A warehouse dispatching system and method

Abstract

The application provides a warehouse scheduling system and method, the system comprising a control server, a container taking and placing device and a buffer area, the buffer area being provided with a plurality of buffer carriers; the control server is configured to determine a target container taking and placing device, a first order container, a first buffer carrier and a target storage position according to a buffer task, and send a container taking and placing instruction to the target container taking and placing device; the target container taking and placing device is configured to be arranged in a workstation area, and obtain the first order container according to the container taking and placing instruction, and directly place the first order container on the first buffer carrier carried to the workstation area; or the target container taking and placing device is configured to obtain the first order container according to the container taking and placing instruction, carry the first order container from the workstation area to the buffer area, and place the first order container on the target storage position of the first buffer carrier.

Description

Technical Field

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

[0002] With the rapid development of e-commerce, it plays an increasingly important role in consumers' lives. The number of user orders increases exponentially every year. At the same time, as e-commerce becomes more and more mature, users have put forward higher requirements for the service quality of e-commerce, and the processing capacity of warehouse scheduling is also undergoing severe tests.

[0003] In the warehouse scheduling system, after manual picking is completed, the picked order containers need to be further processed, such as order consolidation, temporary storage, sorting, etc. Currently, the subsequent processing of order containers is completed by manual operation, which has a large operating area, low manual operation efficiency and low accuracy. It is necessary to add a review link to ensure accuracy. When encountering complex orders, the management of the order containers after picking is very difficult, and the review requirements are high. Summary of the Invention

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

[0005] According to a first aspect of an embodiment of the present application, a warehouse scheduling system is provided, comprising a control server, a container picking and placing device, and a cache area, wherein the cache area is provided with a plurality of cache carriers, wherein the cache carriers are provided with at least one storage position, each storage position being capable of carrying at least one order container capable of accommodating ordered goods;

[0006] The control server is configured to determine, according to the cache task, a target container picking and placing device, a first order container that has been picked and is to be cached, a first cache carrier where the first order container is to be cached, and a target storage location of the first order container in the first cache carrier, and send a container picking and placing instruction to the target container picking and placing device;

[0007] The target container picking and placing device is configured to be set in the workstation area, obtain the first order container located in the workstation area according to the container picking and placing instruction, and directly place the first order container in the target storage position of the first buffer carrier transported to the workstation area; or

[0008] The target container picking and placing device is configured to obtain the first order container located in the workstation area according to the container picking and placing instruction, transport the first order container from the workstation area to the cache area, and place the first order container in the target storage position of the first cache carrier.

[0009] Optionally, the container retrieval device includes a container loading and unloading mechanism;

[0010] The control server is configured to determine a first container loading and unloading mechanism and send a first container placement instruction to the first container loading and unloading mechanism;

[0011] The first container loading and unloading mechanism is configured to be set in the workstation area and place the first order container in the target storage position of the first cache carrier in response to the first container picking and placing instruction.

[0012] Optionally, the system further comprises a handling device;

[0013] The control server is further configured to determine a first transport device for transporting the first cache carrier, and send a first transport instruction to the first transport device;

[0014] The first transport device is configured to transport the first cache carrier from the cache area to the workstation area, or to transport the first cache carrier from the workstation area back to the cache area in response to the first transport instruction.

[0015] Optionally, the first transport device is configured to transport the first cache carrier from the workstation area back to an original cache position or another cache position in the cache area.

[0016] Optionally, the container retrieval equipment includes an autonomous mobile robot for retrieval and transporting order containers;

[0017] The control server is configured to determine a first autonomous mobile robot and send a container pick-up and placement instruction to the first autonomous mobile robot;

[0018] The first autonomous mobile robot is configured to respond to the container pick and place instruction, obtain the first order container located in the workstation area, move the first order container from the workstation area to the cache area, and place the first order container in the target storage position of the first cache shelf.

[0019] Optionally, the system further comprises a transmission line, wherein the transmission line comprises a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive order containers that complete order tasks;

[0020] The target container picking and placing device is located at the exit of the transmission line and is configured to take out the first order container from the exit of the transmission line.

[0021] Optionally, the system further comprises an autonomous mobile robot for picking up, placing and transporting inventory containers and an inventory area, wherein the inventory area is provided with a plurality of inventory carriers, each of which is provided with at least one storage location, each storage location being capable of carrying at least one inventory container capable of accommodating stored goods;

[0022] The control server is further configured to determine, based on the order task, a target inventory container, a target inventory carrier where the target inventory container is located, and a second autonomous mobile robot for transporting the target inventory container, and send a second access instruction to the second autonomous mobile robot;

[0023] The second autonomous mobile robot is configured to move to the target inventory carrier in response to the second access instruction, take out the target inventory container from the target inventory carrier, and transport the target inventory container to the workstation area.

[0024] Optionally, the system further comprises a handling device, the inventory carrier comprises a movable shelf, the movable shelf comprises at least one layer of partitions, the at least one layer of partitions divides the movable shelf into at least two layers, and at least one storage location is provided on the partition of the movable shelf;

[0025] The control server is further configured to determine, based on the order task, a target inventory container and a target movable shelf where the target inventory container is located, a second transport device for transporting the target movable shelf, and send a second transport instruction to the second transport device;

[0026] The second transport device is configured to transport the target movable rack to the workstation area in response to the second transport instruction.

[0027] Optionally, it is characterized in that the system further comprises a container loading and unloading mechanism;

[0028] The control server is further configured to determine, based on the delivery task, a second order container, a second cache carrier where the second order container is located, a third transport device for transporting the second cache carrier, and a second container loading and unloading mechanism, and send a third transport instruction to the third transport device and a second container loading and unloading instruction to the second container loading and unloading mechanism;

[0029] The third transport device is configured to transport the second cache carrier from the cache area to an exit of the cache area in response to the third transport instruction;

[0030] The second container loading and unloading equipment is arranged at the exit of the cache area and is configured to take out the second order container from the second cache carrier in response to the second container loading and unloading instruction and place it in a designated area.

[0031] Optionally, the system is characterized in that it further comprises an autonomous mobile robot for picking up, placing and transporting order containers;

[0032] The control server is further configured to determine, based on the delivery task, a third order container, a third cache carrier where the third order container is located, and a third autonomous mobile robot for carrying the third order container, and send a third access instruction to the third autonomous mobile robot;

[0033] The third autonomous mobile robot is configured to move to the third cache carrier in response to the third access instruction, take out the third order container from the third cache carrier, and transport the third order container to a designated area.

[0034] Optionally, the control server is further configured to determine a target storage location of the first order container in the first cache carrier according to the order container processing task.

[0035] Optionally, the order container processing task includes at least one of a task of merging order goods in at least two order containers and a task of sorting at least two order containers.

