to execute the instructions stored in the memory. When the processor executes the instructions stored in the memory, the processor executes the method according to any one of the aforementioned embodiments.

[0030] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, the method in any one of the above-mentioned embodiments is executed.

[0031] The advantages or beneficial effects of the above technical solution include at least: by arranging multiple temporary storage components at intervals on both sides of the first beam, the number of temporary storage positions that can be provided by the same temporary storage shelf can be increased, thereby improving the temporary storage capacity of the shelf, which is beneficial to reducing the number of second robots by extending the operating time of the second robot, so that the space of the shelf can be fully utilized in scenarios with low cargo flow, avoiding waste of shelf space resources.

[0032] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present application will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0034] Figure 1A A schematic structural diagram of a shelf according to a first embodiment of the present application is shown;

[0035] Figure 1B A schematic structural diagram of a temporary storage layer according to the first embodiment of the present application is shown;

[0036] Figure 2 A schematic structural diagram of a storage device according to a second embodiment of the present application is shown;

[0037] Figure 3A schematic diagram showing a flow chart of a warehousing control process according to a third embodiment of the present application;

[0038] Figure 4A A schematic diagram showing a flow chart of a warehousing control process according to a fourth embodiment of the present application;

[0039] Figure 4B A schematic diagram of a scenario according to an embodiment of the present application is shown;

[0040] Figure 5 A schematic flow chart showing a method for controlling a warehouse outbound movement according to a fifth embodiment of the present application is shown;

[0041] Figure 6 A structural block diagram of a warehousing control device according to a sixth embodiment of the present application is shown;

[0042] Figure 7 A structural block diagram of a delivery control device according to a seventh embodiment of the present application is shown;

[0043] Figure 8 A structural block diagram of an electronic device according to an eighth embodiment of the present application is shown. DETAILED DESCRIPTION

[0044] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0045] Figure 1A A schematic structural diagram of a shelf 100 according to the first embodiment of the present application is shown. Figure 1B FIG. 1 shows a schematic structural diagram of the temporary storage layer 130 according to the first embodiment of the present application. Figure 1A and Figure 1B As shown, the shelf 100 may include: a plurality of first columns 110 , a plurality of second columns 120 , at least one temporary storage layer 130 and at least one storage layer 140 .

[0046] A plurality of first columns 110 and a plurality of second columns 120 are arranged at intervals along the circumference of the shelf 100 , wherein a first column 110 is located between two second columns 120 in the width direction of the shelf 100 .

[0047] The temporary storage layer 130 includes a first horizontal beam 131 arranged in the horizontal direction, and a plurality of temporary storage members 132 arranged at intervals on both sides of the first horizontal beam 131. The two ends of the first horizontal beam 131 are respectively set on the two first columns 110. The temporary storage member 132 includes two support arms 132A and a fork groove 132B formed between the two support arms 132A. The temporary storage layer 130 is used to provide a plurality of temporary storage positions 133. The temporary storage positions 133 are as follows: Figure 1B Shown in the dotted box.

[0048] The storage layer 140 is spaced apart from the temporary storage layer 130 in the vertical direction by the first column 110 and the second column 120. The storage layer 140 is used to provide multiple storage positions (not marked in the drawings). Exemplarily, the storage layer 140 includes a second beam 141 and a plurality of third beams 142 spaced apart in the horizontal direction, and a plurality of support plates 143, wherein the two ends of the second beam 141 are respectively set on the two first columns 110, and the second beam 141 is parallel to the first beam 131, and the two ends of the third beam 142 are respectively set on the two second columns 120, and the third beam 142 is parallel to the second beam 141, and the plurality of support plates 143 are spaced apart between the second beam 141 and the third beam 142 along the length direction of the shelf 100. Optionally, the storage layer plate 140 may further include a fourth beam 144 disposed between the adjacent first columns 110 and the second columns 120 , and the fourth beam 144 is perpendicular to the second beam 141 .

[0049] In an application scenario, please refer to Figure 2 When storing goods 230, the first robot 220 inserts its fork arm 221 into the fork slot 132B of the temporary storage shelf 130 and lowers its height, placing the carried goods 230 on the temporary storage shelf 130 for temporary storage. This allows the second robot (not shown in the drawings) to move the goods 230 from the temporary storage shelf 130 to the storage shelf 140 for storage. When retrieving goods 230, the second robot moves the goods 230 from the storage shelf 140 to the temporary storage shelf 130 for temporary storage. The first robot 220 inserts its fork arm 221 into the fork slot 132B of the temporary storage shelf 130, lifts the goods 230 upward, and then moves the goods 230 off the temporary storage shelf 130. The first robot 220 and the second robot exchange goods 230 using the temporary shelf of the shelf 100.

