A warehouse dispatching system and method

Abstract

The application provides a warehouse scheduling system and method, the system comprising a control server, a handling device, a storage area and a container handling device; wherein the storage area comprises at least a plurality of movable carriers; the control server is configured to determine a first target container on a first target movable carrier, a current storage position of the first target container and a target position, and simultaneously determine a first target handling device for handling the first target movable carrier and a target container handling device, and send a handling instruction to the first target handling device and a handling instruction to the target container handling device; the first target handling device is configured to respond to the handling instruction and handle the first target movable carrier on which the first target container is placed to a destination; the target container handling device is located at the destination and is configured to respond to the handling instruction and take the first target container from the current storage position and place it at the target position.

Description

Technical Field

[0001] This application relates to the field of warehousing technology, and in particular to a warehousing scheduling system and method. Background Technology

[0002] With the rapid development of e-commerce, it is playing an increasingly important role in consumers' lives. The number of user orders is growing exponentially every year. At the same time, as e-commerce becomes more mature, users are placing higher demands on the quality of e-commerce services, and the processing capacity of warehouse management is also facing severe challenges.

[0003] The rapid development of e-commerce necessitates warehouses storing massive quantities of various goods and maintaining high inventory levels. This requires warehouses to quickly fulfill order picking needs while simultaneously maximizing inventory capacity to improve overall storage efficiency. To enhance storage efficiency, warehouse planning typically involves dividing the space into storage areas for large-scale inventory storage and picking areas for goods-to-person picking. However, for warehouses with a fixed area, it's impossible to balance the efficiency of both storage and picking areas. Expanding the storage area necessitates compressing the picking area, which, while improving storage efficiency, negatively impacts picking efficiency. Conversely, expanding the picking area requires compressing the storage area, which, while improving picking efficiency, also affects storage efficiency. Therefore, current technology cannot effectively balance the picking and storage efficiencies of a warehouse. Summary of the Invention

[0004] In view of this, embodiments of this application provide a warehouse scheduling system and method to address the technical deficiencies existing in the prior art.

[0005] According to a first aspect of the embodiments of this application, a warehouse scheduling system is provided, the system including a control server, handling equipment, a storage area and container loading and unloading equipment; wherein, the storage area includes at least a plurality of mobile vehicles, each mobile vehicle including at least one storage space, each storage space being capable of accommodating at least one container;

[0006] The control server is configured to determine the first target container on the first target mobile vehicle, the current storage location of the first target container, and the target location, and simultaneously determine the first target handling equipment and the target container loading and unloading equipment used to move the first target mobile vehicle, and send handling instructions to the first target handling equipment and loading and unloading instructions to the target container loading and unloading equipment.

[0007] The first target handling device is configured to, in response to the handling command, handle a first target movable vehicle containing the first target container to a destination;

[0008] The target container loading and unloading equipment is located at the destination and is configured to, in response to the loading and unloading command, retrieve the first target container from the current storage location and place it at the target location.

[0009] Optionally, the target location is the storage location of the first target movable vehicle or the storage location of other movable vehicles besides the first target movable vehicle.

[0010] Optionally, the control server is further configured to determine a new storage location for the first target container based on any one of the following: the heat of the goods stored in the first target container, the correlation between the goods stored in the first target container and the goods stored in other containers, whether the task to be processed involves the goods stored in the first target container, and the distance between the target container loading / unloading equipment and each storage location on each mobile vehicle located at the destination.

[0011] Optionally, the target location is the storage location of the second target movable vehicle;

[0012] The control server is also configured to determine the storage location of the first target container on the second target mobile vehicle, and simultaneously determine a second target handling device for moving the second target mobile vehicle, and send a handling instruction to the second target handling device;

[0013] The second target transport device is configured to transport the second target movable vehicle to a destination in response to the transport command;

[0014] The target container loading and unloading equipment is further configured to, in response to the loading and unloading command, remove the first target container from the current storage location on the first target mobile vehicle and place it in the storage location on the second target mobile vehicle.

[0015] Optionally, the control server is further configured to determine storage locations on the second target container and the third target mobile vehicle located in the loading and unloading area, and simultaneously determine a third target handling device for moving the third target mobile vehicle, and send handling instructions to the third target handling device and loading and unloading instructions to the target container loading and unloading device;

[0016] The third target handling device is configured to handle the third target movable carrier to the loading and unloading area in response to the handling command;

[0017] The target container loading and unloading equipment is located in the loading and unloading area and is configured to, in response to the loading and unloading command, remove the second target container from the loading and unloading area and place it in a storage location on the third target mobile vehicle.

[0018] Optionally, the control server is further configured to determine a new storage location for the second target container in response to at least one of a delisting task, a sorting task, and a put-away task.

[0019] Optionally, the second and / or third target mobile vehicles may be empty shelves.

[0020] Optionally, the control server is further configured to determine a new storage location for the first target container in response to at least one of a delisting task, a sorting task, and a put-away task.

[0021] Optionally, the system further includes: access devices and multiple fixed shelves, the fixed shelves including at least one partition, the at least one partition dividing the fixed shelves into at least two layers, the movable carrier being located at the bottom layer of the fixed shelves, and the partitions of the fixed shelves being provided with at least one storage space, each storage space being capable of accommodating at least one container.

[0022] Optionally, the target location is a cache storage location on the workstation;

[0023] The control server is also configured to determine the storage location of the first target container on the target fixed shelf, determine the target access device for accessing the first target container, and send an access instruction to the target access device.

[0024] The target container loading and unloading device is further configured to, in response to the loading and unloading command, retrieve the first target container from the current storage location and place it in the cache storage location;

[0025] The target access device is positioned to move to the cache storage location in response to the access command, retrieve the first target container from the cache storage location, move it to the target fixed shelf, and place the first target container in the storage location of the target fixed shelf.

[0026] Optionally, the target location is a cache storage location on the workstation;

[0027] The control server is also configured to determine a third target container on the target fixed shelf, the current storage location of the third target container and the storage location of the third target container on the fourth target movable vehicle, and simultaneously determine a target access device for accessing the third target container and a fourth target handling device for moving the fourth target movable vehicle, and send access instructions to the target access device, handling instructions to the fourth target handling device, and loading and unloading instructions to the target container loading and unloading device;

[0028] The target access device is configured to move to the target fixed shelf in response to the access command, take out the third target container, and transport the third target container to the destination and store it in the cache storage location of the destination;

[0029] The fourth target transport device is configured to transport a fourth target movable vehicle to the destination in response to the transport command;

[0030] The target container loading and unloading equipment is configured to, in response to the loading and unloading command, retrieve the third target container from the buffer storage location and place the third target container into the fourth target mobile carrier being transported by the fourth target handling equipment.

[0031] Optionally, the container loading and unloading equipment removes the container from the movable carrier or places the container in the movable carrier by at least one of the following methods: suction, pushing, clamping, grabbing, hooking, picking up, and lifting.

[0032] Optionally, the movable carrier is a movable shelf, which includes at least one partition that divides the movable shelf into at least two layers, and the partition of the movable shelf is provided with at least one storage space.

[0033] Optionally, the movable shelf includes at least one connecting layer, and the containers located in the connecting layer can be operated by access equipment or by container loading and unloading equipment.

[0034] Optionally, the movable shelf may also include a non-connecting layer in addition to the connecting layer, wherein containers located in the non-connecting layer are only operated by the container loading and unloading equipment.

[0035] Optionally, the target container loading and unloading equipment is further configured to interchange the positions of containers on the movable shelf within the docking layer, within the non-docking layer, or between the docking and non-docking layers.

[0036] Optionally, the container loading and unloading equipment includes a first sensor, which is used to determine whether there is a container in the storage space of the movable shelf when the container loading and unloading equipment removes a container from the movable shelf and / or to determine whether the storage space of the movable shelf is empty when a container is placed into the storage space of the movable shelf.

[0037] Optionally, the container loading and unloading equipment further includes a second sensor for determining the positional deviation between the container loading and unloading equipment and the containers on the movable shelf.

[0038] Optionally, the container loading and unloading equipment is further configured to adjust the pose of the container loading and unloading equipment and eliminate the pose deviation based on the pose deviation between the container loading and unloading equipment and the corresponding container position determined by the second sensor.

[0039] Optionally, the first sensor and the second sensor are the same sensor.

[0040] Optionally, the first sensor and the second sensor are vision sensors, depth information sensors, or 3D sensors.

[0041] Optionally, the target container loading and unloading equipment is located at the workstation, the workstation is equipped with a conveyor line, the picking station is located in the conveyor path of the conveyor line, the conveyor line includes a conveyor line inlet and a conveyor line outlet, and the target container loading and unloading equipment is respectively provided at the conveyor line inlet and the conveyor line outlet;

[0042] The target container loading and unloading device located at the inlet of the transmission line is further configured to retrieve the first target container from the current storage location and place it on the transmission line;

[0043] The target container loading and unloading equipment located at the outlet of the transmission line is further configured to remove the first target container from the outlet of the transmission line and place it at the target location, which is either a storage location for the first target movable vehicle or a storage location for other movable vehicles besides the first target movable vehicle.

[0044] Optionally, each of the target handling devices is further configured to transport each of the target mobile vehicles back to its original location or another location in the storage area.

[0045] Optionally, the control server is further configured to determine the new location of each target mobile vehicle based on either the heat of each target mobile vehicle or the distance between each target mobile vehicle and an empty location in the storage area.

[0046] Optionally, each shelf of the fixed shelving unit has a storage compartment in the depth direction for storing at least one container.

[0047] Optionally, at least one movable vehicle may be placed at the bottom of the fixed shelf along the depth direction.

[0048] Optionally, the access device is provided with a caching mechanism for caching at least one container.

[0049] Optionally, the movable shelf includes at least one upright and at least one shelf arranged in the vertical direction along the upright, each shelf having a storage space for container storage.

[0050] Optionally, the movable shelf includes at least two uprights, which are disposed on the same side of the at least one shelf, and the connection points of the at least two uprights and the at least one shelf are offset from the end of the shelf by a predetermined distance.

[0051] Optionally, the access device includes a single-reach, double-reach, or multi-reach container robot.

[0052] Optionally, the handling equipment includes a shelf handling robot.

[0053] Optionally, the movable shelf is a double-sided shelf;

[0054] The control server is further configured to determine the current storage location of the first target container and the target location being opposite the first target movable shelf, and to send a shelf rotation command to the target handling equipment.

[0055] The target handling equipment is further configured to, in response to the shelf turning command, move the first target movable shelf to perform a shelf turning operation after the first target container is removed from the target container loading and unloading equipment;

[0056] The target container loading and unloading equipment is also configured to place the target container at the target location.

[0057] Optionally, the container loading and unloading equipment includes a frame on which a container picking and delivering assembly and a carrier assembly are mounted. The container picking and delivering assembly is configured to move on the frame. The frame includes an X-axis track and a Y-axis track that are perpendicular to each other. The Y-axis track is configured to move along the X-axis track, and the container picking and delivering assembly is configured to move along the Y-axis track. The container picking and delivering assembly can remove a container from a carrier along the Z-axis direction and load it onto the carrier assembly, or unload a container from the carrier assembly and place it on a movable carrier.

[0058] Optionally, the frame includes a gantry assembly, the X-axis track includes a ground track structure and a top track structure mounted on the gantry assembly; the two ends of the Y-axis track are respectively guided and engaged with the ground track structure and the top track structure.

[0059] Optionally, at least two Y-axis tracks are provided, and at least one of the pick-and-place container components is provided on each Y-axis track.

[0060] Optionally, the container delivery assembly removes the container from the movable vehicle or places the container in the movable vehicle by at least one of the following methods: sucking, pushing, clamping, grabbing, hooking, picking up, or lifting.