[0036] Optionally, the workstation area is provided with an auxiliary picking device, which is used to assist in the operation of picking order goods from the inventory container to the order container after the inventory container arrives at the workstation area.

[0037] Optionally, the auxiliary picking device includes at least one of a visual sensor and a grating.

[0038] Optionally, the container loading and unloading mechanism includes: a frame and a container pickup and delivery assembly;

[0039] The frame includes a horizontal X-axis track and a vertical Y-axis track perpendicular to each other;

[0040] The Y-axis track is configured to move along the X-axis track, and the picking and delivering container assembly is configured to move along the Y-axis track.

[0041] Optionally, the frame includes a door frame assembly;

[0042] The X-axis track includes a ground rail structure and a ceiling rail structure arranged on the gantry assembly;

[0043] The two ends of the Y-axis track are respectively guided and matched with the ground rail structure and the ceiling rail structure.

[0044] Optionally, at least two Y-axis tracks are provided, and at least one of the pick-up and delivery container components is provided on each Y-axis track.

[0045] Optionally, the container picking and delivering component picks and places the container by at least one of sucking, pushing, clamping, grabbing, hooking, lifting, and lifting.

[0046] According to a second aspect of an embodiment of the present application, a warehouse scheduling method is provided, which is applied to a warehouse scheduling system. The system includes a control server, a container picking and placing device, and a cache area. The cache area is provided with a plurality of cache carriers, wherein the cache carrier is provided with at least one storage position, each storage position being capable of carrying at least one order container capable of accommodating ordered goods.

[0047] The method comprises:

[0048] The control server determines, based on the cache task, a target container picking and placing device, a first order container that has been picked and is to be cached, a first cache carrier where the first order container is to be cached, and a target storage location of the first order container in the first cache carrier, and sends a container picking and placing instruction to the target container picking and placing device;

[0049] The target container picking and placing device is set in the workstation area, obtains the first order container located in the workstation area according to the container picking and placing instruction, and directly places the first order container in the target storage position of the first buffer carrier transported to the workstation area; or

[0050] The target container picking and placing device obtains the first order container located in the workstation area according to the container picking and placing instruction, moves the first order container from the workstation area to the cache area, and places the first order container in the target storage position of the first cache carrier.

[0051] Optionally, the container retrieval device includes a container loading and unloading mechanism;

[0052] The control server determines a target container picking and placing device and sends a container picking and placing instruction to the target container picking and placing device, including:

[0053] The control server determines a first container loading and unloading mechanism and sends a first container pick-up and placement instruction to the first container loading and unloading mechanism;

[0054] Accordingly, the target container picking and placing device is set in the workstation area, and directly places the first order container in the target storage position of the first buffer carrier transported to the workstation area, including:

[0055] The first container loading and unloading mechanism is arranged in the workstation area, and places the first order container in a target storage position of the first cache carrier in response to the first container picking and placing instruction.

[0056] Optionally, the system further comprises a handling device;

[0057] The method further comprises:

[0058] The control server determines a first transport device for transporting the first cache carrier, and sends a first transport instruction to the first transport device;

[0059] In response to the first transport instruction, the first transport device transports the first cache carrier from the cache area to the workstation area, or transports the first cache carrier from the workstation area back to the cache area.

[0060] Optionally, the method further includes:

[0061] The first transport device transports the first cache carrier from the workstation area back to the original cache position or other cache position in the cache area.

[0062] Optionally, the container retrieval equipment includes an autonomous mobile robot for retrieval and transporting order containers;

[0063] The control server determines a target container picking and placing device and sends a container picking and placing instruction to the target container picking and placing device, including:

[0064] The control server determines a first autonomous mobile robot and sends a container pick-up and placement instruction to the first autonomous mobile robot;

[0065] Accordingly, the target container picking and placing device obtains the first order container located in the workstation area according to the container picking and placing instruction, moves the first order container from the workstation area to the buffer area, and places the first order container in the target storage location of the first buffer carrier, including:

[0066] The first autonomous mobile robot responds to the container pick and place instruction, obtains the first order container located in the workstation area, moves the first order container from the workstation area to the cache area, and places the first order container in the target storage position of the first cache shelf.

[0067] Optionally, the system further comprises a transmission line, wherein the transmission line comprises a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive order containers that complete order tasks;

[0068] The target container picking and placing device obtains the first order container located in the workstation area according to the container picking and placing instruction, including:

[0069] The target container picking device takes out the first order container from the transport line outlet, wherein the target container picking device is located at the transport line outlet.

[0070] Optionally, the system further comprises autonomous mobile robots for picking and carrying inventory containers and an inventory area, the inventory area is provided with a plurality of inventory carriers, the inventory carriers are provided with at least one storage site, and each storage site can carry at least one inventory container that can accommodate storage goods;

[0071] The method further comprises:

[0072] The control server determines a target inventory container, a target inventory carrier where the target inventory container is located, and a second autonomous mobile robot for carrying the target inventory container according to the order task, and sends a second access instruction to the second autonomous mobile robot;

[0073] The second autonomous mobile robot moves to the target inventory carrier in response to the second access instruction, takes out the target inventory container from the target inventory carrier, and carries the target inventory container to the workstation area.

[0074] Optionally, the system further comprises a carrying device, and the inventory carrier comprises a movable shelf, the movable shelf comprises at least one partition plate, the at least one partition plate divides the movable shelf into at least two layers, and the movable shelf is provided with at least one storage site on the partition plate;

[0075] The method further comprises:

[0076] The control server determines a target inventory container, a target movable shelf where the target inventory container is located, and a second carrying device for carrying the target movable shelf according to the order task, and sends a second carrying instruction to the second carrying device;

[0077] The second carrying device carries the target movable shelf to the workstation area in response to the second carrying instruction.

[0078] Optionally, the system further comprises a container loading and unloading mechanism;

[0079] The method further comprises:

[0080] The control server determines a second order container, a second buffer carrier where the second order container is located, a third carrying device for carrying the second buffer carrier, and a second container loading and unloading mechanism according to the delivery task, and sends a third carrying instruction to the third carrying device and a second container loading and unloading instruction to the second container loading and unloading mechanism;

[0081] The third transport device transports the second cache carrier from the cache area to the exit of the cache area in response to the third transport instruction;

[0082] The second container loading and unloading equipment takes out the second order container from the second cache carrier in response to the second container loading and unloading instruction and places it in a designated area, wherein the second container loading and unloading equipment is arranged at the exit of the cache area.