[0050] The first robot 220 may be an AGV (Automated Guided Vehicle) with a fork arm 221. The fork arm 221 may be located on the top or side of the first robot 220. The present embodiment of the application does not limit the configuration of the fork arm 221 of the first robot 220. The second robot may be an AGV with a lifting mechanism and a storage and retrieval mechanism, or a stacker. The present embodiment of the application does not limit the type of the second robot, as long as it has the functions of storing, retrieving, and transporting goods 230.

[0051] The above scheme, by arranging multiple temporary storage components 132 at intervals on both sides of the first beam 131, can increase the number of temporary storage positions 133 that can be provided by the same temporary storage layer 130, thereby improving the temporary storage capacity of the shelf 100, which is beneficial to reducing the number of second robots by extending the operating time of the second robot, so that the space of the shelf can be fully utilized in scenarios with low cargo flow, avoiding waste of shelf space resources.

[0052] Furthermore, since the cost of the second robot is usually several times or even dozens of times higher than that of the first robot 220, by making full use of the second robot, it is also possible to avoid wasting resources and reduce warehousing costs.

[0053] In an optional embodiment, the temporary storage locations 133 provided by the temporary storage shelf 130 can also be used as storage locations to increase the number of storage locations in the shelf 100 .

[0054] In one embodiment, Figure 1A and Figure 1B As shown, a plurality of temporary storage components 132 are detachably disposed on the first beam 131 .

[0055] For example, the temporary storage component 132 on the first side 131A of the first beam 131 can be removed to form a driving channel for the first robot between the first side 131A of the first beam 131 and the second column 120. This can avoid the first robot and the second robot sharing the driving channel, making the shelf 100 suitable for scenarios with high cargo flow.

[0056] Based on this, since the temporary storage member 132 can be set on one side or both sides of the first beam 131, the shelf 100 can be flexibly applied to scenarios with high cargo flow and scenarios with low cargo flow.

[0057] In one embodiment, the first crossbeam 131 is detachably mounted on the first column 110. Thus, the shelf 100 can be provided with or without a temporary storage layer 130 according to actual needs, thereby adapting the shelf 100 to different storage and retrieval requirements and increasing the diversity of the shelf 100's usage.

[0058] In one embodiment, Figure 1B As shown, the temporary storage location 133 is formed by the temporary storage member 132 or adjacent support arms of adjacent temporary storage members 132 .

[0059] In one example, the temporary storage location 133 may be composed of two support arms 132A of the temporary storage member 132 and the area enclosed therein, such as Figure 1B As shown in the temporary storage position 133 on the left side of the figure, the fork slot 132B of the temporary storage shelf 130 is located between the two support arms 132A, which facilitates the cooperation between the temporary storage shelf 130 and the first robot with a single fork arm. For example, the first robot can align the single fork arm with the fork slot 132B of the temporary storage shelf 130 from the fork slot side of the temporary storage shelf 130, so that the fork arm directly enters the fork slot 132B to store and retrieve goods.

[0060] In another example, the temporary storage location 133 is composed of adjacent support arms 132A of adjacent temporary storage members 132 and the area enclosed therein, such as Figure 1B As shown in the right-hand side of the temporary storage location 133, the fork slots 132B of the temporary storage shelf 130 are located on both sides of the temporary storage location 133, which facilitates the coordination between the temporary shelf and the first robot having dual fork arms. For example, the first robot can align its two fork arms from the fork slot 132B side of the temporary storage shelf 130 with the fork slots 132B on both sides of the temporary storage location 133, so that the two fork arms directly engage the two fork slots 132B to store and retrieve goods.

[0061] In one embodiment, Figure 1A and Figure 1B As shown, the temporary storage layer 130 further includes: a plurality of fixing plates 134 and a plurality of wedge plates 135 .

[0062] Each fixing plate 134 is connected between adjacent temporary components 132 and connected to the first crossbeam 131. This not only strengthens the strength between the support arm 132A and the first crossbeam 131, but also improves the stability of the support arm 132A.

[0063] Each wedge plate 135 is connected between adjacent temporary storage members 132 and is disposed at an end of the support arm 132A away from the first crossbeam 131. For example, the wedge plates 135 are connected between the outer sides of adjacent support arms 132A of adjacent temporary storage members 132. This can increase the connection strength between the adjacent support arms 132A of adjacent temporary storage members 132, thereby improving the load-bearing capacity of the temporary storage members 132.