[0061] According to a second aspect of the embodiments of this application, a warehouse scheduling system is provided, the system including a control server, storage and retrieval equipment, handling equipment, a storage area, and container loading and unloading equipment; wherein, the storage area includes at least a plurality of fixed shelves and a plurality of movable vehicles, the fixed shelves including at least one partition, the at least one partition dividing the fixed shelves into at least two layers, the movable vehicles being located at the bottom layer of the fixed shelves, the partitions of the fixed shelves being provided with at least one storage space, each storage space being capable of accommodating at least one container; the movable vehicles including at least one storage space, each storage space being capable of accommodating at least one container;

[0062] The control server is configured to determine, based on the order task, the target fixed shelf where the target container containing the order goods is currently located and the target mobile vehicle where the target container is about to be placed, wherein the target mobile vehicle has a storage space for placing the target container. Simultaneously, the server determines a target storage device for accessing the target container, a target handling device for moving the target mobile vehicle, and a target cargo container loading / unloading device for loading and unloading the target cargo container. The server then sends access instructions to the target storage device, handling instructions to the target handling device, and loading / unloading instructions to the target cargo container loading / unloading device.

[0063] The target access device is configured to, in response to the access command, move to the target fixed shelf, remove the target container from the target fixed shelf and place it in the storage position of the target movable vehicle, or remove the target container from the storage position of the target movable vehicle and place it in the storage position of the target fixed shelf.

[0064] The target handling device is configured to, in response to the handling command, handle a target movable vehicle containing the target container to a destination;

[0065] The target container loading and unloading equipment is located at the destination and is configured to, in response to the loading and unloading command, remove a target container from a target mobile vehicle being transported by the target handling equipment or place a target container into a target mobile vehicle being transported by the target handling equipment.

[0066] Optionally, the movable carrier is a movable shelf, which includes at least one partition that divides the movable shelf into at least two layers, and the partition of the movable shelf is provided with at least one storage space.

[0067] Optionally, the control server is configured to schedule the storage and retrieval equipment to change the storage location of the first target container in a fixed shelf, to schedule the storage and retrieval equipment to change the storage location of the first target container between a fixed shelf and a mobile vehicle; and / or, to schedule the container loading and unloading equipment to change the storage location of the first target container in a mobile vehicle.

[0068] Optionally, the control server is configured to, in response to a sorting task, schedule storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location or keep it in its original storage location; schedule storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location on a movable vehicle; schedule storage and retrieval equipment to move the first target container from its original storage location on a movable vehicle to another storage location on a fixed shelf; and / or, schedule container loading and unloading equipment to move the first target container from its original storage location on a movable vehicle to another storage location or keep it in its original storage location.

[0069] Optionally, the mobile vehicle is a hybrid mobile vehicle, wherein the hybrid mobile vehicle can carry at least two of the following: a first container for accommodating stored goods, a second container for accommodating stored goods, and stored goods.

[0070] According to a third aspect of the embodiments of this application, a warehouse scheduling method is provided. The method is applied to a warehouse scheduling system, the system including a control server, handling equipment, a storage area, and container loading and unloading equipment; wherein, the storage area includes at least a plurality of mobile vehicles, each mobile vehicle including at least one storage space, and each storage space can accommodate at least one container.

[0071] The method includes:

[0072] The control server determines the first target container on the first target mobile vehicle, the current storage location of the first target container, and the target location. It also determines the first target handling equipment and the target container loading and unloading equipment used to move the first target mobile vehicle, and sends a handling instruction to the first target handling equipment and a loading and unloading instruction to the target container loading and unloading equipment.

[0073] In response to the transport command, the first target transport device transports the first target movable vehicle containing the first target container to its destination;

[0074] The target container loading and unloading equipment, located at the destination, responds to the loading and unloading command by retrieving the first target container from the current storage location and placing it at the target location.

[0075] Optionally, the target location is the storage location of the first target movable vehicle or the storage location of other movable vehicles besides the first target movable vehicle.

[0076] Optionally, the method further includes:

[0077] The control server determines the new storage location of the first target container based on any one of the following: the heat of the goods stored in the first target container, the correlation between the goods stored in the first target container and the goods stored in other containers, whether the task to be processed involves the goods stored in the first target container, and the distance between the target container loading and unloading equipment and each storage location on each mobile vehicle located at the destination.

[0078] Optionally, the target location is the storage location of the second target movable vehicle;

[0079] The method further includes:

[0080] The control server determines the storage location of the first target container on the second target mobile vehicle, and at the same time determines the second target handling device for moving the second target mobile vehicle, and sends a handling instruction to the second target handling device;

[0081] The second target transport device responds to the transport command by transporting the second target movable vehicle to its destination;

[0082] In response to the loading and unloading command, the target container loading and unloading equipment removes the first target container from the current storage location on the first target mobile vehicle and places it in the storage location on the second target mobile vehicle.

[0083] Optionally, the method further includes:

[0084] The control server determines the storage locations on the second target container and the third target mobile vehicle located in the loading and unloading area, and simultaneously determines the third target handling equipment for moving the third target mobile vehicle, and sends handling instructions to the third target handling equipment and loading and unloading instructions to the target container loading and unloading equipment.

[0085] The third target handling device is configured to handle the third target movable carrier to the loading and unloading area in response to the handling command;

[0086] The target container loading and unloading equipment is located in the loading and unloading area and is configured to, in response to the loading and unloading command, remove the second target container from the loading and unloading area and place it in a storage location on the third target mobile vehicle.

[0087] Optionally, the method further includes:

[0088] The control server determines a new storage location for the second target container in response to at least one of a delisting task, a sorting task, and a put-away task.

[0089] Optionally, the method further includes:

[0090] The control server determines a new storage location for the first target container in response to at least one of a delisting task, a sorting task, and a put-away task.

[0091] Optionally, the system further includes: access devices and multiple fixed shelves, the fixed shelves including at least one partition, the at least one partition dividing the fixed shelves into at least two layers, the movable carrier being located at the bottom layer of the fixed shelves, the partition of the fixed shelves being provided with at least one storage position, each storage position being able to accommodate at least one container, and the target location being a cache storage position located at the workstation;

[0092] The method further includes:

[0093] The control server determines the storage location of the first target container on the target fixed shelf, and at the same time determines the target access device for accessing the first target container, and sends an access instruction to the target access device.

[0094] In response to the loading and unloading command, the target container loading and unloading device retrieves the first target container from the current storage location and places it in the cache storage location;

[0095] In response to the access command, the target access device moves to the cache storage location, retrieves the first target container from the cache storage location, moves it to the target fixed shelf, and places the first target container in the storage location of the target fixed shelf.

[0096] Optionally, the system further includes: access devices and multiple fixed shelves, the fixed shelves including at least one partition, the at least one partition dividing the fixed shelves into at least two layers, the movable carrier being located at the bottom layer of the fixed shelves, the partition of the fixed shelves being provided with at least one storage position, each storage position being able to accommodate at least one container, and the target location being a cache storage position located at the workstation;

[0097] The method further includes:

[0098] The control server determines the third target container on the target fixed shelf, the current storage location of the third target container, and the storage location of the third target container on the fourth target movable vehicle. It also determines the target access device for accessing the third target container and the fourth target handling device for moving the fourth target movable vehicle, and sends access instructions to the target access device, handling instructions to the fourth target handling device, and loading and unloading instructions to the target container loading and unloading device.

[0099] In response to the access command, the target access device moves to the target fixed shelf, takes out the third target container, and transports the third target container to the destination and stores it in the cache storage location of the destination.

[0100] The fourth target transport device responds to the transport command and transports the fourth target movable vehicle to the destination;

[0101] In response to the loading and unloading command, the target container loading and unloading equipment retrieves the third target container from the buffer storage location and places the third target container into the fourth target movable vehicle being transported by the fourth target handling equipment.

[0102] Optionally, the target container loading and unloading equipment is located at a workstation, the workstation is equipped with a transmission line, the picking station is located in the transmission path of the transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, and the target container loading and unloading equipment is respectively provided at the transmission line inlet and the transmission line outlet;

[0103] The method further includes:

[0104] The target container loading and unloading device located at the inlet of the transmission line is further configured to retrieve the first target container from the current storage location and place it on the transmission line;

[0105] The target container loading and unloading equipment located at the outlet of the transmission line is further configured to remove the first target container from the outlet of the transmission line and place it at the target location, which is either a storage location for the first target movable vehicle or a storage location for other movable vehicles besides the first target movable vehicle.

[0106] Optionally, the method further includes:

[0107] Each target handling device will transport each target mobile vehicle back to its original location or other location in the storage area.

[0108] Optionally, the method further includes:

[0109] The control server determines the new position of each target mobile vehicle based on either the heat of each target mobile vehicle or the distance between each target mobile vehicle and an empty location in the storage area.

[0110] Optionally, the movable shelf is a double-sided shelf;

[0111] The method further includes:

[0112] The control server determines that the current storage location of the first target container and the target location are on the opposite side of the first target movable shelf, and sends a shelf turning instruction to the target handling equipment;

[0113] After the target container loading and unloading equipment removes the first target container, the target handling equipment responds to the shelf turning command and moves the first target movable shelf to perform the shelf turning operation.

[0114] The target container loading and unloading equipment places the target container at the target location.

[0115] According to a fourth aspect of the embodiments of this application, a warehouse scheduling method is provided, the method being applied to a warehouse scheduling system, the system including a control server, storage and retrieval equipment, handling equipment, a storage area, and container loading and unloading equipment; wherein, the storage area includes at least a plurality of fixed shelves and a plurality of movable carriers, the fixed shelves including at least one partition, the at least one partition dividing the fixed shelves into at least two layers, the movable carriers being located at the bottom layer of the fixed shelves, the partitions of the fixed shelves being provided with at least one storage space, each storage space capable of accommodating at least one container; the movable carriers including at least one storage space, each storage space capable of accommodating at least one container;

[0116] The method includes:

[0117] The control server determines, based on the order task, the target fixed shelf where the target container containing the order goods is currently located and the target mobile vehicle where the target container will be placed. The target mobile vehicle has a storage space for placing the target container. At the same time, it determines the target storage and retrieval device for storing and retrieving the target container, the target handling device for moving the target mobile vehicle, and the target cargo box loading and unloading device for loading and unloading the target cargo box. The server then sends storage and retrieval instructions to the target storage and retrieval device, handling instructions to the target handling device, and loading and unloading instructions to the target cargo box loading and unloading device.

[0118] In response to the access command, the target access device moves to the target fixed shelf, removes the target container from the target fixed shelf and places it in the storage position of the target movable vehicle, or removes the target container from the storage position of the target movable vehicle and places it in the storage position of the target fixed shelf.

[0119] The target handling equipment responds to the handling command by handling the target movable vehicle containing the target container to the destination;

[0120] The target container loading and unloading equipment, located at the destination, responds to the loading and unloading command by removing the target container from the target movable vehicle being transported by the target handling equipment or placing the target container into the target movable vehicle being transported by the target handling equipment.

[0121] Optionally, the method further includes:

[0122] The control server schedules the storage and retrieval equipment to change the storage location of the first target container in the fixed shelf, schedules the storage and retrieval equipment to change the storage location of the first target container between the fixed shelf and the mobile carrier, and / or schedules the container loading and unloading equipment to change the storage location of the first target container in the mobile carrier.

[0123] Optionally, the method further includes:

[0124] In response to a sorting task, the control server schedules storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location or keep it in its original storage location; schedules storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location on a movable vehicle; schedules storage and retrieval equipment to move the first target container from its original storage location on a movable vehicle to another storage location on a fixed shelf; and / or schedules container loading and unloading equipment to move the first target container from its original storage location on a movable vehicle to another storage location or keep it in its original storage location.