[0083] Optionally, the system further comprises an autonomous mobile robot for picking up and transporting order containers;

[0084] The method further comprises:

[0085] The control server determines, according to the delivery task, a third order container, a third cache carrier where the third order container is located, and a third autonomous mobile robot for carrying the third order container, and sends a third access instruction to the third autonomous mobile robot;

[0086] The third autonomous mobile robot moves to the third cache carrier in response to the third access instruction, takes out the third order container from the third cache carrier, and transports the third order container to a designated area.

[0087] Optionally, the method further includes:

[0088] The control server is further configured to determine a target storage location of the first order container in the first cache carrier according to the order container processing task.

[0089] Optionally, the order container processing task includes at least one of a task of merging order goods in at least two order containers and a task of sorting at least two order containers.

[0090] The warehouse scheduling system provided in an embodiment of the present application includes a control server, a container picking and placing device and a cache area, wherein the cache area is provided with a plurality of cache carriers, wherein the cache carrier is provided with at least one storage position, and each storage position can carry at least one order container that can accommodate order goods; the control server is configured to determine, according to the cache task, a target container picking and placing device, a first order container that has completed picking and is to be cached, a first cache carrier where the first order container is to be cached, and a target storage position of the first order container in the first cache carrier, and send a container picking and placing instruction to the target container picking and placing device; the target container picking and placing device is configured to be set in a workstation area, obtain the first order container located in the workstation area according to the container picking and placing instruction, and directly place the first order container in the target storage position of the first cache carrier that is transported to the workstation area; or, the target container picking and placing device is configured to obtain the first order container located in the workstation area according to the container picking and placing instruction, transport the first order container from the workstation area to the cache area, and place the first order container in the target storage position of the first cache carrier. Through the warehouse scheduling system provided by this application, the order containers that have completed picking and are to be cached are placed in the cache area for cache, and the cache carriers of the order containers and the positions of the cache carriers in the cache area are determined according to the delivery tasks, so as to facilitate the subsequent merging tasks or sorting tasks of the order containers, thereby saving manpower and material resources and improving efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] Figure 1 This is a schematic diagram of the system structure of a warehouse scheduling system provided in one embodiment of the present application;

[0092] Figure 2 is a schematic diagram of a container loading and unloading mechanism provided in one embodiment of the present application;

[0093] Figure 3 This is a flowchart of a warehouse scheduling method provided in one embodiment of the present application.

[0094] Reference numerals

[0095] 110-control server, 111-processor, 112-memory, 113-order pool, 114-operating station, 120-container picking and placing equipment, 130-cache area, 140-cache carrier, 150-container loading and unloading mechanism, 7-frame, 71-X-axis track, 72-Y-axis track, 2-container picking and delivering assembly, 160-handling equipment, 170-autonomous mobile robot, 180-shipping area. DETAILED DESCRIPTION

[0096] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced without the specific details. In other instances, well-known methods have not been described in detail in order not to unnecessarily obscure aspects of the present application.

[0097] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of one or more embodiments of the present application. As used in this disclosure and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0098] It will be understood that, although the terms first, second, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used solely to distinguish one from another only. For example, a first item could be termed a second item, and, similarly, a second item could be termed a first item without departing from the scope of one or more embodiments of the present application. As used herein, the term "if' can be construed to mean "when" or "in response to determining" or "in response to a determination" or "upon determining" or "upon a determination."

[0099] In the present application, a warehouse scheduling system and method are provided, which are described in detail in the following embodiments.

[0100] Figure 1 A system structure schematic diagram of the warehouse scheduling system provided by an embodiment of the present application is shown, which includes a control server 110, a container taking and placing device 120, and a buffer area 130. The buffer area 130 includes a plurality of buffer carriers 140, and each buffer carrier 140 is provided with at least one storage site, and each storage site can carry at least one order container capable of accommodating order goods.

[0101] The control server 110 is wirelessly connected with the container taking and placing device 120. A worker operates the control server 110 through an operation table 114. The control server 110 is a software system running on a server and having data storage and information processing capabilities. The control server 110 can be connected with the container taking and placing device 120 and the like wirelessly. The control server 110 can 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 can have an order pool 113, and the order pool 113 stores order information.

[0102] The cache area 130 can be a dense storage area or a non-dense storage area. A plurality of cache carriers 140 are provided in the cache area 130. In actual applications, the cache carriers can be cache shelves, cage cars, pallet racks, etc. The specific form of the cache carrier 140 is subject to actual application and is not limited in this application. In the case where the cache carrier is a cache shelf, the cache shelf includes at least one layer of partitions, and the at least one layer of partitions divides the cache shelf into at least two layers. At least one storage position is provided on the partition of the cache shelf, and each storage position can carry at least one order container that can accommodate order goods. An order container specifically refers to a container that has completed an order picking task and is filled with order goods. At least one storage position is provided in the cache carrier, and each storage position can carry at least one order container that can accommodate order goods.

[0103] In the present application, the control server is configured to determine, based on the cache task, a target container picking and placing device, a first order container that has been picked and is to be cached, a first cache carrier where the first order container is to be cached, and a target storage location of the first order container in the first cache carrier, and send a container picking and placing instruction to the target container picking and placing device;

[0104] The target container picking and placing device is configured to be set in the workstation area, obtain the first order container located in the workstation area according to the container picking and placing instruction, and directly place the first order container in the target storage position of the first buffer carrier transported to the workstation area; or

[0105] The target container picking and placing device is configured to obtain the first order container located in the workstation area according to the container picking and placing instruction, transport the first order container from the workstation area to the cache area, and place the first order container in the target storage position of the first cache carrier.

[0106] Among them, in the warehouse scheduling system provided in this application, the control server determines the target container picking and placing equipment according to the cache task, and the container picking and placing equipment is used to take out the order container and place it in the carrier according to the container picking and placing instruction, or take out the order container from the carrier and place it in the designated location.

[0107] In actual applications, after the goods in an order task are picked into an order container, the order container needs to be further processed. For example, if the same order is in multiple different order containers, the orders need to be combined; for example, if order containers in the same area need to be processed centrally according to the order address, the order containers that have been picked first need to be temporarily stored; for example, the order containers can be sorted according to the delivery route, and orders with later addresses can be placed closer to the inside of the transport, while orders with earlier addresses can be placed closer to the outside of the transport, and so on.

[0108] Based on this, the control server also needs to determine the first cache carrier in which the order container is to be cached, as well as the target storage location of the order container within the first cache carrier. Specifically, the control server determines the target storage location of the order container within the first cache carrier based on the order container processing task. Furthermore, the order container processing task specifically includes at least one of merging the order goods in at least two order containers or sorting the at least two order containers. The control server also determines the target container pick-and-place device and sends a container pick-and-place instruction to the target container pick-and-place device.