[0064] In one embodiment, please refer to Figure 1A 、 Figure 1B and Figure 2 A storage and retrieval channel 150 for the first robot is formed below the temporary storage shelf 130. When the first robot 220 is located in the storage and retrieval channel 150 to store or retrieve goods 230, the fork slots 132B engage with the fork arms 221 on the first robot 220 to store or retrieve goods 230. This prevents the first robot 220 from occupying space around the shelf 100 when storing or retrieving goods 230, thereby improving space utilization.

[0065] In one embodiment, the access channel 150 is also used for the first robot 220 to travel when it is unloaded. For example, when the first robot 220 is unloaded, its fork arm 221 is not carrying any cargo 230. Therefore, the first robot 220 is relatively low, allowing it to travel through the access channel 150. This allows the first robot 220 to avoid sharing the travel channel with the second robot when unloaded, thereby improving storage and retrieval efficiency.

[0066] In one embodiment, please refer to Figure 1A 、 Figure 1B and Figure 2 As shown, the second columns 120 are disposed on the periphery of the temporary storage plate 130 and the storage plate 140. A first travel path (not labeled in the figure) for the first robot 220 to travel is formed on the side of the second columns 120 facing away from the temporary storage plate 130. Thus, when the first robot 220 is loaded with cargo 230, the first robot 220 can travel along the first travel path to transport the cargo 230.

[0067] Figure 2 FIG. 2 shows a schematic structural diagram of a storage device 200 according to a second embodiment of the present application. Figure 2 As shown, the storage device 200 may include: a plurality of shelves 100 of any of the above-mentioned embodiments, a second driving channel 210 for a second robot to travel is formed between adjacent shelves 100, and the second robot is used to transport goods 230 between the temporary storage layer 130 and the storage layer 140.

[0068] Exemplarily, the projection area of ​​the second driving channel 210 along the vertical direction can overlap with the projection area of ​​the first driving channel along the vertical direction, so that the first robot 220 shares the driving channel with the second robot when loaded with goods 230, making the storage device 200 suitable for scenarios with low cargo flow.

[0069] The second robot can transport goods between the temporary storage layer 130 and the storage layer 140 of the same shelf 100 or an adjacent shelf 100 .

[0070] Figure 3 The flowchart of the storage control method according to the third embodiment of the present application is shown. The storage control method is suitable for the shelves of any of the above embodiments. Figure 3 As shown, the control method may include:

[0071] Step S301: Determine the first target product whose hit count meets a threshold condition based on the hit count of each product in the order information.

[0072] The order information may be a plurality of historical order information or the required quantity of goods stored in the order pool.

[0073] In one example, determining the first target product includes: determining the number of hits for each product in the historical order information; and selecting the product with a hit number equal to or greater than a threshold as the first target product. In this way, the historical order information can be used to predict the first target product.

[0074] In another example, determining the first target goods includes: selecting goods in the order pool whose demand quantity is equal to or greater than a quantity threshold as the first target goods. In this way, the first target goods can be calculated using the demand quantity of goods in the order pool.

[0075] Step S302: instructing the first robot to move the first target cargo to the first temporary storage location;

[0076] Step S303: When a hit instruction of the first target cargo is detected, the first robot is instructed to move the first target cargo from the first temporary storage location to an operation area for shipping the first target cargo out of the warehouse.

[0077] The above scheme instructs the first robot to move the first target goods whose hit times meet the threshold condition to the first temporary storage location for temporary storage, but does not instruct the second robot to move the first target goods from the first temporary storage location to the target storage location. This can save the second robot from moving the first target goods between the first temporary storage location and the target storage location, and reduce the handover frequency of the first target goods. In order to detect the hit instruction of the first target goods, the first robot can be immediately instructed to move the first target goods from the first temporary storage location to the operation area for delivery, which is conducive to improving the efficiency of warehousing and outbound transportation in scenarios with lower cargo flow.

[0078] Figure 4A FIG. 4 is a flow chart showing a method for controlling warehousing according to a fourth embodiment of the present application. Figure 4A As shown, the control method may further include:

[0079] Step S401: According to the hit counts of each product in the order information, determine the second target product whose hit counts do not meet the threshold condition.