[0125] This embodiment provides a warehouse scheduling system and method. The system includes a control server, handling equipment, an inventory area, and container loading / unloading equipment. The inventory area includes at least a plurality of mobile carriers and at least one storage location, each capable of accommodating at least one container. The control server is configured to determine a first target container on a first target mobile carrier, the current storage location of the first target container, and a target location. It also determines a first target handling equipment and a target container loading / unloading equipment for handling the first target mobile carrier, and sends handling instructions to the first target handling equipment and loading / unloading instructions to the target container loading / unloading equipment. The first target handling equipment is configured to, in response to the handling instructions, handle the first target mobile carrier containing the first target container to a destination. The target container loading / unloading equipment, located at the destination, is configured to, in response to the loading / unloading instructions, remove the first target container from the current storage location and place it at the target location. The warehouse scheduling system in this embodiment provides a dense storage type of mobile shelving and a container storage and retrieval device at the workstation. By using the dense storage type of mobile shelving and the container storage and retrieval device to operate the containers in the mobile shelving, the space utilization rate of the storage area is improved, allowing the storage area to store more goods and saving costs in the overall warehouse scheduling system. Attached Figure Description

[0126] Figure 1 This is a schematic diagram of the system structure of a warehouse scheduling system provided in one embodiment of this application;

[0127] Figure 2 This is a schematic diagram of a dense storage type mobile shelf provided in one embodiment of this application;

[0128] Figure 3 This is a schematic diagram of the system structure of a warehouse scheduling system provided in another embodiment of this application;

[0129] Figure 4 This is a front view of a storage rack provided in an embodiment of this application;

[0130] Figure 5 This is a side view of a storage rack provided in one embodiment of this application;

[0131] Figure 6 This is a schematic diagram of a movable shelf including a connecting layer provided in an embodiment of this application;

[0132] Figure 7a This is a schematic diagram of a container loading and unloading device provided in an embodiment of this application;

[0133] Figure 7b This is a schematic diagram of a first type of mixed cargo carrier provided in an embodiment of this application;

[0134] Figure 8 This is a schematic diagram of a second type of mixed cargo carrier provided in an embodiment of this application;

[0135] Figure 9 This is a schematic diagram of a third type of mixed cargo carrier provided in an embodiment of this application;

[0136] Figure 10 This is a schematic diagram of a fourth type of mixed cargo carrier provided in an embodiment of this application;

[0137] Figure 11 This is a flowchart of a warehouse scheduling method provided in an embodiment of this application;

[0138] Figure 12 This is a flowchart of a warehouse scheduling method provided in another embodiment of this application.

[0139] Figure Labels

[0140] 110-Control Server, 111-Processor, 112-Memory, 113-Order Pool, 114-Operating Table, 120-Inventory Area, 130-Inventory Rack, 1301-Fixed Shelf, 1302-Mobile Carrier, 13021-Column, 13022-Shelf, 130201-Connecting Layer, 130202-Non-Connecting Layer, 1304-Mixed Mobile Carrier, 130401-First Storage Location, 130402-Storage Cell, 130403-Second Storage Location, 140-Storage Equipment, 150-Handling Equipment, 160-Workstation, 170-Container Loading and Unloading Equipment, 7-Frame, 71-X-Axis Rail, 72-Y-Axis Rail, 2-Container Picking and Delivery Assembly. Detailed Implementation

[0141] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below.

[0142] The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of one or more embodiments of this application. The singular forms “a,” “the,” and “the” used in one or more embodiments of this application and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0143] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this application, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0144] This application provides a warehouse scheduling system and method, which will be described in detail in the following embodiments.

[0145] Figure 1A schematic diagram of the system structure of a warehouse scheduling system provided in an embodiment of this application is shown. The system includes one or more control servers 110, an inventory area 120, and container loading and unloading equipment 170. The inventory area includes multiple mobile carriers 1302, which form a channel. One or more handling devices 150 operate in the channel. Multiple workstations 160 are set outside the inventory area, and each workstation is equipped with container loading and unloading equipment 170.

[0146] The control server 110 is wirelessly connected to the handling equipment 150 and the container loading and unloading equipment 170. The operator operates the control server 110 through the control console 114. The control server 110 is a software system running on a server with data storage and information processing capabilities. It can be wirelessly connected to the software systems of the handling equipment 150, the container loading and unloading equipment 170, and the workstation 160. The control server 110 may include one or more servers and can be a centralized control architecture or a distributed computing architecture. The control server 110 has a processor 111 and a memory 112. The memory 112 may contain an order pool 113, which stores order information.

[0147] The storage area 120 can be a dense storage area or a non-dense storage area. Multiple movable carriers 1302 are set in the storage area 120. The movable carriers include, but are not limited to, partition shelves, box shelves, picking shelves, pallet racks, movable shelves, cage carts, pallet brackets, etc.

[0148] The mobile carrier 1302 may be a mobile shelf 1302, which includes at least one partition that divides the mobile shelf 1302 into at least two layers. The partition of the mobile shelf 1302 is provided with at least one storage position, each storage position of which can accommodate at least one container, which may be a cargo box.

[0149] An aisle is formed between multiple movable shelves 1302 in the storage area 120, and a handling device 150 operates in the aisle for handling the movable shelves 1302. Specifically, the handling device 150 includes a shelf handling robot.

[0150] The movable shelving unit 1302 can be used for both high-density and low-density storage, see [link / reference]. Figure 2 , Figure 2 A schematic diagram of a mobile shelving system for dense storage provided in an embodiment of this application is shown, such as... Figure 2 As shown, multiple compartments in the movable shelf are used to store containers. The movable shelf is a high-density storage shelf with very small gaps between containers.

[0151] The workstation 160 is a goods picking area. After the movable shelf 1302 is moved to the workstation 160, the goods required for the order task are picked from the containers on the movable shelf 1302 by manual or automated equipment at the workstation 160. The automated equipment includes an automated robotic arm.

[0152] In one specific embodiment provided in this application, a control server is configured to determine a first target container in a first target movable shelf, and simultaneously determine the current storage location and target location of the first target container. It is also used to move a first target handling device and a target container loading and unloading device of the first target movable shelf, send handling instructions to the first target handling device, and send loading and unloading instructions to the target container loading and unloading device.

[0153] The target handling equipment is configured to, in response to the handling command, transport a first target movable shelf containing the first target container to its destination, i.e., the workstation.

[0154] The target container loading and unloading equipment is located at the destination (workstation) and is configured to, in response to the loading and unloading command, retrieve the first target container from the current storage location and place it in the target location.

[0155] The target location is either the storage location of the first target movable vehicle or the storage location of another movable vehicle other than the first target movable vehicle. That is, after the target container loading and unloading equipment removes the first target container from the current storage location, it can also place it in the storage location of the first target movable vehicle or in the storage location of another movable vehicle.

[0156] Furthermore, the control server is further configured to determine a new storage location for the first target container based on any one of the following: the heat of the goods stored in the first target container, the correlation between the goods stored in the first target container and the goods stored in other containers, whether the task to be processed involves the goods stored in the first target container, and the distance between the target container loading / unloading equipment and each storage location on each mobile vehicle located at the destination.

[0157] It is important to note that the "popularity" of goods on the movable shelf in this application refers to the shipment volume or frequency of goods. A high popularity value indicates a large shipment volume or high shipment frequency in the container. If multiple SKUs are placed in the container, the popularity is determined by the weighted sum of the shipment volume or frequency of the multiple SKUs. The correlation between goods specifically refers to the frequency with which goods are selected together in an order task. For example, nail polish and nail polish remover often appear in the same order, thus the correlation between these two goods is relatively high.

[0158] The tasks to be processed include delisting tasks (order pre-hit), put-away tasks (put-away pre-hit), and sorting tasks (sorting pre-hit). The pre-hit principle is that if the task to be processed in the future involves the goods, the pre-hit goods can be adjusted in advance and placed on certain specific shelves to facilitate the rapid processing of the tasks to be processed, save scheduling time, and improve the scheduling efficiency of the warehouse scheduling system.

[0159] Determining the target location of the first target container based on the heat of the goods facilitates placing hot containers in easily accessible storage locations during the goods picking process. Determining the target location of the first target container based on the correlation between goods reduces the number of times movable shelves need to be moved during the goods picking process and facilitates the picking of goods.

[0160] Container loading and unloading equipment is an automated device for moving containers from or placing containers into mobile shelves. The equipment removes containers from or places them into the mobile shelf using at least one of the following methods: suction, pushing, clamping, grabbing, hooking, lifting, or raising.

[0161] The container loading and unloading equipment includes a first sensor for determining whether a storage location on a movable shelf is occupied when a container is removed from the movable shelf of the container loading and unloading equipment and / or whether a storage location on the movable shelf is empty when a container is placed on the storage location of the movable shelf.

[0162] The container loading and unloading equipment also includes a second sensor for determining the pose deviation between the container loading and unloading equipment and the container on the movable shelf. If the pose deviation is greater than or equal to a preset tolerance threshold, the container loading and unloading equipment adjusts its own pose based on the pose deviation, such that the adjusted pose deviation between the container loading and unloading equipment and the first container is less than the preset tolerance threshold.

[0163] In practical applications, the first sensor and the second sensor can be the same sensor or different sensors. Both can be vision sensors, depth sensors, or 3D sensors, such as 2D cameras, 3D cameras, etc.

[0164] In one specific embodiment provided in this application, target container loading and unloading equipment is located in workstation 160. A conveyor line is provided in workstation 160, and the picking operation takes place along the conveyor line's path. The conveyor line has a conveyor line inlet and a conveyor line outlet, and target container loading and unloading equipment is respectively provided at the conveyor line inlet and outlet. The target container loading and unloading equipment located at the conveyor line inlet retrieves a first target container from the current storage location and places it on the conveyor line; the target container loading and unloading equipment located at the conveyor line outlet retrieves the first target container from the conveyor line outlet and places it at a target location, wherein the target location is a storage location of a first target movable shelf or a storage location of another movable shelf besides the first target movable shelf.

[0165] In practical applications, the target container can be repositioned not only on the same movable shelf, but also on different movable shelves. That is, the target location and the current storage location can be on the same movable shelf or different movable shelves.

[0166] In another specific embodiment provided in this application, the target location is the storage location of the second target mobile vehicle. Accordingly, the control server 110 is also configured to determine the storage location of the first target container on the second target mobile vehicle, and at the same time determine the second target handling device for moving the second target mobile vehicle, and send a handling instruction to the second target handling device.

[0167] The second target transport device is configured to transport the second target movable vehicle to a destination in response to the transport command;

[0168] The target container loading and unloading equipment is further configured to, in response to the loading and unloading command, remove the first target container from the current storage location on the first target mobile vehicle and place it in the storage location on the second target mobile vehicle.

[0169] Specifically, the first target mobile vehicle refers to the mobile vehicle where the first target container is currently located, and the second target mobile vehicle refers to the mobile vehicle to which the first target container needs to be moved. That is, the first target container located on the first target mobile vehicle needs to be moved to the second target mobile vehicle. After determining the first target mobile vehicle and the second mobile vehicle, the control server also needs to determine the target container loading and unloading equipment used to move the first target container, and send handling instructions to the first target handling equipment and the second target handling equipment, and send loading and unloading instructions to the target container loading and unloading equipment.

[0170] The first target handling device moves the first target mobile carrier to workstation 160 according to the handling instruction. The second target handling device moves the second target mobile carrier to workstation 160 according to the handling instruction. After the first target mobile carrier and the second target mobile carrier arrive at workstation 160, the target container loading and unloading device takes out the first target container from the current storage position on the first target mobile carrier according to the loading and unloading instruction and places the target container in the storage position of the second target mobile carrier.

[0171] In practical applications, in addition to changing the position of target containers between mobile carriers, the target container loading and unloading equipment can also place containers in the loading and unloading area in the mobile carrier. The loading and unloading area specifically refers to the area used to place containers after the unloading, sorting, or shelving tasks are completed. After the containers complete the corresponding tasks in the loading area, they need to be returned to the storage area. After the target containers complete the order tasks, loading tasks, inventory tasks, and container adjustment tasks, the mobile carrier will transport the containers back to the storage area.