[0109] The container pick-and-place device specifically refers to equipment used to retrieve and place order containers. The target container pick-and-place device can be located in the workstation area, retrieving the first order container from the workstation area according to the container pick-and-place instruction and placing it in the target storage location of the first cache carrier that has been transported to the workstation area. The target container pick-and-place device can also be an autonomously movable device that, after retrieving the first order container from the workstation area according to the container pick-and-place instruction, transports the first order container from the workstation area to the cache area and places it in the target storage location of the first cache carrier located in the cache area. The following further explains the application of the target container pick-and-place device using two different scenarios.

[0110] In a specific application scenario provided in the present application, the target container picking and placing device is configured in the workstation area as an example for explanation. The target container picking and placing device includes a container loading and unloading mechanism 150, and a control server, which is further configured to determine a first container loading and unloading mechanism and send a first container picking and placing instruction to the first container loading and unloading mechanism; the first container loading and unloading mechanism is configured to be set in the workstation area, and in response to the first container picking and placing instruction, the first order container is placed in the target storage position of the first cache carrier.

[0111] For details, see Figure 2 , Figure 2 A schematic diagram of a container loading and unloading mechanism for an embodiment of the present application is shown. The frame 7 includes an X-axis track 71 and a Y-axis track 72, which are perpendicular to each other and arranged on a vertical plane. Specifically, the Y-axis track is configured to move along the X-axis track, and the container transfer assembly 2 is configured to move along the Y-axis track.

[0112] In one embodiment, the frame 7 includes a gantry assembly, and the X-axis track 71 includes a ground rail structure and an overhead rail structure mounted on the gantry assembly. The X-axis track 71 extends horizontally, while the Y-axis track 72 extends vertically. The Y-axis track 72 may be a column structure, with its ends respectively engaged with the ground rail structure and the overhead rail structure, allowing the Y-axis track 72 to move horizontally along the ground rail structure and the overhead rail structure.

[0113] Specifically, each of the two X-axis rails 71 is provided with an X-axis movable plate, which can move horizontally along the X-axis rails 71. The ends of the Y-axis rail 72 are fixedly connected to the two X-axis movable plates. The Y-axis rail 72 is provided with a Y-axis movable plate, which can move vertically along the Y-axis rails 72. The pick-up and delivery container assembly is fixedly connected to the Y-axis movable plate. Guide assemblies can be further mounted on the X-axis movable plates and Y-axis movable plates, which slide along the corresponding X-axis rails 71 and Y-axis rails 72 via the guide assemblies.

[0114] The frame 7 is also provided with a drive system, which includes an X-axis drive unit and a Y-axis drive unit. The X-axis drive unit is used to drive the Y-axis track 72 to move along the X-axis track 71, and the Y-axis drive unit is used to drive the pick-up and delivery container assembly to move along the Y-axis track 72, thereby moving the pick-up and delivery container assembly to a corresponding position, such as a target position on the shelf. The drive system may include a drive motor, transmission gears, a transmission chain, a screw assembly, etc., and those skilled in the art can configure them based on existing technology to achieve the above-mentioned functions of the drive system.

[0115] In one embodiment of the present 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. Each Y-axis track is provided with at least one pick-up and delivery container assembly, and the pick-up and delivery container assembly on each Y-axis track can move independently, thereby improving the working efficiency of the loading and unloading mechanism.

[0116] In this embodiment, the loading and unloading mechanism is used to transfer containers on the movable shelf, and the container picking and delivering assembly can move on the frame 7 along the X-axis track 71 and the Y-axis track 72 to the target position of the movable shelf.

[0117] In actual application, the container picking and delivering component 2 picks and places the container by at least one of sucking, pushing, clamping, grabbing, hooking, lifting, and lifting.

[0118] The container loading and unloading mechanism 150 is set in the workstation area, responds to the first container pick-up and placement instruction, obtains the first order container, and places the first order container in the target storage position of the first cache carrier through the container pick-up and delivery component.

[0119] The storage scheduling system provided by the present application further includes a transport device 160, and the control server is further configured to determine a first transport device for transporting the first cache carrier and send a first transport instruction to the first transport device;

[0120] The first transport device is configured to transport the first cache carrier from the cache area to the workstation area, or to transport the first cache carrier from the workstation area back to the cache area in response to the first transport instruction.

[0121] In actual application, the cache carrier 140 in the cache area 130 can be moved, and the container loading and unloading mechanism 150 is fixed in the workstation area and cannot be moved. Therefore, the first cache carrier can be moved from the cache area to the workstation area by the first transporting equipment 160, or the first cache carrier loaded with the first order container can be moved from the workstation area back to the cache area.

[0122] Furthermore, when the first handling device 160 moves the first cache carrier back to the cache area, the first cache carrier can be moved from the workstation area back to the original cache position in the cache area, or the first cache carrier can be moved from the workstation area to other cache positions in the cache area.

[0123] The other cache locations that the cache vehicle transports back to the cache area can be determined according to preset conditions. For example, the cache location of the cache vehicle is determined according to the priority of the order. The cache location of the high-priority order container in the cache area is closer to the exit of the cache area, so that the high-priority order container can be processed first, promptly and quickly.

[0124] In another specific application scenario provided in this application, the target container picking and placing equipment includes an autonomous mobile robot 170 (AMR) for picking up and transporting order containers. The autonomous mobile robot 170 can take out the order container from the designated location, put the order container into the designated location, and move the order container between two designated locations.

[0125] Specifically, the control server is configured to determine a first autonomous mobile robot and send a container pick-up and placement instruction to the first autonomous mobile robot;

[0126] The first autonomous mobile robot is configured to respond to the container pick and place instruction, obtain the first order container located in the workstation area, move the first order container from the workstation area to the cache area, and place the first order container in the target storage position of the first cache shelf.

[0127] In the application scenario provided by this embodiment, the control server determines that the target container picking and placing device is the first autonomous mobile robot based on the cache task, and sends a container picking and placing instruction to the first autonomous mobile robot. In this scenario, there is no need for the transport equipment to transport the cache carrier to the workstation area. The first autonomous mobile robot responds to the container picking and placing instruction, obtains the first order container in the workstation area, and transports the first order container from the workstation area to the cache area, and places the first order container in the target storage position of the first cache shelf located in the cache area.

[0128] The autonomous mobile robot 170 is used to directly transport the order container to the cache carrier in the cache area, avoiding the problem of slow movement of the cache carrier by the transport equipment in the warehouse scenario. It is suitable for scenarios where a small number of order containers need to be placed in the cache area.

[0129] In summary, in the above two application scenarios, the method in which the container loading and unloading mechanism and the handling equipment cooperate to place the order container into the cache area is suitable for scenarios with a large number of order containers; the method in which the autonomous mobile robot transports the order container to the cache carrier is suitable for scenarios with a small number of order containers. In actual applications, the container picking and placing equipment can be freely selected according to actual conditions, and no specific limitation is made in this application.