[0080] The second target goods may be determined by selecting goods with a hit count less than a threshold in historical order information as the second target goods, or by selecting goods with a demand quantity less than a threshold in the order pool as the second target goods.

[0081] Step S402: Instruct the first robot to move the second target cargo to the second temporary storage location.

[0082] Step S403: upon receiving the transport completion signal sent by the first robot, instruct the second robot to transport the second target cargo from the second temporary storage location to the target storage location corresponding to the second target cargo.

[0083] The above scheme instructs the first robot to move the second target goods whose hit times do not meet the threshold condition to the second temporary storage location, and upon receiving the moving completion signal from the first robot, immediately instructs the second robot to move the second target goods from the second temporary storage location to the corresponding target storage location for storage, so as to avoid the second target goods occupying the temporary storage location.

[0084] In one embodiment, Figure 4B As shown, the first temporary storage location 133A and the second temporary storage location 133B are adjacently arranged.

[0085] For example, Figure 4B The plurality of shelves 100 are arranged in rows and columns, so that the temporary storage positions are arranged in 6 rows and 12 columns. In one example, the first temporary storage position 133A and the second temporary storage position 133B can be adjacently arranged along the width direction of the shelf 100. For example, the temporary storage position located in the first row L1 is set as the first temporary storage position 133A, and the temporary storage position located in the second row L2 is set as the second temporary storage position 133B. In this way, the first robot 220 and the second robot can respectively travel along the two sides of the length direction of the shelf 100, so that the aisle occupancy between the first robot 220 and the second robot is reduced, which is conducive to improving the efficiency of warehousing and outbound transportation in low-volume cargo scenarios.

[0086] Alternatively, in another example, the first temporary storage position 133A and the second temporary storage position 133B can be adjacent to each other along the length direction of the shelf 100. For example, the temporary storage positions located in the first column R1 and the third column R3 are set as the first temporary storage positions 133A, and the temporary storage positions located in the second column R2 and the fourth column R4 are set as the second temporary storage positions 133B. This is beneficial to improving the efficiency of the first robot 220 and the second robot in using the first storage position 133A and the second temporary storage position 133B to transfer goods, and is beneficial to improving the efficiency of warehousing and outbound transportation in scenarios with higher cargo traffic.

[0087] Figure 5The flowchart of the outbound control method according to the fifth embodiment of the present application is shown. The outbound control method is suitable for the shelves of any of the above embodiments. Figure 5 As shown, the control method may include:

[0088] Step S501: According to the hit counts of each product in the order information, target products whose hit counts meet a threshold condition are determined.

[0089] The method for determining the target goods may refer to the method for determining the first target goods in the above-mentioned warehousing control method, which will not be described in detail here.

[0090] Step S502: Determine a corresponding target temporary storage location based on the storage location of the target goods.

[0091] For example, determining the target temporary storage location may include selecting the temporary storage location closest to the storage location where the target goods are located as the target temporary storage location for the target goods.

[0092] Step S503: At the first moment, instruct the second robot to move the target goods from the storage location to the target temporary storage location;

[0093] Step S504: at a second moment, instruct the first robot to move the target goods from the target temporary storage location to an operation area for shipping the target goods out of the warehouse; wherein the second moment is later than the first moment.

[0094] For example, the first time may be 20:00 on the first day, and the second time may be 8:00 on the second day. At 20:00 on the first day, the second robot is instructed to move the target cargo to the target temporary storage location; at 8:00 on the second day, the first robot is instructed to move the target cargo to the operation area.

[0095] At 8:00 the next day, the second robot can be instructed to move the unmoved target goods to the target temporary storage location, or to move goods whose hit counts do not meet the threshold condition from the temporary storage location to the storage location, or to charge the second robot in the charging waiting area. In this way, the second robot can be fully utilized.

[0096] In the above scheme, at the first moment, the second robot is instructed to move the target goods from the storage location to the target temporary storage location, and at the second moment, the first robot is instructed to move the target goods from the target temporary storage location to the operation area. By extending the operation time of the second robot and reducing the number of second robots configured, the utilization rate of the second robot can be improved, which is conducive to reducing the cost of goods in and out of the warehouse.

[0097] Figure 6 FIG. 6 is a block diagram of a storage control device according to a sixth embodiment of the present invention. The storage control device is applicable to any of the above-mentioned racks. Figure 6 As shown, the warehousing control device may include:

[0098] A first determination module is configured to determine, based on the hit counts of each product in the order information, a first target product whose hit counts meet a threshold condition;

[0099] A first instruction module is used to instruct the first robot to move the first target cargo to the first temporary storage location;

[0100] The second instruction module is used to instruct the first robot to move the first target goods from the first temporary storage location to the operation area for shipping the first target goods out of the warehouse when a hit instruction of the first target goods is detected.