[0172] Based on this, in a specific embodiment provided in this application, the control server is further configured to determine the storage location on the second target container and the third target mobile vehicle located in the loading and unloading area, and at the same time determine the third target handling equipment for handling the third target mobile vehicle, and send handling instructions to the third target handling equipment and loading and unloading instructions to the target container loading and unloading equipment.

[0173] The third target handling device is configured to handle the third target movable carrier to the loading and unloading area in response to the handling command;

[0174] The target container loading and unloading equipment is located in the loading and unloading area and is configured to, in response to the loading and unloading command, remove the second target container from the loading and unloading area and place it in a storage location on the third target mobile vehicle.

[0175] The control server is further configured to determine a new storage location for the second target container in response to at least one of a delisting task, a sorting task, and a put-away task.

[0176] It should be noted that the second target mobile vehicle used to place the first target container and / or the third target mobile vehicle used to transport the second target container from the loading and unloading area back to the storage area can be a partially empty shelf that has been moved from the storage area based on the temperature of the container or the relevance of the goods in the container, or it can be an empty shelf with no containers in any of the storage spaces. In this application, there is no limitation on this.

[0177] In practical applications, the control server 110 is further configured to determine a new storage location for the first target container in response to at least one of a delisting task, a sorting task, and a put-away task.

[0178] In one specific embodiment provided in this application, taking an order task for picking orders as an example where the preset container adjustment trigger condition is an order task, the control server is further configured to determine a first target container, the current storage location of the first target container on a first target mobile vehicle, and the target position of the first target container on a second target mobile vehicle according to the order task. The target position of the first target container on the second target mobile vehicle is determined based on the heat of the goods in the first target container and / or the correlation between the goods in the first target container and the goods on the second target mobile vehicle.

[0179] In another specific embodiment provided in this application, taking a container adjustment task for adjusting container positions as a preset container adjustment trigger condition as an example, the containers in the inventory area need to be adjusted every once in a while. Based on the popularity of goods shipments and / or the correlation between goods during this period, it is determined which containers need to be adjusted and how to adjust them. A certain time period is specifically used to adjust the positions of containers to complete the container adjustment task.

[0180] When the preset container adjustment trigger condition is an order task for picking orders, after the target container completes the order picking, the target container can be returned to the original mobile vehicle or placed in a different mobile vehicle. After the control server determines the target container according to the order task, it can determine the current storage location and target location of the first target container on the first target mobile vehicle; it can also determine the current storage location of the first target container on the first target mobile vehicle and the target location on the second mobile vehicle.

[0181] Furthermore, after the first target container is removed from its current storage location on the first target mobile vehicle, the control server is also configured to determine a second target container based on the order task, and the current storage location of the second target container on the first target mobile vehicle is set as the target location for the second target container. That is, after removing the first target container from its current storage location on the first target mobile vehicle, a second target container can be determined and placed in the available current storage location on the first target mobile vehicle, thereby achieving the purpose of adjusting the container position according to the order task.

[0182] In yet another specific embodiment provided in this application, the movable carrier may be a double-sided movable shelf;

[0183] The control server is further configured to determine the current storage location of the first target container and the target location being opposite the first target movable shelf, and to send a shelf rotation command to the target handling equipment.

[0184] The target handling equipment is further configured to, in response to the shelf turning command, move the first target movable shelf to perform a shelf turning operation after the first target container is removed from the target container loading and unloading equipment;

[0185] The target container loading and unloading equipment is also configured to place the target container at the target location.

[0186] When the movable shelving is a double-sided shelving, it is possible that the current storage location of the target container and the target location are on opposite sides of the double-sided shelving. In this case, it is also necessary to send a shelf turn command to the target handling equipment. After the target handling equipment moves the target movable shelving to the workstation, the target container equipment takes out the target container from the current storage location and executes the shelf turn command. The target movable shelving is then moved to perform the shelf turn operation. After the turn is completed, the target container is placed in the target location.

[0187] After the mobile carrier completes tasks such as order placement, loading, and container adjustment at the workstation, it is transported back to the storage area by handling equipment. Specifically, each target handling device is configured to transport the target mobile carrier back to its original location or another location in the storage area. Furthermore, the control server is further configured to determine the new location of each target mobile carrier based on either the heat value of each target mobile carrier or the distance between each target mobile carrier and an available location in the storage area. The distance between the other location and the destination is positively correlated with the heat value of the first target mobile shelf. For example, the higher the heat value of the mobile carrier, the closer it is to the workstation; conversely, the lower the heat value of the mobile carrier, the farther it is from the workstation. The heat value of the mobile carrier is specifically determined based on the heat value of the container within the mobile carrier. The container heat value is described in detail in the above embodiments and will not be repeated here. When moving a mobile vehicle back to its new location in the storage area, the new location can also be determined based on the distance between the mobile vehicle and an available space in the storage area. Moving the mobile vehicle to the nearest available space in the storage area improves the efficiency of mobile vehicle movement.

[0188] Figure 3A schematic diagram of the system structure of a warehouse scheduling system provided in an embodiment of this application is shown. The system includes one or more control servers 110, an inventory area 120, and multiple inventory racks 130 in the inventory area. A channel is formed between the multiple inventory racks 130, and one or more handling devices 150 and one or more storage and retrieval devices 140 operate in the channel. Multiple workstations 160 are set outside the inventory area 120, and each workstation is equipped with container loading and unloading devices 170.

[0189] The control server 110 is wirelessly connected to the access device 140, the handling device 150, and the container loading and unloading device 170. The operator operates the control server 110 through the control console 114. The control server 110 is a software system running on a server with data storage and information processing capabilities. It can be wirelessly connected to the software systems of the access device 140, the handling device 150, the container loading and unloading device 170, and the workstation 160. The control server 110 may include one or more servers and can be a centralized control architecture or a distributed computing architecture. The control server 110 has a processor 111 and a memory 112. The memory 112 may contain an order pool 113, which stores order information.

[0190] The storage area 120 can be a dense storage area or a non-dense storage area. Multiple storage racks 130 are provided in the storage area 120. Each storage rack 130 includes a fixed rack 1301 and a movable carrier 1302. The fixed rack 1301 and the movable carrier 1302 include at least one partition, which divides the fixed rack 1301 and the movable carrier 1302 into at least two layers. The movable carrier 1302 is located at the bottom layer of the fixed rack 1301. The partitions of the other layers of the fixed rack 1301, excluding the bottom layer, are provided with at least one storage space, each storage space capable of accommodating at least one container. The movable carrier includes a movable rack.

[0191] See Figure 4 , Figure 4 A front view of a storage rack 130 provided in one embodiment of this application is shown, as follows: Figure 4 As shown, the storage rack 130 includes a fixed rack 1301 and a movable carrier 1302. The storage and retrieval device 140 is used to store and retrieve containers in the fixed rack 1301 and the movable carrier 1302, and the handling device 150 is used to handle the movable carrier 1302.

[0192] See Figure 5 , Figure 5 A side view of the storage rack 130 provided in an embodiment of this application is shown, as follows: Figure 5As shown, the movable carrier 1302 is located at the bottom of the fixed shelf 1301. The other layers of the fixed shelf 1301, excluding the bottom layer, hold containers containing inventory goods. Each shelf of the fixed shelf has at least one storage position for containers in the depth direction. That is, when the inventory area 120 is not densely stored, each shelf of the fixed shelf can be provided with one container storage position in the depth direction. If the inventory area 120 is densely stored, each shelf of the fixed shelf can be provided with two or more container storage positions in the depth direction to improve storage efficiency.

[0193] Correspondingly, a movable carrier 1302 is provided at the bottom of the fixed shelf 1301. At least one movable carrier 1302 can also be placed at the bottom of the fixed shelf 1301 along the depth direction. That is, when each shelf of the fixed shelf is provided with a storage position for a container in the depth direction, a movable carrier 1302 is also provided at the bottom of the fixed shelf 1301 along the depth direction; when each shelf of the fixed shelf is provided with two or more storage positions for containers in the depth direction, two or more movable carriers 1302 are also provided at the bottom of the fixed shelf 1301 along the depth direction.

[0194] The movable carrier 1302 includes at least one column 13021 and at least one shelf 13022 arranged vertically along the column 13021, with storage positions for container storage provided on each shelf 13022. Further, the movable carrier 1302 includes at least two columns 13021, which are arranged on the same side of the at least one shelf 13022, and the connection points between the at least two columns 13021 and the at least one shelf 13022 are offset from the end of the shelf 13022 by a predetermined distance, such as... Figure 5 As shown, the connection point between the column 13021 and the shelf 13022 is on the same side of the shelf 13022, and the connection point is offset from the end of the shelf 13022 by a predetermined distance.

[0195] A passageway is formed between multiple storage racks 130 in the storage area 120. Storage and retrieval devices 140 and / or handling devices 150 operate in the passageway. The storage and retrieval devices 140 are used to store and retrieve containers on fixed shelves 1301, and the handling devices 150 are used to move the movable shelves 1302. Specifically, the handling devices 150 include shelf handling robots, and the storage and retrieval devices 140 include single-extend, double-extend, or multi-extend container robots. The forks of a single-extend container robot can only extend once to retrieve goods from one row of shelves. The forks of a double-extend container robot can extend in two segments. When the first segment extends, it can retrieve goods from the first row, and when the second segment extends, it can retrieve goods from the second row. The forks of a multi-extend container robot can extend in multiple segments. The specific form of the access device 140 is related to the storage positions of the fixed shelf 1301. If each shelf of the fixed shelf 1301 has one container storage position in the depth direction, the access device 140 is a single-extend container robot. If each shelf of the fixed shelf 1301 has two container storage positions in the depth direction, the access device 140 is a double-extend container robot. If each shelf of the fixed shelf 1301 has multiple container storage positions in the depth direction, the access device 140 is a multi-extend container robot. In practical applications, in order to improve access efficiency, a buffer mechanism can also be provided on the access device. The buffer mechanism is used to buffer at least one container. The buffer mechanism allows the access device to access multiple containers at once, thereby improving access efficiency.

[0196] Based on the application provided in this application Figure 3 In a specific embodiment of the application scenario shown, the target location is a cache storage location on the workstation; correspondingly, the control server 110 is also configured to determine the storage location of the first target container on the target fixed shelf, determine the target access device for accessing the first target container, and send an access instruction to the target access device.

[0197] The target container loading and unloading device is further configured to, in response to the loading and unloading command, retrieve the first target container from the current storage location and place it in the cache storage location;

[0198] The target access device is positioned to move to the cache storage location in response to the access command, retrieve the first target container from the cache storage location, move it to the target fixed shelf, and place the first target container in the storage location of the target fixed shelf.

[0199] In one specific embodiment provided in this application, the target access device can retrieve the first target container from the cache storage location of the workstation, transport the first target container to a fixed shelf in the inventory area, and place the first target container in the storage location of the fixed shelf.

[0200] In another specific embodiment provided in this application, the target access device can also remove the first target container from the storage location of the fixed shelf and transport the first target container to the workstation and place it in the cache storage location of the workstation.

[0201] In another specific embodiment provided in this application, the target access device may also remove the first target container from the connecting layer of the movable shelf and place the first target container in the storage position of the fixed shelf, or remove the first target container from the storage position of the fixed shelf and place the first target container in the connecting layer of the movable shelf.

[0202] like Figure 2 The movable shelf shown is a high-density storage shelf, with multiple compartments containing containers. The gaps between the containers are very small. It cannot accommodate the forks of a retrieval device. Therefore, it is impossible for the retrieval device to directly retrieve containers from the movable shelf and place them on a fixed shelf, nor can it directly remove containers from the fixed shelf and place them on the movable shelf. Therefore, during the process of moving the first target container from the first target movable shelf to the fixed shelf, the first target movable shelf needs to be moved to a workstation. At the workstation, a container loading / unloading device removes the first target container and places it in a buffer storage location. Then, the retrieval device retrieves the first target container from the buffer storage location and moves it to the fixed shelf, placing the first target container in its storage location on the fixed shelf.