[0130] Normally, an order task is an order picking task completed in the workstation area. After completing the order picking task, there will be an order container containing the order goods, and the order container needs to be placed in the cache area. In order to improve the storage efficiency of the order container, the warehouse scheduling system provided in this application also includes a transmission line, which is used to transmit the order container that completes the order task. The transmission line has a transmission line entrance and a transmission line exit, wherein the transmission line entrance is used to receive the order container that completes the order task; the target container picking and placing device is located at the transmission line exit, and takes out the first order container from the transmission line exit.

[0131] In a specific embodiment provided in the present application, the container picking and placing device is a container loading and unloading mechanism 150, which takes out the order container from the outlet of the transmission line and places it on the cache carrier 140, and the cache carrier 140 is transported to the cache area by the transporting equipment 160.

[0132] In another specific embodiment provided in the present application, the container picking and placing device is specifically an autonomous mobile robot 170, which takes out the order container from the outlet of the transmission line, moves to the cache area, and places the order container in the target storage position of the cache carrier located in the cache area.

[0133] In practical applications, the warehouse scheduling system provided by the present application further includes an autonomous mobile robot for picking up, placing, and transporting inventory containers and an inventory area, wherein a plurality of inventory carriers are provided in the inventory area, each inventory carrier being provided with at least one storage location, each storage location being capable of carrying at least one inventory container capable of accommodating warehouse goods;

[0134] The control server is further configured to determine, based on the order task, a target inventory container, a target inventory carrier where the target inventory container is located, and a second autonomous mobile robot for transporting the target inventory container, and send a second access instruction to the second autonomous mobile robot;

[0135] The second autonomous mobile robot is configured to move to the target inventory carrier in response to the second access instruction, take out the target inventory container from the target inventory carrier, and transport the target inventory container to the workstation area.

[0136] Specifically, the warehouse scheduling system includes not only a cache area for completed order tasks, but also an inventory area for storing goods. The inventory area is provided with multiple inventory carriers, which can be movable shelves, fixed shelves, pallet racks, etc. The specific form of the inventory carriers is not limited in this application and is subject to actual application. Storage locations are provided in the inventory carriers, and inventory containers are stored in the storage locations.

[0137] The control server determines the target inventory container hit by the order task based on the order task, and at the same time determines the target inventory carrier where the target inventory container is located, a second autonomous mobile robot used to transport the target inventory container, and sends a second access instruction to the second autonomous mobile robot.

[0138] The second autonomous mobile robot moves to the target inventory carrier in response to the second access instruction, takes the target inventory carrier out of the target inventory container, and transports the target inventory container to the workstation area for order picking.

[0139] In actual applications, when the inventory carrier is a movable shelf, sometimes multiple orders will hit multiple target inventory containers on the same movable shelf. In order to improve the handling efficiency, the warehouse scheduling system provided in this application also includes a handling device. The control server determines the target inventory container and the target movable shelf where the target inventory container is located according to the order task, and uses a second handling device to transport the target movable shelf, and sends a second handling instruction to the second handling device.

[0140] The second transport device moves to the target movable shelf in response to the second transport instruction, and transports the target movable shelf to the workstation area.

[0141] After the target inventory container is moved to the workstation area by an autonomous mobile robot or handling device, the order picking task is completed at the workstation area. Specifically, the ordered goods in the target inventory container are picked into the order container. An auxiliary picking device is installed in the workstation area to assist humans in picking the ordered goods from the inventory container into the target order container after the target inventory container arrives at the workstation area.

[0142] Specifically, the auxiliary picking device includes at least one of a visual sensor and a grating. Furthermore, the visual sensor includes a camera.

[0143] The warehouse scheduling system provided in the present application, after caching the order container in the cache area, needs to further perform the shipping task for the goods in the order container, take the order container out of the cache area 130 and move it to the exit of the cache area, place the order container in the shipping area 180 at the exit of the cache area, and complete the order shipping task in the shipping area 180.

[0144] In the application scenario of transporting the order container to the shipping area, the cache carrier containing the order container can be transported to the exit of the cache area, or only the order container can be transported to the exit of the cache area. The specific application is subject to the allocation of the control server. The following will introduce how to transport the order container to the exit of the cache area in two application scenarios.

[0145] In one application scenario provided in this application, the example of transporting a cache carrier containing an order container to the exit of a cache area is used for explanation. In this scenario, a container loading and unloading mechanism is also provided at the exit of the cache area for loading and unloading the order container. Specifically, the control server is further configured to determine, based on the delivery task, a second order container, a second cache carrier containing the second order container, a third transport device for transporting the second cache carrier, and a second container loading and unloading mechanism, and to send a third transport instruction to the third transport device and a second container loading and unloading instruction to the second container loading and unloading mechanism.

[0146] The third transport device is configured to transport the second cache carrier from the cache area to an exit of the cache area in response to the third transport instruction;

[0147] The second container loading and unloading equipment is arranged at the exit of the cache area and is configured to take out the second order container from the second cache carrier in response to the second container loading and unloading instruction and place it in a designated area.

[0148] In the application scenario of this embodiment, the control server determines the second order container and the second cache carrier where the second order container is located based on the delivery task. It also determines the third handling device and the second container loading and unloading mechanism used to transport the second cache carrier. The control server then sends a third handling instruction to the third handling device and a second container loading and unloading instruction to the second container loading and unloading mechanism. This embodiment is applicable to situations where a delivery task targets multiple order containers on the same cache carrier. The cache carrier is then moved to the cache area exit to facilitate the delivery of the order containers.

[0149] The third transport device, in response to the third transport instruction, moves to the second buffer carrier in the buffer area and transports the second buffer carrier to the exit of the buffer area. The second container handling device is disposed at the exit of the buffer area and, in accordance with the second container handling instruction, removes the second order container from the second buffer carrier and places the second order container in a designated area, which may be shipping area 180.

[0150] In another application scenario provided by this application, the example of transporting an order container to a cache exit is used for explanation. The warehouse scheduling system provided by this application also includes an autonomous mobile robot for picking up or transporting the order container. The control server is further configured to determine a third order container, a third cache carrier where the third order container is located, and a third autonomous mobile robot for transporting the third order container based on the delivery task, and send a third access instruction to the third autonomous mobile robot.

[0151] The third autonomous mobile robot is configured to move to the third cache carrier in response to the third access instruction, take out the third order container from the third cache carrier, and transport the third order container to a designated area.

[0152] In the application scenario of this embodiment, the control server determines a third order container based on the delivery task, simultaneously determines a third buffer carrier for the third order container and a third autonomous mobile robot for transporting the third order container, and sends a third access instruction to the third autonomous mobile robot. This embodiment is applicable to scenarios where a delivery task involves a small number of order containers. To improve delivery efficiency, the autonomous mobile robot only needs to transport the order containers to a designated area.