[0101] In one embodiment, the control device may further include:

[0102] A second determination module is configured to determine, based on the hit count of each product in the order information, a second target product whose hit count does not meet a threshold condition;

[0103] A third instruction module is used to instruct the first robot to move the second target cargo to the second temporary storage location;

[0104] The fourth instruction module is used to instruct the second robot to transport the second target goods from the second temporary storage location to the target storage location corresponding to the second target goods when receiving the transportation completion signal sent by the first robot.

[0105] Figure 7 FIG. 7 shows a block diagram of a warehouse-out control device according to a seventh embodiment of the present invention. The warehouse-out control device is applicable to any of the above-mentioned racks. Figure 7 As shown, the outbound control device may include:

[0106] The third determination module is used to determine the target goods whose hit counts meet the threshold condition based on the hit counts of each product in the order information;

[0107] A fourth determination module is used to determine a corresponding target temporary storage location according to the storage location of the target goods;

[0108] A fifth instruction module is configured to, at a first moment, instruct the second robot to move the target cargo from the storage location to the target temporary storage location;

[0109] The sixth instruction module is used to instruct the first robot to move the target goods from the target temporary storage location to the operation area for shipping the target goods out of the warehouse at a second moment; wherein the second moment is later than the first moment.

[0110] The functions of the modules in the devices of the embodiments of the present invention can be found in the corresponding descriptions of the above methods, which will not be repeated here.

[0111] Figure 7 FIG. 8 is a block diagram showing a structure of an electronic device according to an eighth embodiment of the present invention. Figure 7 As shown, the electronic device includes: a memory 710 and a processor 720. The memory 710 stores a computer program that can be run on the processor 720. When the processor 720 executes the computer program, the method in the above embodiment is implemented. The number of the memory 710 and the processor 720 can be one or more.

[0112] The electronic device also includes a communication interface 730 for communicating with external devices and performing data exchange transmission.

[0113] If the memory 710, processor 720, and communication interface 730 are implemented independently, the memory 710, processor 720, and communication interface 730 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0114] Optionally, in a specific implementation, if the memory 710, the processor 720 and the communication interface 730 are integrated on a chip, the memory 710, the processor 720 and the communication interface 730 can communicate with each other through an internal interface.

[0115] An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method provided in the embodiment of the present application.

[0116] An embodiment of the present application also provides a chip, which includes a processor for calling and executing instructions stored in the memory from the memory, so that a communication device equipped with the chip executes the method provided in the embodiment of the present application.

[0117] An embodiment of the present application also provides a chip, including: an input interface, an output interface, a processor and a memory. The input interface, the output interface, the processor and the memory are connected through an internal connection path. The processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the method provided in the embodiment of the application.

[0118] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor that supports the advanced reduced instruction set machine (ARM) architecture.

[0119] Furthermore, optionally, the above-mentioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. The volatile memory may include random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0120] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0121] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0122] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0123] Any process or method description in a flow chart or otherwise described herein can be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process. The scope of the preferred embodiments of the present application includes additional implementations in which the functions may be performed in a different order than shown or discussed, including in a substantially simultaneous manner or in a reverse order depending on the functions involved.

[0124] The logic and / or steps represented in the flowchart or otherwise described herein may be considered, for example, as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or used in conjunction with such instruction execution systems, apparatuses, or devices.

[0125] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the above embodiment method can be completed by instructing the relevant hardware through a program, which can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0126] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the aforementioned integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic disk, or an optical disk, etc.

[0127] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A shelf, characterized in that: include: A plurality of first columns and a plurality of second columns are spaced apart along the circumference of the shelf, wherein in the width direction of the shelf, the first column is located between two of the second columns; At least one temporary storage shelf, the temporary storage shelf comprising a first horizontal beam and a plurality of temporary storage members spaced apart along both sides of the first beam, the first beam having two ends respectively disposed on the two first uprights, the temporary storage member comprising two support arms and a fork groove formed between the two support arms, the temporary storage shelf being configured to provide a plurality of temporary storage locations, the temporary storage locations being formed by the two support arms of the temporary storage member and the area enclosed therebetween, or by adjacent support arms of adjacent temporary storage members and the area enclosed therebetween; At least one storage layer, spaced apart from the temporary storage layer in a vertical direction by the first column and the second column, the storage layer being used to provide a plurality of storage positions; The temporary storage layer also includes: a plurality of fixing plates, each of the fixing plates being connected between adjacent temporary storage components and connected to the first crossbeam; A plurality of wedge plates are connected between adjacent temporary storage components and are arranged at an end of the support arm away from the first beam.