[0203] It should be noted that in a workstation, the cache storage location can be located in a cache shelf or on a cache roller conveyor. In this application, the specific location of the cache storage location is not limited.

[0204] In another specific embodiment provided in this application, there is a scenario where the container is located in the fixed shelf 1301 and needs to be moved to the storage position of the movable shelf. Similarly, since the movable shelf provided in this application is a high-density storage shelf, the storage and retrieval equipment cannot directly place the container in the storage position of the movable shelf.

[0205] Based on this, the target location is a cache storage location at the workstation. The control server is also configured to determine the third target container on the target fixed shelf, the current storage location of the third target container, and the storage location of the third target container on the fourth target movable shelf. At the same time, it determines the target access device for accessing the third target container, the fourth target handling device for moving the fourth target movable shelf, and sends access instructions to the target access device, handling instructions to the fourth target handling device, and loading and unloading instructions to the target container loading and unloading device.

[0206] The target access device is configured to move to the target fixed shelf in response to the access command, take out the third target container, and transport the third target container to the destination and store it in the cache storage location of the destination;

[0207] The fourth target handling device is configured to, in response to the handling command, handle the fourth target movable shelf to the destination;

[0208] The target container loading and unloading equipment is configured to, in response to the loading and unloading command, retrieve the third target container from the buffer storage location and place the third target container into the fourth target movable shelf being transported by the fourth target handling equipment.

[0209] In this scenario, if the control server determines that the third target container is on the fixed shelf 1301, it determines that the third target container needs to be placed in the fourth target movable shelf 1302. That is, it determines the target storage device 140 for storing and retrieving the third target container, the fourth target handling device 150 for moving the fourth target movable shelf 1302, and the target container loading and unloading device 170 for loading and unloading the third target container. It sends storage and retrieval instructions to the target storage device 140, handling instructions to the fourth target handling device 150, and loading and unloading instructions to the target container loading and unloading device 170.

[0210] After receiving the access instruction, the target access device 140 moves to the target fixed shelf 1301, retrieves the third target container from the current storage location, and transports the third target container to the workstation, storing the target container in the workstation's cache storage location.

[0211] After receiving the handling instruction, the fourth target handling device 150 moves to the fourth target movable shelf 1302 and transports the fourth target movable shelf 1302 to the workstation.

[0212] The target container loading and unloading equipment 170 is located at the workstation. When the target storage and retrieval equipment 140 stores the third target container in the buffer storage position of the workstation and the fourth target handling equipment 150 moves the fourth target movable shelf 1302 to the workstation, the third target container is taken out from the buffer storage position according to the loading and unloading instruction and placed in the target position of the fourth target movable shelf 1302.

[0213] As can be seen from the above embodiments, whether containers from fixed shelves are placed on movable shelves or containers from movable shelves are placed on fixed shelves, storage and retrieval equipment is required to move the containers and handling equipment to the workstation. The target container loading and unloading equipment must wait for both devices to move their respective containers or movable shelves to the designated location before it can execute the loading and unloading instructions. This is time-consuming and labor-intensive. Therefore, to improve work efficiency, this application also proposes another type of movable shelf, see [link to relevant documentation]. Figure 6 , Figure 6 A schematic diagram of a movable shelf according to another embodiment of this application is shown, such as... Figure 6 As shown, the movable shelf 1302 includes at least one connecting layer 130201, where containers can be handled by storage and retrieval equipment or container loading and unloading equipment. In addition to the connecting layer 130201, the movable shelf 1302 also includes a non-connecting layer 130202, where containers can only be handled by container loading and unloading equipment.

[0214] The handling equipment can move the movable shelf containing the target container to the workstation. The container loading and unloading equipment can adjust the position of the target container within the non-connection layer 130202, or within the connection layer 130201, or between the connection layer 130201 and the non-connection layer 130202.

[0215] When the target container is on the non-connection layer of the movable shelf and needs to be placed in the fixed shelf, the movable shelf can be moved to the workstation by the handling equipment, the container loading and unloading equipment can take the target container out from the non-connection layer and place it in the storage position of the connection layer, and then the handling equipment can move the movable shelf to the bottom layer of the fixed shelf, and the storage and retrieval equipment can take the target container out from the storage position of the connection layer and place it in the target position of the fixed shelf.

[0216] When the target container is in a fixed shelf and needs to be placed in a storage location on a non-connected layer of a movable shelf, the target container can be taken out of the fixed shelf by the access equipment and placed on the connection layer of the movable shelf. The movable shelf is then moved to the workstation by the handling equipment. The container loading and unloading equipment takes the target container out of the connection layer and places it in the target location on the non-connected layer. Finally, the movable shelf is moved back to the storage area by the handling equipment.

[0217] By incorporating connecting layers into the movable shelving, storage and retrieval equipment can easily remove or place containers from these layers. This avoids the need for storage and retrieval equipment to travel back and forth between the storage area and the workstation during container adjustment tasks, saving time and improving storage efficiency.

[0218] See Figure 7a , Figure 7aA schematic diagram of a container loading and unloading device used in an embodiment of this application is shown, such as... Figure 7a The frame 7 includes mutually perpendicular X-axis rails 71 and Y-axis rails 72, which are arranged in a vertical plane. Specifically, the Y-axis rail is configured to move along the X-axis rail, and the container pick-up and delivery assembly 2 is configured to move along the Y-axis rail. The container pick-up and delivery assembly 2 can also remove containers from the carrier along the Z-axis direction and load them onto the support assembly, or unload containers from the support assembly and place them on a movable carrier.

[0219] In one embodiment, the frame 7 includes a gantry assembly, and the X-axis track 71 includes a ground track structure and a top track structure disposed on the gantry assembly. The X-axis track 71 extends horizontally, and the Y-axis track 72 extends vertically. The Y-axis track 72 can be a column structure, and its two ends are respectively guided and engaged with the ground track structure and the top track structure, and the Y-axis track 72 moves horizontally along the ground track structure and the top track structure.

[0220] Specifically, each of the two X-axis tracks 71 is equipped with an X-axis movable plate, which can move horizontally along the X-axis track 71. The two ends of the Y-axis track 72 are fixedly connected to the two X-axis movable plates. The Y-axis track 72 is equipped with a Y-axis movable plate, which can move vertically along the Y-axis track 72. The container assembly is fixedly connected to the Y-axis movable plate. Guide components can be further installed on the X-axis and Y-axis movable plates, and slide along the corresponding X-axis track 71 and Y-axis track 72 via these guide components.

[0221] The frame 7 is also equipped with a drive system, which includes an X-axis drive unit and a Y-axis drive unit. The X-axis drive unit drives the Y-axis track 72 to move along the X-axis track 71, and the Y-axis drive unit drives the container pick-and-place assembly to move along the Y-axis track 72, thereby moving the container pick-and-place assembly to a corresponding position, such as corresponding to a target position on the shelf. The drive system may include a drive motor, transmission gears, transmission chains, lead screw assemblies, etc., and those skilled in the art can configure it based on existing technology to achieve the above-mentioned functions of the drive system.

[0222] In one embodiment of this disclosure, at least two Y-axis tracks 72 may be provided, and the at least two Y-axis tracks 72 can move relatively independently between the upper and lower X-axis tracks 71. At least one pick-and-place container assembly is provided on each Y-axis track, and each pick-and-place container assembly on the Y-axis track can move independently, thereby improving the working efficiency of the loading and unloading device.

[0223] In this embodiment, the loading and unloading device is used to transfer containers on the shelf. The container picking and delivering assembly can move along the X-axis track 71 and the Y-axis track 72 on the frame 7 to the target position on the shelf.

[0224] In practical applications, the container pick-and-place assembly picks and places containers by at least one of the following methods: sucking, pushing, clamping, grabbing, hooking, holding, and lifting.

[0225] The container loading and unloading equipment is located in the workstation area. In response to the first container pick-up and drop instruction, it acquires the first order container and places the first order container in the target storage location of the first cache carrier through the pick-up and drop container component.

[0226] The application provides based on Figure 3 In the order task of the application scenario, the control server is configured to determine the target fixed shelf where the target container containing the order goods is currently located and the target mobile vehicle where the target container is about to be placed, based on the order task. The target mobile vehicle has a storage space for placing the target container. At the same time, the server determines the target storage device for accessing the target container, the target handling device for moving the target mobile vehicle, and the target cargo box loading and unloading device for loading and unloading the target cargo box. The server then sends access instructions to the target storage device, handling instructions to the target handling device, and loading and unloading instructions to the target cargo box loading and unloading device.

[0227] The target access device is configured to, in response to the access command, move to the target fixed shelf, remove the target container from the target fixed shelf and place it in the storage position of the target movable vehicle, or remove the target container from the storage position of the target movable vehicle and place it in the storage position of the target fixed shelf.

[0228] The target handling device is configured to, in response to the handling command, handle a target movable vehicle containing the target container to a destination;

[0229] The target container loading and unloading equipment is located at the destination and is configured to, in response to the loading and unloading command, remove a target container from a target mobile vehicle being transported by the target handling equipment or place a target container into a target mobile vehicle being transported by the target handling equipment.

[0230] In practical applications, during order tasks, the goods matched by the order are located in the target container on a fixed shelf. The target container needs to be moved to the workstation for order picking. The control server determines the target container in the target fixed shelf and the target mobile carrier where the target container will be placed based on the order task. At the same time, it determines the target storage and retrieval equipment for storing and retrieving the target container, the target handling equipment for moving the target mobile carrier, and the target container loading and unloading equipment for loading and unloading the target container. It sends storage and retrieval instructions to the target storage and retrieval equipment, handling instructions to the target handling equipment, and loading and unloading instructions to the target container loading and unloading equipment.

[0231] The target retrieval device moves to the target fixed shelf, removes the target container from the fixed shelf, and places it in the storage location of the movable vehicle. Alternatively, it removes the target container from the storage location of the movable vehicle and places it in the storage location of the fixed shelf.

[0232] After the target storage and retrieval equipment places the target container in the storage position of the mobile carrier, the target handling equipment transports the target mobile carrier to the workstation. The target container loading and unloading equipment is located at the workstation. According to the loading and unloading instructions, it takes the target container out of the target mobile carrier transported by the target handling equipment and performs order picking. After the order task is completed, the container loading and unloading equipment can also put the target container back into the target mobile carrier.

[0233] In practical applications, the storage location of the target container on the target mobile vehicle can be determined based on the heat of the goods stored in the target container and / or the correlation between the goods stored in the target container and the goods stored in other containers. For details regarding the heat of the goods in the target container and the correlation between the goods in the target container and the goods stored in other containers, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0234] In one specific embodiment provided in this application, the control server is configured to schedule the storage device to change the storage location of the first target container in a fixed shelf, to schedule the storage device to change the storage location of the first target container between a fixed shelf and a mobile vehicle; and / or, to schedule the container loading and unloading device to change the storage location of the first target container in a mobile vehicle.

[0235] In one specific embodiment provided in this application, the control server is configured to, in response to a sorting task, schedule storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location or keep it in its original storage location; schedule storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location on a movable vehicle; schedule storage and retrieval equipment to move the first target container from its original storage location on a movable vehicle to another storage location on a fixed shelf; and / or, schedule container loading and unloading equipment to move the first target container from its original storage location on a movable vehicle to another storage location or keep it in its original storage location.

[0236] In one specific embodiment provided in this application, the movable carrier is a movable shelf, the movable shelf includes at least one partition, the at least one partition divides the movable shelf into at least two layers, and at least one storage space is provided on the partition of the movable shelf.

[0237] In one specific embodiment provided in this application, the mobile vehicle may also be a hybrid mobile vehicle, wherein the hybrid mobile vehicle may carry at least two of the following: a first container for accommodating stored goods, a second container for accommodating stored goods, and stored goods.