[0153] In response to the third access instruction, the third autonomous mobile robot moves to the third cache carrier in the cache area, takes out the third order container from the third cache carrier, and transports the third order container to a designated area (such as the exit of the cache area).

[0154] The warehouse scheduling system provided in the embodiment of the present application comprises a control server, a container taking and placing device and a buffer area, the buffer area is provided with a plurality of buffer carriers, wherein the buffer carrier is provided with at least one storage site, and each storage site can carry at least one order container capable of accommodating order goods; the control server is configured to determine a target container taking and placing device, a first order container that has completed picking and is to be buffered, a first buffer carrier to which the first order container is to be buffered, and a target storage site of the first order container in the first buffer carrier according to a buffer task, and send a container taking and placing instruction to the target container taking and placing device; the target container taking and placing device is configured to be arranged in a workstation area and take the first order container located in the workstation area according to the container taking and placing instruction, and directly place the first order container in the target storage site of the first buffer carrier carried to the workstation area; or the target container taking and placing device is configured to take the first order container located in the workstation area according to the container taking and placing instruction, carry the first order container from the workstation area to the buffer area, and place the first order container in the target storage site of the first buffer carrier. Through the warehouse scheduling system provided in the present application, the order container that has completed picking and is to be buffered is placed in the buffer area for buffering, the buffer carrier of the order container and the position of the buffer carrier in the buffer area are determined according to a delivery task, so as to save manpower and material resources, improve efficiency and accuracy, and facilitate subsequent order container delivery tasks.

[0155] Secondly, the warehouse scheduling system provided in the present application can also automatically connect subsequent order container delivery tasks, effectively reduce the manpower required for order combining and carrying, save manpower, and at the same time, dense storage shelves can be used in the buffer area, which greatly improves the buffering capacity, reduces the buffering area, and reduces the cost of warehouse scheduling.

[0156] Next, the warehouse scheduling system provided in the present application will be further explained and described in combination with several specific embodiments. It should be noted that in the following embodiments, the order picking task completed in the workstation area is taken as an example, and in the present application, the task of carrying the inventory container from the inventory area to the workstation area to complete the order picking is not limited.

[0157] Embodiment one

[0158] The warehouse scheduling system provided in the embodiment comprises a control server, a transportation line, a buffer area, a carrying device and a container loading and unloading mechanism, the buffer area is provided with a plurality of buffer shelves, the buffer shelf comprises at least one partition plate, the partition plate is provided with at least one storage site, each storage site can carry at least one order container, and the transportation line comprises a transportation line inlet and a transportation line outlet.

[0159] The control server determines the target order container that has been picked and is to be cached, the target cache shelf where the target order container will be cached, and the target storage position of the target order container on the target cache shelf based on the cache task. At the same time, it determines the target container loading and unloading mechanism and the target handling equipment for transporting the target cache shelf, and sends container pick-up and placement instructions to the target container loading and unloading mechanism and shelf handling instructions to the target handling equipment.

[0160] The staff of the workstation area or the transport device places the target order container at the entrance of the transport line, so that the target order container is transported in the transport line.

[0161] The target transporting device responds to the shelf transporting instruction and transports the target cache shelf from the cache area to the shelf docking position of the target container loading and unloading mechanism.

[0162] The target container loading and unloading mechanism is located at the transport line exit. It obtains the target order container from the transport line exit according to the container pick-up and placement instructions, and places the target order container in the target storage position of the target cache shelf.

[0163] After the target order container is placed in the target storage position of the target cache shelf, the target transporting device transports the target cache shelf back to the cache area to complete the caching task of the order container.

[0164] Example 2

[0165] The warehouse scheduling system provided in this embodiment includes a control server, a transportation line, a cache area, and an autonomous mobile robot. A plurality of cache shelves are arranged in the cache area. The cache shelves include at least one partition. The partition is provided with at least one storage location. Each storage location can carry at least one order container. The transportation line includes a transportation line entrance and a transportation line exit.

[0166] The control server determines the target order container that has been picked and is to be cached, the target cache shelf where the target order container will be cached, and the target storage position of the target order container on the target cache shelf based on the cache task. At the same time, it determines the target autonomous mobile robot for transporting the target order container and sends a container pick-up and placement instruction to the target autonomous mobile robot.

[0167] The target autonomous mobile robot responds to the container pick and place instruction, moves to the transport line exit, takes out the target order container, and transports the target order container to the target cache shelf in the cache area, and places the target order container in the target storage position of the target cache shelf.

[0168] At the same time, a target container loading and unloading mechanism and a target transporting device for transporting the target cache shelf are determined, and a container pick-up and placement instruction is sent to the target container loading and unloading mechanism and a shelf transport instruction is sent to the target transporting device.

[0169] In the following embodiments, an application scenario of executing a shipping task from an order container in a cache area is further explained.

[0170] Example 3

[0171] The warehouse scheduling system provided in this embodiment includes a control server, a cache area, handling equipment, and a container loading and unloading mechanism. A plurality of cache shelves are provided in the cache area. The cache shelves include at least one partition, and at least one storage position is provided on the partition. Each storage position can carry at least one order container, and the container loading and unloading mechanism is located at the exit of the cache area.

[0172] The control server determines the target order container, the target cache shelf where the target order container is located, and the shelf cache position of the target cache shelf in the cache area based on the delivery task, and at the same time determines the target container loading and unloading mechanism and the target handling equipment, and sends container loading and unloading instructions to the target container loading and unloading mechanism and shelf handling instructions to the target handling equipment.

[0173] The target transport device moves to the target cache shelf in the cache area in response to the shelf transport instruction, and transports the target cache shelf storing the target order container from the cache area to the cache area exit.

[0174] The target container loading and unloading equipment is located at the exit of the cache area. In response to the container loading and unloading instructions, it takes out the target order container from the target cache shelf and places it in the shipping area.

[0175] Example 4

[0176] The warehouse scheduling system provided in this embodiment includes a control server, a cache area, and an autonomous mobile robot. A plurality of cache shelves are provided in the cache area. The cache shelves include at least one partition, and at least one storage location is provided on the partition. Each storage location can carry at least one order container.

[0177] The control server determines the target order container, the target cache shelf where the target order container is located, and the shelf cache position of the target cache shelf in the cache area according to the delivery task, and at the same time determines the target autonomous mobile robot and sends container loading and unloading instructions to the target autonomous mobile robot.

[0178] The target autonomous mobile robot responds to the container loading and unloading instruction, moves to the shelf cache position of the cache area, takes out the target order container from the target cache shelf, and transports the target order container to the cache area exit.