2. The shelf according to claim 1, characterized in that A plurality of temporary storage components are detachably disposed on the first beam.

3. The shelf according to claim 1, characterized in that The first crossbeam is detachably arranged on the first column.

4. The shelf according to claim 1, characterized in that A cargo storage and retrieval channel for placing the first robot is formed below the temporary storage layer; when storing and retrieving goods, when the first robot is located in the cargo storage and retrieval channel, the fork groove cooperates with the fork arm on the first robot to store and retrieve goods.

5. The shelf according to claim 4, characterized in that: The cargo storage and retrieval channel is also used for the first robot to travel when it is empty.

6. The shelf according to claim 4, characterized in that: The second column is arranged on the periphery of the temporary storage layer and the storage layer, and a first driving channel for the first robot to drive is formed on a side of the second column away from the temporary storage layer.

7. A storage device, characterized in that: include: A plurality of shelves according to any one of claims 1 to 6; A second travel channel for a second robot to travel is formed between adjacent shelves, and the second robot is used to transport goods between the temporary storage layer and the storage layer.

8. A warehousing control method, characterized in that: Applicable to the shelf according to any one of claims 1 to 7, the control method comprises: According to the hit count of each product in the order information, determine the first target product whose hit count meets the threshold condition; Instructing the first robot to move the first target cargo to a first temporary storage location; When a hit instruction of the first target cargo is detected, the first robot is instructed to transport the first target cargo from the first temporary storage location to an operation area for shipping the first target cargo out of a warehouse.

9. The method according to claim 8, characterized in that The control method further includes: Determining, based on the hit counts of each product in the order information, a second target product whose hit counts do not meet a threshold condition; instructing the first robot to move the second target cargo to a second temporary storage location; Upon receiving the transport completion signal sent by the first robot, the second robot is instructed to transport the second target cargo from the second temporary storage location to a target storage location corresponding to the second target cargo.

10. A method for controlling outbound delivery, characterized in that: Applicable to the shelf according to any one of claims 1 to 6, the control method comprises: According to the hit count of each product in the order information, determine the target product whose hit count meets the threshold condition; Determine a corresponding target temporary storage location based on the storage location of the target goods; At a first moment, instructing the second robot to move the target cargo from the storage location to the target temporary storage location; At a second moment, the first robot is instructed to move the target goods from the target temporary storage location to an operation area for shipping the target goods out of the warehouse; wherein the second moment is later than the first moment.

11. A warehousing control device, characterized in that: Applicable to the shelf according to any one of claims 1 to 6, the control device comprises: A first determination module is configured to determine, based on the hit counts of each product in the order information, a first target product whose hit counts meet a threshold condition; A first instruction module is used to instruct the first robot to move the first target cargo to a first temporary storage location; The second instruction module is used to instruct the first robot to move the first target cargo from the first temporary storage location to an operation area for shipping the first target cargo out of the warehouse when a hit instruction of the first target cargo is detected.

12. The device according to claim 11, characterized in that Also includes: A second determining module is configured to determine, based on the hit counts of each product in the order information, a second target product whose hit counts do not meet a threshold condition; a third instruction module, configured to instruct the first robot to transport the second target cargo to a second temporary storage location; The fourth instruction module is used to instruct the second robot to transport the second target cargo from the second temporary storage location to a target storage location corresponding to the second target cargo when receiving the transport completion signal sent by the first robot.

13. A warehouse-out control device, characterized in that: Applicable to the shelf according to any one of claims 1 to 6, the control device comprises: The third determination module is used to determine the target goods whose hit counts meet the threshold condition based on the hit counts of each product in the order information; A fourth determining module is used to determine a corresponding target temporary storage location according to the storage location of the target goods; A fifth instruction module is configured to, at a first moment, instruct the second robot to move the target cargo from the storage location to the target temporary storage location; The sixth instruction module is used to instruct the first robot to move the target goods from the target temporary storage location to an operation area for shipping the target goods out of the warehouse at a second moment; wherein the second moment is later than the first moment.

14. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement the method according to any one of claims 8 to 10.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 8 to 10 is implemented.

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