[0238] To further improve picking efficiency, the warehouse scheduling system provided in this application also includes a mixed mobile carrier 1304, located in the inventory area. The mixed mobile carrier can carry at least two of the following: a first container for accommodating stored goods, a second container for accommodating stored goods, and stored goods. Adjustments to the second container or goods on the mixed mobile carrier can be made using forklifts, robotic arms, or manual operation.

[0239] See Figure 7b , Figure 7b A schematic diagram of a first hybrid mobile vehicle provided in an embodiment of this application is shown. As shown in FIG7b, the hybrid mobile vehicle 1304 includes a first storage position 130401 and a cargo compartment 130402, wherein a first container is placed in the first storage position 130401 and bulk goods are placed in the cargo compartment 130402.

[0240] See Figure 8 , Figure 8 A schematic diagram of a second hybrid mobile vehicle provided in one embodiment of this application is shown, as follows: Figure 8 As shown, the hybrid mobile carrier 1304 includes a second storage location 130403 and a storage compartment 130402. The second storage location 130403 holds a carrying pallet, which holds stored goods. The storage compartment 130402 holds bulk goods.

[0241] See Figure 9 , Figure 9 A schematic diagram of a third hybrid mobile vehicle provided in one embodiment of this application is shown, as follows: Figure 9 As shown, the hybrid mobile carrier 1304 includes a first storage location 130401 and a second storage location 130403. The first storage location 130401 holds a first container, and the second storage location 130403 holds a carrying pallet, which holds stored goods.

[0242] See Figure 10 , Figure 10 A schematic diagram of a fourth hybrid mobile vehicle provided in an embodiment of this application is shown in FIG10. The hybrid mobile vehicle 1304 includes a first storage position 130401, a cargo compartment 130402 and a second storage position 130403. The first storage position 130401 holds a first container; the second storage position 130403 holds a carrying pallet, which holds stored goods; and the cargo compartment 130402 holds bulk goods.

[0243] The warehousing system provided in this application will be further explained below with reference to specific scenarios:

[0244] Example 1

[0245] The warehouse scheduling system provided in Example 1 includes a control server, handling equipment, storage area, container loading and unloading equipment, and workstations. The storage area includes multiple dense storage type mobile shelves. Each mobile shelf includes at least one partition, which divides the mobile shelf into at least two layers. Each partition has at least one storage space, and each storage space accommodates at least one container.

[0246] The control server determines that the target container is located on the target movable shelf based on the container adjustment task, and determines that the current storage location and target location of the target container are both on the target movable shelf. Based on this, it determines the target handling equipment for moving the target movable shelf and the target container loading and unloading equipment for loading and unloading the target container, and sends handling instructions to the target handling equipment and loading and unloading instructions to the target container loading and unloading equipment.

[0247] In response to the handling command, the target handling equipment moves the target movable shelf containing the target container to the workstation.

[0248] The target container loading and unloading equipment is located at the workstation. In response to the loading and unloading command, it retrieves the target container from the current storage location of the target movable shelf and places it at the target location of the target movable shelf.

[0249] Example 2

[0250] The warehouse scheduling system provided in Example 2 includes a control server, handling equipment, an inventory area, container loading and unloading equipment, and workstations. The inventory area includes multiple dense storage type mobile shelves. Each mobile shelf includes at least one partition, which divides the mobile shelf into at least two layers. Each partition has at least one storage space, and each storage space accommodates at least one container.

[0251] The control server determines that the target container is located on the target movable shelf based on the order task, and determines that the current storage location and target location of the target container are both on the target movable shelf. Based on this, it determines the target handling equipment for moving the target movable shelf and the target container loading and unloading equipment for loading and unloading the target container, and sends handling instructions to the target handling equipment and loading and unloading instructions to the target container loading and unloading equipment.

[0252] In response to the handling command, the target handling equipment moves the target movable shelf containing the target container to the workstation.

[0253] The target container loading and unloading equipment is located at the workstation. In response to the loading and unloading command, it retrieves the target container from the current storage location of the target movable shelf, performs the goods picking of the order task, and places the target container at the target location of the target movable shelf after the goods picking is completed.

[0254] Example 3

[0255] The warehouse scheduling system provided in Example 3 includes a control server, handling equipment, an inventory area, container loading and unloading equipment, and workstations. The inventory area includes multiple dense storage type mobile shelves. Each mobile shelf includes at least one partition, which divides the mobile shelf into at least two layers. Each partition has at least one storage space, and each storage space accommodates at least one container.

[0256] The control server determines, based on the order task, that the target container is located on the first target movable shelf, and determines the target container's current storage location on the first target movable shelf and its target location on the second target movable shelf, i.e., the current storage location and the target location are not on the same movable shelf. Based on this, it determines a first target handling device for moving the first target movable shelf, a second target handling device for moving the second target movable shelf, and a target container loading / unloading device for loading and unloading the target container. It then sends a first handling instruction to the first target handling device, a second handling instruction to the second target handling device, and a loading / unloading instruction to the target container loading / unloading device.

[0257] The first target handling equipment responds to the first handling command and moves the first target movable shelf containing the target container to the workstation.

[0258] The second target handling equipment responds to the second handling command and moves the second target movable shelf to the workstation.

[0259] The target container loading and unloading equipment is located at the workstation. In response to the loading and unloading command, it removes the target container from the current storage location on the first target movable shelf and places it in the target location on the second target movable shelf.

[0260] Example 4

[0261] The warehouse scheduling system provided in Example 4 includes a control server, handling equipment, an inventory area, container loading and unloading equipment, and a loading and unloading area. The inventory area includes multiple dense storage type mobile shelves. Each mobile shelf includes at least one partition, which divides the mobile shelf into at least two layers. Each partition has at least one storage space, and each storage space accommodates at least one container.

[0262] The control server determines that the target container is located in the loading and unloading area based on the loading task and needs to be moved to the storage area. It determines that the target location is in the storage position of the target movable shelf. Based on this, it determines the target handling equipment for moving the target movable shelf and the target container loading and unloading equipment for loading and unloading the target container, and sends handling instructions to the target handling equipment and loading and unloading instructions to the target container loading and unloading equipment.

[0263] The target handling equipment responds to the handling command and moves the target movable shelf to the loading and unloading area.

[0264] The target container loading and unloading equipment is located in the loading and unloading area. In response to the loading and unloading command, it retrieves the target container from the current storage location in the loading and unloading area and places it at the target location on the target movable shelf.

[0265] Example 5

[0266] The warehouse scheduling system provided in Example 5 includes a control server, storage and retrieval equipment, handling equipment, an inventory area, container loading and unloading equipment, and workstations. The inventory area includes at least a number of fixed shelves and a number of high-density mobile storage shelves. The fixed shelves include at least one partition, which divides the fixed shelves into at least two layers. The mobile shelves are located at the bottom layer of the fixed shelves. The partitions of the fixed shelves are provided with at least one storage space, and each storage space can accommodate at least one container. The mobile shelves include at least one partition, which divides the mobile shelves into at least two layers. The partitions of the mobile shelves are provided with at least one storage space, and each storage space can accommodate at least one container.

[0267] The control server determines the target container, whose current storage location is on the target movable shelf, and whose target location is on the fixed shelf. It needs to move the target container from the target movable shelf to the fixed shelf. It determines the target handling equipment for moving the target movable shelf, the target storage and retrieval equipment for storing and retrieving the target container, and the target container loading and unloading equipment for loading and unloading the target container. It sends storage and retrieval instructions to the target storage and retrieval equipment, handling instructions to the target handling equipment, and loading and unloading instructions to the target container loading and unloading equipment.

[0268] In response to the handling command, the target handling equipment moves to the target movable shelf and transports the target movable shelf to the workstation.

[0269] The target container loading and unloading equipment is located at the workstation and, in response to loading and unloading instructions, removes the target container from the target movable shelf and places it in the buffer storage location.

[0270] In response to the access command, the target access device moves to the workstation, retrieves the target container from the cache storage location after the target container is placed in the cache storage location, and moves the target container to the target fixed shelf and places the target container in the target location on the target fixed shelf.

[0271] Example 6

[0272] The warehouse scheduling system provided in Example 6 includes a control server, storage and retrieval equipment, handling equipment, an inventory area, container loading and unloading equipment, and workstations. The inventory area includes at least a number of fixed shelves and a number of high-density mobile shelves. The fixed shelves include at least one partition, which divides the fixed shelves into at least two layers. The mobile shelves are located at the bottom layer of the fixed shelves. The partitions of the fixed shelves are provided with at least one storage space, and each storage space can accommodate at least one container. The mobile shelves include at least one partition, which divides the mobile shelves into at least two layers. The partitions of the mobile shelves are provided with at least one storage space, and each storage space can accommodate at least one container.

[0273] The control server determines the target container. The current storage location of the target container is in the fixed shelf, and the target location of the target container is in the target movable shelf. It needs to move the target container from the fixed shelf to the target movable shelf. It determines the target handling equipment for moving the target movable shelf, the target storage and retrieval equipment for storing and retrieving the target container, and the target container loading and unloading equipment for loading and unloading the target container. It sends storage and retrieval instructions to the target storage and retrieval equipment, handling instructions to the target handling equipment, and loading and unloading instructions to the target container loading and unloading equipment.

[0274] In response to the access command, the target access device moves to the target fixed shelf, retrieves the target container from the current storage location of the target fixed shelf, transports the target container to the workstation, and places the target container in the cache storage location at the workstation.

[0275] In response to the handling command, the target handling equipment moves to the target movable shelf and transports the target movable shelf to the workstation.

[0276] The target container loading and unloading equipment is located at the workstation. In response to loading and unloading instructions, it retrieves the target container from the buffer storage location and places it in the target movable shelf.

[0277] Example 7

[0278] The warehouse scheduling system provided in Example 7 includes a control server, storage and retrieval equipment, handling equipment, an inventory area, container loading and unloading equipment, and workstations. The inventory area includes at least a number of fixed shelves and a number of high-density mobile storage shelves. The fixed shelves include at least one partition, which divides the fixed shelves into at least two layers. The mobile shelves are located at the bottom layer of the fixed shelves. The partitions of the fixed shelves are provided with at least one storage space, and each storage space can accommodate at least one container. The mobile shelves include at least one partition, which divides the mobile shelves into at least two layers. The partitions of the mobile shelves are provided with at least one storage space, and each storage space can accommodate at least one container. The mobile shelves include at least one connecting layer and non-connecting layers other than the connecting layer.

[0279] The control server determines the target container. The current storage location of the target container is in the storage location of the non-connected layer of the target movable shelf. The target location of the target container is on the fixed shelf. It is necessary to adjust the target container from the target movable shelf to the fixed shelf. The server determines the target handling equipment for moving the target movable shelf, the target storage and retrieval equipment for storing and retrieving the target container, and the target container loading and unloading equipment for loading and unloading the target container. The server sends storage and retrieval instructions to the target storage and retrieval equipment, handling instructions to the target handling equipment, and loading and unloading instructions to the target container loading and unloading equipment.

[0280] In response to the handling command, the target handling equipment moves to the target movable shelf and transports the target movable shelf to the workstation.

[0281] The target container loading and unloading equipment is located at the workstation and, in response to a loading and unloading command, retrieves the target container from the storage location of the non-connected layer of the target movable shelf and places it in the storage location of the connected layer of the target movable shelf.

[0282] In response to the handling command, the target handling equipment moves the target movable shelf to the bottom layer of the target fixed shelf after the target container is placed in the storage position of the connecting layer of the target movable shelf.

[0283] In response to an access command, the target access device removes the target container from the connecting layer of the target movable shelf and places it in the target location of the target fixed shelf.