[0179] A transportation line, a cache area, and an autonomous mobile robot. The cache area is provided with multiple cache shelves, each of which includes at least one partition, each of which is provided with at least one storage location. Each storage location can carry at least one order container. The transportation line includes a transportation line entrance and a transportation line exit.

[0180] See also Figure 3 , Figure 3 A flowchart of a warehouse scheduling method provided by an embodiment of the present application is shown. The warehouse scheduling method is applied to a warehouse scheduling system, which includes a control server, a container pick-and-place device, and a cache area. The cache area is provided with multiple cache carriers, wherein the cache carrier is provided with at least one storage location, each storage location being capable of carrying at least one order container capable of accommodating ordered goods. Specifically, the method includes steps 302-304:

[0181] Step 302: The control server determines the target container picking and placing device, the first order container that has completed picking and is to be cached, the first cache carrier where the first order container will be cached, and the target storage position of the first order container in the first cache carrier based on the cache task, and sends a container picking and placing instruction to the target container picking and placing device.

[0182] Step 304: The target container picking and placing device is set in the workstation area, and obtains the first order container located in the workstation area according to the container picking and placing instruction, and directly places the first order container in the target storage position of the first cache carrier that is transported to the workstation area; or, the target container picking and placing device obtains the first order container located in the workstation area according to the container picking and placing instruction, transports the first order container from the workstation area to the cache area, and places the first order container in the target storage position of the first cache carrier.

[0183] In an optional embodiment provided in the present application, the container picking and placing device includes a container loading and unloading mechanism;

[0184] The control server determines a target container picking and placing device and sends a container picking and placing instruction to the target container picking and placing device, including:

[0185] The control server determines a first container loading and unloading mechanism and sends a first container pick-up and placement instruction to the first container loading and unloading mechanism;

[0186] Accordingly, the target container picking and placing device is set in the workstation area, and directly places the first order container in the target storage position of the first buffer carrier transported to the workstation area, including:

[0187] The first container loading and unloading mechanism is arranged in the workstation area, and places the first order container in a target storage position of the first cache carrier in response to the first container picking and placing instruction.

[0188] In an optional embodiment provided in the present application, the system further includes a handling device;

[0189] The method further comprises:

[0190] The control server determines a first transport device for transporting the first cache carrier, and sends a first transport instruction to the first transport device;

[0191] In response to the first transport instruction, the first transport device transports the first cache carrier from the cache area to the workstation area, or transports the first cache carrier from the workstation area back to the cache area.

[0192] In an optional embodiment provided in this application, the method further includes:

[0193] The first transport device transports the first cache carrier from the workstation area back to the original cache position or other cache position in the cache area.

[0194] In an optional embodiment provided herein, the container picking and placing device includes an autonomous mobile robot for picking, placing, and transporting order containers;

[0195] The control server determines a target container picking and placing device and sends a container picking and placing instruction to the target container picking and placing device, including:

[0196] The control server determines a first autonomous mobile robot and sends a container pick-up and placement instruction to the first autonomous mobile robot;

[0197] Accordingly, the target container picking and placing device obtains the first order container located in the workstation area according to the container picking and placing instruction, moves the first order container from the workstation area to the buffer area, and places the first order container in the target storage location of the first buffer carrier, including:

[0198] The first autonomous mobile robot responds to the container pick and place instruction, obtains the first order container located in the workstation area, moves the first order container from the workstation area to the cache area, and places the first order container in the target storage position of the first cache shelf.

[0199] In an optional embodiment provided by the present application, the system further comprises a transmission line, wherein the transmission line comprises a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive an order container that completes an order task;

[0200] The target container picking and placing device obtains the first order container located in the workstation area according to the container picking and placing instruction, including:

[0201] The target container picking and placing device takes out the first order container from the conveying line exit, wherein the target container picking and placing device is located at the conveying line exit.

[0202] In an optional embodiment provided by the present application, the system further includes an autonomous mobile robot for picking up, placing, and transporting inventory containers and an inventory area, wherein the inventory area is provided with a plurality of inventory carriers, each of which is provided with at least one storage location, each storage location being capable of carrying at least one inventory container capable of accommodating stored goods;

[0203] The method further comprises:

[0204] The control server determines, according to the order task, a target inventory container, a target inventory carrier where the target inventory container is located, and a second autonomous mobile robot for transporting the target inventory container, and sends a second access instruction to the second autonomous mobile robot;

[0205] The second autonomous mobile robot moves to the target inventory carrier in response to the second access instruction, retrieves the target inventory container from the target inventory carrier, and transports the target inventory container to the workstation area.

[0206] In an optional embodiment provided by the present application, the system further includes a handling device, the inventory carrier includes a movable shelf, the movable shelf includes at least one layer of partition, the at least one layer of partition divides the movable shelf into at least two layers, and at least one storage location is provided on the partition of the movable shelf;

[0207] The method further comprises:

[0208] The control server determines, according to the order task, a target inventory container and a target movable shelf where the target inventory container is located, a second transport device for transporting the target movable shelf, and sends a second transport instruction to the second transport device;

[0209] The second transport device transports the target movable rack to the workstation area in response to the second transport instruction.

[0210] In an optional embodiment provided in the present application, the system further comprises a container loading and unloading mechanism;

[0211] The method further comprises:

[0212] The control server determines, based on the delivery task, a second order container, a second cache carrier where the second order container is located, a third transport device for transporting the second cache carrier, and a second container loading and unloading mechanism, and sends a third transport instruction to the third transport device and a second container loading and unloading instruction to the second container loading and unloading mechanism;

[0213] The third transport device transports the second cache carrier from the cache area to the exit of the cache area in response to the third transport instruction;

[0214] The second container loading and unloading equipment takes out the second order container from the second cache carrier in response to the second container loading and unloading instruction and places it in a designated area, wherein the second container loading and unloading equipment is arranged at the exit of the cache area.

[0215] In an optional embodiment provided by the present application, the system further comprises an autonomous mobile robot for picking up, placing and transporting order containers;

[0216] The method further comprises:

[0217] The control server determines, according to the delivery task, a third order container, a third cache carrier where the third order container is located, and a third autonomous mobile robot for carrying the third order container, and sends a third access instruction to the third autonomous mobile robot;

[0218] The third autonomous mobile robot moves to the third cache carrier in response to the third access instruction, takes out the third order container from the third cache carrier, and transports the third order container to a designated area.

[0219] In an optional embodiment provided in this application, the method further includes:

[0220] The control server is further configured to determine a target storage location of the first order container in the first cache carrier according to the order container processing task.

[0221] In an optional embodiment provided by the present application, the order container processing task includes at least one of a task of merging order goods in at least two order containers and a task of sorting at least two order containers.