[0284] Example 8

[0285] The warehouse scheduling system provided in Example 8 includes a control server, storage and retrieval equipment, handling equipment, an inventory area, container loading and unloading equipment, and workstations. The inventory area includes at least a number of fixed shelves and a number of high-density mobile storage shelves. The fixed shelves include at least one partition, which divides the fixed shelves into at least two layers. The mobile shelves are located at the bottom layer of the fixed shelves. The partitions of the fixed shelves are provided with at least one storage space, and each storage space can accommodate at least one container. The mobile shelves include at least one partition, which divides the mobile shelves into at least two layers. The partitions of the mobile shelves are provided with at least one storage space, and each storage space can accommodate at least one container. The mobile shelves include at least one connecting layer and non-connecting layers other than the connecting layer.

[0286] The control server determines the target container. The current storage location of the target container is in the fixed shelf. The target location of the target container is in the storage location of the non-connected layer of the target movable shelf. It is necessary to adjust the target container from the fixed shelf to the target movable shelf. The server determines the target handling equipment for moving the target movable shelf, the target storage and retrieval equipment for storing and retrieving the target container, and the target container loading and unloading equipment for loading and unloading the target container. The server sends storage and retrieval instructions to the target storage and retrieval equipment, handling instructions to the target handling equipment, and loading and unloading instructions to the target container loading and unloading equipment.

[0287] In response to an access command, the target access device retrieves the target container from the storage location of the target fixed shelf and places the target container in an empty storage location of the target movable shelf connection layer.

[0288] In response to the handling command, the target handling equipment moves to the target movable shelf and transports the target movable shelf to the workstation.

[0289] The target container loading and unloading equipment is located at the workstation. In response to the loading and unloading command, it retrieves the target container from the storage location of the docking layer of the target movable shelf and places it in the target location of the non-docking layer of the target movable shelf.

[0290] Example 9

[0291] The warehouse scheduling system provided in Example 9 includes a control server, storage and retrieval equipment, handling equipment, an inventory area, container loading and unloading equipment, and workstations. The inventory area includes at least a number of fixed shelves and a number of high-density mobile storage shelves. The fixed shelves include at least one partition, which divides the fixed shelves into at least two layers. The mobile shelves are located at the bottom layer of the fixed shelves. The partitions of the fixed shelves are provided with at least one storage space, and each storage space can accommodate at least one container. The mobile shelves include at least one partition, which divides the mobile shelves into at least two layers. The partitions of the mobile shelves are provided with at least one storage space, and each storage space can accommodate at least one container. The mobile shelves include at least one connecting layer and non-connecting layers other than the connecting layer.

[0292] The control server determines the target container based on the order task. The current storage location of the target container is in the fixed shelf, and the target location of the target container is in the storage location of the non-connection layer of the target movable shelf. It is necessary to adjust the target container from the fixed shelf to the target movable shelf. The server determines the target handling equipment for moving the target movable shelf, the target storage and retrieval equipment for storing and retrieving the target container, and the target container loading and unloading equipment for loading and unloading the target container. The server sends storage and retrieval instructions to the target storage and retrieval equipment, handling instructions to the target handling equipment, and loading and unloading instructions to the target container loading and unloading equipment.

[0293] In response to an access command, the target access device retrieves the target container from the storage location of the target fixed shelf and places the target container in an empty storage location of the target movable shelf connection layer.

[0294] In response to the handling command, the target handling equipment moves to the target movable shelf and transports the target movable shelf to the workstation.

[0295] The target container loading and unloading equipment is located at the workstation. In response to the loading and unloading command, it takes the target container from the storage position of the connecting layer of the target movable shelf and places it in the picking station corresponding to the order task to perform the order picking task. After the order picking task is completed, the target container is placed in the target position of the non-connecting layer of the target movable shelf.

[0296] The warehouse scheduling system provided in this application includes a control server, handling equipment, an inventory area, and container loading / unloading equipment. The inventory area includes at least a plurality of movable shelves, each movable shelf including at least one partition dividing it into at least two layers. Each partition has at least one storage space, and each storage space can accommodate at least one container. The control server is configured to determine a target container on a target movable shelf, the current storage space of the target container, and a target location. It also determines a target handling device for moving the target movable shelf and a target container loading / unloading device for loading and unloading the target container. The control server sends handling instructions to the target handling device and loading / unloading instructions to the target container loading / unloading device. The target handling device is configured to, in response to the handling instructions, move the target movable shelf containing the target container to a destination. The target container loading / unloading device, located at the destination, is configured to, in response to the loading / unloading instructions, retrieve the target container from its current storage space and place it at the target location. The warehouse scheduling system in this embodiment provides a dense storage type of mobile shelving and a container storage and retrieval device at the workstation. By using the dense storage type of mobile shelving and the container storage and retrieval device to operate the containers in the mobile shelving, the space utilization rate of the storage area is improved, allowing the storage area to store more goods and saving costs in the overall warehouse scheduling system.

[0297] See Figure 11 , Figure 11 A flowchart of a warehouse scheduling method according to an embodiment of this application is shown. The method is applied to a warehouse scheduling system, which includes a control server, handling equipment, a storage area, and container loading and unloading equipment; wherein, the storage area includes at least a plurality of mobile vehicles, each mobile vehicle including at least one storage space, and each storage space can accommodate at least one container;

[0298] The method includes:

[0299] Step 1102: The control server determines the first target container on the first target mobile vehicle, the current storage location of the first target container, and the target location. At the same time, it determines the first target handling equipment and the target container loading and unloading equipment for moving the first target mobile vehicle, and sends a handling instruction to the first target handling equipment and a loading and unloading instruction to the target container loading and unloading equipment.

[0300] Step 1104: In response to the transport command, the first target transport device transports the first target movable vehicle containing the first target container to the destination.

[0301] Step 1106: The target container loading and unloading equipment located at the destination responds to the loading and unloading command by retrieving the first target container from the current storage location and placing it at the target location.

[0302] In one optional embodiment provided in this application, the target location is the storage location of the first target movable vehicle or the storage location of other movable vehicles besides the first target movable vehicle.

[0303] In an optional embodiment provided in this application, the method further includes:

[0304] The control server determines the new storage location of the first target container based on any one of the following: the heat of the goods stored in the first target container, the correlation between the goods stored in the first target container and the goods stored in other containers, whether the task to be processed involves the goods stored in the first target container, and the distance between the target container loading and unloading equipment and each storage location on each mobile vehicle located at the destination.

[0305] In one optional embodiment provided in this application, the target location is the storage location of the second target movable vehicle;

[0306] The method further includes:

[0307] The control server determines the storage location of the first target container on the second target mobile vehicle, and at the same time determines the second target handling device for moving the second target mobile vehicle, and sends a handling instruction to the second target handling device;

[0308] The second target transport device responds to the transport command by transporting the second target movable vehicle to its destination;

[0309] In response to the loading and unloading command, the target container loading and unloading equipment removes the first target container from the current storage location on the first target mobile vehicle and places it in the storage location on the second target mobile vehicle.

[0310] In an optional embodiment provided in this application, the method further includes:

[0311] The control server determines the storage locations on the second target container and the third target mobile vehicle located in the loading and unloading area, and simultaneously determines the third target handling equipment for moving the third target mobile vehicle, and sends handling instructions to the third target handling equipment and loading and unloading instructions to the target container loading and unloading equipment.

[0312] The third target handling device is configured to handle the third target movable carrier to the loading and unloading area in response to the handling command;

[0313] The target container loading and unloading equipment is located in the loading and unloading area and is configured to, in response to the loading and unloading command, remove the second target container from the loading and unloading area and place it in a storage location on the third target mobile vehicle.

[0314] In an optional embodiment provided in this application, the method further includes:

[0315] The control server determines a new storage location for the second target container in response to at least one of a delisting task, a sorting task, and a put-away task.

[0316] In an optional embodiment provided in this application, the method further includes:

[0317] The control server determines a new storage location for the first target container in response to at least one of a delisting task, a sorting task, and a put-away task.

[0318] In an optional embodiment provided in this application, the system further includes: an access device and a plurality of fixed shelves, the fixed shelves including at least one partition, the at least one partition dividing the fixed shelves into at least two layers, the movable carrier being located at the bottom layer of the fixed shelves, the partition of the fixed shelves being provided with at least one storage position, each storage position being able to accommodate at least one container, and the target location being a cache storage position located at a workstation;

[0319] The method further includes:

[0320] The control server determines the storage location of the first target container on the target fixed shelf, and at the same time determines the target access device for accessing the first target container, and sends an access instruction to the target access device.

[0321] In response to the loading and unloading command, the target container loading and unloading device retrieves the first target container from the current storage location and places it in the cache storage location;

[0322] In response to the access command, the target access device moves to the cache storage location, retrieves the first target container from the cache storage location, moves it to the target fixed shelf, and places the first target container in the storage location of the target fixed shelf.

[0323] In an optional embodiment provided in this application, the system further includes: an access device and a plurality of fixed shelves, the fixed shelves including at least one partition, the at least one partition dividing the fixed shelves into at least two layers, the movable carrier being located at the bottom layer of the fixed shelves, the partition of the fixed shelves being provided with at least one storage position, each storage position being able to accommodate at least one container, and the target location being a cache storage position located at a workstation;

[0324] The method further includes:

[0325] The control server determines the third target container on the target fixed shelf, the current storage location of the third target container, and the storage location of the third target container on the fourth target movable vehicle. It also determines the target access device for accessing the third target container and the fourth target handling device for moving the fourth target movable vehicle, and sends access instructions to the target access device, handling instructions to the fourth target handling device, and loading and unloading instructions to the target container loading and unloading device.

[0326] In response to the access command, the target access device moves to the target fixed shelf, takes out the third target container, and transports the third target container to the destination and stores it in the cache storage location of the destination.

[0327] The fourth target transport device responds to the transport command and transports the fourth target movable vehicle to the destination;

[0328] In response to the loading and unloading command, the target container loading and unloading equipment retrieves the third target container from the buffer storage location and places the third target container into the fourth target movable vehicle being transported by the fourth target handling equipment.

[0329] In an optional embodiment provided in this application, the target container loading and unloading equipment is located at a workstation, the workstation is provided with a transmission line, the picking station is located in the transmission path of the transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, and the target container loading and unloading equipment is respectively provided at the transmission line inlet and the transmission line outlet;

[0330] The method further includes:

[0331] The target container loading and unloading device located at the inlet of the transmission line is further configured to retrieve the first target container from the current storage location and place it on the transmission line;

[0332] The target container loading and unloading equipment located at the outlet of the transmission line is further configured to remove the first target container from the outlet of the transmission line and place it at the target location, which is either a storage location for the first target movable vehicle or a storage location for other movable vehicles besides the first target movable vehicle.

[0333] In an optional embodiment provided in this application, the method further includes:

[0334] Each target handling device will transport each target mobile vehicle back to its original location or other location in the storage area.

[0335] In an optional embodiment provided in this application, the method further includes:

[0336] The control server determines the new position of each target mobile vehicle based on either the heat of each target mobile vehicle or the distance between each target mobile vehicle and an empty location in the storage area.

[0337] In one optional embodiment provided in this application, the movable shelf is a double-sided shelf;

[0338] The method further includes:

[0339] The control server determines that the current storage location of the first target container and the target location are on the opposite side of the first target movable shelf, and sends a shelf turning instruction to the target handling equipment;

[0340] After the target container loading and unloading equipment removes the first target container, the target handling equipment responds to the shelf turning command and moves the first target movable shelf to perform the shelf turning operation.

[0341] The target container loading and unloading equipment places the target container at the target location.

[0342] See Figure 12 , Figure 12 A flowchart of a warehouse scheduling method according to an embodiment of this application is shown. The method is applied to a warehouse scheduling system, which includes a control server, storage and retrieval equipment, handling equipment, an inventory area, and container loading and unloading equipment. The inventory area includes at least a plurality of fixed shelves and a plurality of movable carriers. Each fixed shelf includes at least one partition, which divides the fixed shelf into at least two layers. The movable carriers are located at the bottom layer of the fixed shelves. Each partition of the fixed shelves has at least one storage space, each capable of accommodating at least one container. Each movable carrier also includes at least one storage space, each capable of accommodating at least one container.

[0343] The method includes:

[0344] Step 1202: The control server determines, based on the order task, the target fixed shelf where the target container containing the ordered goods is currently located and the target mobile vehicle where the target container will be placed. The target mobile vehicle has a storage space for placing the target container. At the same time, the server determines the target storage and retrieval device for storing and retrieving the target container, the target handling device for moving the target mobile vehicle, and the target cargo box loading and unloading device for loading and unloading the target cargo box. The server then sends storage and retrieval instructions to the target storage and retrieval device, handling instructions to the target handling device, and loading and unloading instructions to the target cargo box loading and unloading device.

[0345] Step 1204: In response to the access command, the target access device moves to the target fixed shelf, removes the target container from the target fixed shelf and places it in the storage position of the target movable vehicle, or removes the target container from the storage position of the target movable vehicle and places it in the storage position of the target fixed shelf.

[0346] Step 1206: In response to the transport command, the target transport equipment transports the target mobile vehicle containing the target container to its destination.

[0347] Step 1208: The target container loading / unloading equipment is located at the destination and, in response to the loading / unloading command, removes the target container from the target movable vehicle being transported by the target handling equipment or places the target container into the target movable vehicle being transported by the target handling equipment.

[0348] In an optional embodiment provided in this application, the method further includes:

[0349] The control server schedules the storage and retrieval equipment to change the storage location of the first target container in the fixed shelf, schedules the storage and retrieval equipment to change the storage location of the first target container between the fixed shelf and the mobile carrier, and / or schedules the container loading and unloading equipment to change the storage location of the first target container in the mobile carrier.

[0350] In an optional embodiment provided in this application, the method further includes:

[0351] In response to a sorting task, the control server schedules storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location or keep it in its original storage location; schedules storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location on a movable vehicle; schedules storage and retrieval equipment to move the first target container from its original storage location on a movable vehicle to another storage location on a fixed shelf; and / or schedules container loading and unloading equipment to move the first target container from its original storage location on a movable vehicle to another storage location or keep it in its original storage location.

[0352] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0353] It should be noted that, for the sake of simplicity, the foregoing embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0354] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0355] The preferred embodiments disclosed above are merely illustrative of this application. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this application. These embodiments are selected and specifically described in this application to better explain the principles and practical applications of this application, thereby enabling those skilled in the art to better understand and utilize this application. This application is limited only by the claims and their full scope and equivalents.

Claims

1. A warehouse scheduling method, characterized in that, The method is applied to a warehouse scheduling system, which includes a control server, handling equipment, a storage area, and container loading and unloading equipment; wherein, the storage area includes at least a plurality of mobile vehicles, each mobile vehicle including at least one storage space, and each storage space can accommodate at least one container; The method includes: The control server determines the first target container on the first target mobile vehicle, the current storage location of the first target container, and the target location. It also determines the first target handling equipment and the target container loading and unloading equipment used to move the first target mobile vehicle, and sends a handling instruction to the first target handling equipment and a loading and unloading instruction to the target container loading and unloading equipment. In response to the transport command, the first target transport device transports the first target movable vehicle containing the first target container to its destination; The target container loading and unloading equipment, located at the destination, responds to the loading and unloading command by retrieving the first target container from the current storage location and placing it at the target location; The target container loading and unloading equipment is located at the workstation, the workstation is equipped with a conveyor line, the picking station is located in the conveyor path of the conveyor line, the conveyor line includes a conveyor line inlet and a conveyor line outlet, and the target container loading and unloading equipment is respectively installed at the conveyor line inlet and the conveyor line outlet; The method further includes: The target container loading and unloading device located at the inlet of the transmission line is further configured to retrieve the first target container from the current storage location and place it on the transmission line; The target container loading and unloading equipment located at the outlet of the transmission line is further configured to remove the first target container from the outlet of the transmission line and place it at the target location.

2. The warehouse scheduling method as described in claim 1, characterized in that, The target location is either the storage location of the first target mobile vehicle or the storage location of other mobile vehicles besides the first target mobile vehicle.

3. The warehouse scheduling method as described in claim 2, characterized in that, The method further includes: The control server determines the new storage location of the first target container based on any one of the following: the heat of the goods stored in the first target container, the correlation between the goods stored in the first target container and the goods stored in other containers, whether the task to be processed involves the goods stored in the first target container, and the distance between the target container loading and unloading equipment and each storage location on each mobile vehicle located at the destination.

4. The warehouse scheduling method as described in claim 2, characterized in that, The target location is the storage location of the second target movable vehicle; The method further includes: The control server determines the storage location of the first target container on the second target mobile vehicle, and at the same time determines the second target handling device for moving the second target mobile vehicle, and sends a handling instruction to the second target handling device; The second target transport device responds to the transport command by transporting the second target movable vehicle to its destination; In response to the loading and unloading command, the target container loading and unloading equipment removes the first target container from the current storage location on the first target mobile vehicle and places it in the storage location on the second target mobile vehicle.

5. The warehouse scheduling method as described in claim 1, characterized in that, The method further includes: The control server determines the storage locations on the second target container and the third target mobile vehicle located in the loading and unloading area, and simultaneously determines the third target handling equipment for moving the third target mobile vehicle, and sends handling instructions to the third target handling equipment and loading and unloading instructions to the target container loading and unloading equipment. The third target handling device is configured to handle the third target movable carrier to the loading and unloading area in response to the handling command; The target container loading and unloading equipment is located in the loading and unloading area and is configured to, in response to the loading and unloading command, remove the second target container from the loading and unloading area and place it in a storage location on the third target mobile vehicle.

6. The warehouse scheduling method as described in claim 5, characterized in that, The method further includes: The control server determines a new storage location for the second target container in response to at least one of a delisting task, a sorting task, and a put-away task.

7. The warehouse scheduling method as described in claim 1, characterized in that, The method further includes: The control server determines a new storage location for the first target container in response to at least one of a delisting task, a sorting task, and a put-away task.

8. The warehouse scheduling method as described in claim 1, characterized in that, The system also includes: access devices and multiple fixed shelves, each fixed shelf including at least one partition, the at least one partition dividing the fixed shelf into at least two layers, the movable carrier being located at the bottom layer of the fixed shelf, each fixed shelf having at least one storage slot, each storage slot being able to accommodate at least one container, and the target location being a cache storage slot located at a workstation; The method further includes: The control server determines the storage location of the first target container on the target fixed shelf, and at the same time determines the target access device for accessing the first target container, and sends an access instruction to the target access device. In response to the loading and unloading command, the target container loading and unloading device retrieves the first target container from the current storage location and places it in the cache storage location; In response to the access command, the target access device moves to the cache storage location, retrieves the first target container from the cache storage location, moves it to the target fixed shelf, and places the first target container in the storage location of the target fixed shelf.

9. The warehouse scheduling method as described in claim 8, characterized in that, The system also includes: access devices and multiple fixed shelves, each fixed shelf including at least one partition, the at least one partition dividing the fixed shelf into at least two layers, the movable carrier being located at the bottom layer of the fixed shelf, each fixed shelf having at least one storage slot, each storage slot being able to accommodate at least one container, and the target location being a cache storage slot located at a workstation; The method further includes: The control server determines the third target container on the target fixed shelf, the current storage location of the third target container, and the storage location of the third target container on the fourth target movable vehicle. It also determines the target access device for accessing the third target container and the fourth target handling device for moving the fourth target movable vehicle, and sends access instructions to the target access device, handling instructions to the fourth target handling device, and loading and unloading instructions to the target container loading and unloading device. In response to the access command, the target access device moves to the target fixed shelf, takes out the third target container, and transports the third target container to the destination and stores it in the cache storage location of the destination. The fourth target transport device responds to the transport command and transports the fourth target movable vehicle to the destination; In response to the loading and unloading command, the target container loading and unloading equipment retrieves the third target container from the buffer storage location and places the third target container into the fourth target movable vehicle being transported by the fourth target handling equipment.

10. The warehouse scheduling method according to any one of claims 1-9, characterized in that, The method further includes: Each target handling device will transport each target mobile vehicle back to its original location or other location in the storage area.

11. The warehouse scheduling method as described in claim 10, characterized in that, The method further includes: The control server determines the new location of each target mobile vehicle based on either the heat level of each target mobile vehicle or the distance between each target mobile vehicle and an empty location in the inventory area.

12. The warehouse scheduling method as described in claim 1, characterized in that, The movable carrier is a double-sided shelf; The method further includes: The control server determines the current storage location of the first target container and that the target location is opposite the first target movable vehicle, and sends a shelf rotation command to the target handling equipment. After the target container loading and unloading equipment removes the first target container, the target handling equipment responds to the shelf turning command and moves the first target movable carrier to perform the shelf turning operation. The target container loading and unloading equipment places the target container at the target location.

13. A warehouse scheduling method, characterized in that, The method is applied to a warehouse scheduling system, which includes a control server, storage and retrieval equipment, handling equipment, an inventory area, and container loading and unloading equipment. The inventory area includes at least a plurality of fixed shelves and a plurality of movable carriers. Each fixed shelf includes at least one partition, which divides the fixed shelf into at least two layers. The movable carriers are located at the bottom layer of the fixed shelves. Each partition of the fixed shelves has at least one storage space, each capable of accommodating at least one container. Each movable carrier also includes at least one storage space, each capable of accommodating at least one container. The method includes: The control server determines, based on the order task, the target fixed shelf where the target container containing the order goods is currently located and the target mobile vehicle where the target container will be placed. The target mobile vehicle has a storage space for placing the target container. At the same time, it determines the target storage device for accessing the target container, the target handling device for moving the target mobile vehicle, and the target container loading and unloading device for loading and unloading the target container. The server then sends access instructions to the target storage device, handling instructions to the target handling device, and loading and unloading instructions to the target container loading and unloading device. In response to the access command, the target access device moves to the target fixed shelf, removes the target container from the target fixed shelf and places it in the storage position of the target movable vehicle, or removes the target container from the storage position of the target movable vehicle and places it in the storage position of the target fixed shelf. The target handling equipment responds to the handling command by handling the target movable vehicle containing the target container to the destination; The target container loading and unloading equipment is located at the destination and responds to the loading and unloading command by removing the target container from the target movable vehicle being transported by the target handling equipment or placing the target container into the target movable vehicle being transported by the target handling equipment. The target container loading and unloading equipment is located at the workstation, the workstation is equipped with a conveyor line, the picking station is located in the conveyor path of the conveyor line, the conveyor line includes a conveyor line inlet and a conveyor line outlet, and the target container loading and unloading equipment is respectively installed at the conveyor line inlet and the conveyor line outlet; The method further includes: The target container loading and unloading equipment located at the inlet of the transmission line is further configured to remove the target container from the storage position of the target movable carrier transported by the target handling equipment and place it on the transmission line; The target container loading and unloading equipment located at the outlet of the transmission line is further configured to remove the target container from the outlet of the transmission line and place it into the storage position of the target movable carrier being transported by the target handling equipment.

14. The warehouse scheduling method as described in claim 13, characterized in that, The method further includes: The control server schedules the storage and retrieval equipment to change the storage location of the first target container in the fixed shelf, schedules the storage and retrieval equipment to change the storage location of the first target container between the fixed shelf and the mobile carrier, and / or schedules the container loading and unloading equipment to change the storage location of the first target container in the mobile carrier.

15. The warehouse scheduling method as described in claim 13, characterized in that, The method further includes: In response to a sorting task, the control server schedules storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location or keep it in its original storage location; schedules storage and retrieval equipment to move the first target container from its original storage location on a fixed shelf to another storage location on a movable vehicle; schedules storage and retrieval equipment to move the first target container from its original storage location on a movable vehicle to another storage location on a fixed shelf; and / or schedules container loading and unloading equipment to move the first target container from its original storage location on a movable vehicle to another storage location or keep it in its original storage location.

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