[0222] The warehouse scheduling method provided in the embodiment of the present application is applied to a warehouse scheduling system. Through the warehouse scheduling system provided by the present application, the order containers that have completed picking and are to be cached are placed in the cache area for cache, and the cache carriers of the order containers and the positions of the cache carriers in the cache area are determined according to the delivery tasks, so as to facilitate the subsequent merging tasks or sorting tasks of the order containers, thereby saving manpower and material resources and improving efficiency and accuracy.

[0223] Secondly, the warehouse scheduling method provided by this application can also automatically connect subsequent order container shipping tasks, effectively reducing the labor required for order consolidation and transportation, saving manpower. At the same time, dense storage shelves can be used in the cache area to greatly improve the cache capacity, reduce the cache area, and reduce the cost of warehouse scheduling.

[0224] The foregoing description describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0225] It should be noted that for the aforementioned method embodiments, for ease of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0226] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0227] The preferred embodiments of the present application disclosed above are intended only to help illustrate the present application. The optional embodiments do not describe all details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made based on the content of this application. This application selects and describes these embodiments in detail in order to better explain the principles and practical applications of this application, so that those skilled in the art can 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 system, characterized in that: The system includes a control server, a container picking and placing device, and a cache area, wherein the cache area is provided with a plurality of cache carriers, wherein the cache carrier is provided with at least one storage position, each storage position being capable of carrying at least one order container capable of accommodating ordered goods; The control server is configured to determine, according to the cache task, a target container picking and placing device, a first order container that has been picked and is to be cached, a first cache carrier where the first order container is to be cached, and a target storage location of the first order container in the first cache carrier, and send a container picking and placing instruction to the target container picking and placing device; The target container picking and placing device is configured to be set in the workstation area, obtain the first order container located in the workstation area according to the container picking and placing instruction, and directly place the first order container in the target storage position of the first buffer carrier transported to the workstation area; or The target container picking and placing device is configured to obtain the first order container located in the workstation area according to the container picking and placing instruction, move the first order container from the workstation area to the buffer area, and place the first order container in a target storage location of the first buffer carrier; Wherein, the target container picking and placing equipment includes a container loading and unloading mechanism; The control server is configured to determine a first container loading and unloading mechanism and send a first container placement instruction to the first container loading and unloading mechanism; The first container loading and unloading mechanism is configured to be disposed in a workstation area and to place the first order container in a target storage location of the first buffer carrier in response to the first container pick-and-place instruction; The target container picking and placing equipment also includes an autonomous mobile robot for picking, placing and transporting order containers; The control server is configured to determine a first autonomous mobile robot and send a container pick-up and placement instruction to the first autonomous mobile robot; The first autonomous mobile robot is configured to respond to the container pick and place instruction, obtain the first order container located in the workstation area, move the first order container from the workstation area to the cache area, and place the first order container in the target storage position of the first cache carrier.

2. The warehouse scheduling system according to claim 1, characterized in that: The system also includes a handling device; The control server is further configured to determine a first transport device for transporting the first cache carrier, and send a first transport instruction to the first transport device; The first transport device is configured to transport the first cache carrier from the cache area to the workstation area, or to transport the first cache carrier from the workstation area back to the cache area in response to the first transport instruction.

3. The warehouse scheduling system according to claim 2, characterized in that: The first transport device is configured to transport the first cache carrier from the workstation area back to an original cache position or another cache position in the cache area.

4. The warehouse scheduling system according to claim 1, characterized in that: The system further comprises a transmission line, wherein the transmission line comprises a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive an order container that completes an order task; The target container picking and placing device is located at the exit of the transmission line and is configured to take out the first order container from the exit of the transmission line.

5. The warehouse scheduling system according to claim 1, characterized in that: The system further includes an autonomous mobile robot for picking up, placing, and transporting inventory containers and an inventory area, wherein the inventory area is provided with a plurality of inventory carriers, each of which is provided with at least one storage location, each storage location being capable of carrying at least one inventory container capable of accommodating stored goods; The control server is further configured to determine, based on the order task, a target inventory container, a target inventory carrier where the target inventory container is located, and a second autonomous mobile robot for transporting the target inventory container, and send a second access instruction to the second autonomous mobile robot; The second autonomous mobile robot is configured to move to the target inventory carrier in response to the second access instruction, take out the target inventory container from the target inventory carrier, and transport the target inventory container to the workstation area.

6. The warehouse scheduling system according to claim 5, characterized in that: The system further includes a handling device, the inventory carrier includes a movable shelf, the movable shelf includes at least one layer of partition, the at least one layer of partition divides the movable shelf into at least two layers, and at least one storage location is provided on the partition of the movable shelf; The control server is further configured to determine, based on the order task, a target inventory container and a target movable shelf where the target inventory container is located, a second transport device for transporting the target movable shelf, and send a second transport instruction to the second transport device; The second transport device is configured to transport the target movable rack to the workstation area in response to the second transport instruction.

7. The warehouse scheduling system according to any one of claims 1 to 5, characterized in that: The system also includes a container loading and unloading mechanism; The control server is further configured to determine, based on the delivery task, a second order container, a second cache carrier where the second order container is located, a third transport device for transporting the second cache carrier, and a second container loading and unloading mechanism, and send a third transport instruction to the third transport device and a second container loading and unloading instruction to the second container loading and unloading mechanism; The third transport device is configured to transport the second cache carrier from the cache area to an exit of the cache area in response to the third transport instruction; The second container loading and unloading mechanism is arranged at the exit of the cache area and is configured to take out the second order container from the second cache carrier in response to the second container loading and unloading instruction and place it in a designated area.

8. The warehouse scheduling system according to any one of claims 1 to 5, characterized in that: The system also includes an autonomous mobile robot for picking up and carrying order containers; The control server is further configured to determine, based on the delivery task, a third order container, a third cache carrier where the third order container is located, and a third autonomous mobile robot for carrying the third order container, and send a third access instruction to the third autonomous mobile robot; The third autonomous mobile robot is configured to move to the third cache carrier in response to the third access instruction, take out the third order container from the third cache carrier, and transport the third order container to a designated area.

9. The warehouse scheduling system according to claim 1, characterized in that: The control server is further configured to determine a target storage location of the first order container in the first cache carrier according to the order container processing task.

10. The warehouse scheduling system according to claim 9, characterized in that: The order container processing task includes at least one of a task of merging order goods in at least two order containers and a task of sorting at least two order containers.

11. The warehouse scheduling system according to claim 5 or 6, characterized in that: The workstation area is provided with an auxiliary picking device, which is used to assist in the operation of picking order goods from the inventory container to the order container after the inventory container arrives at the workstation area.

12. The warehouse scheduling system according to claim 11, characterized in that: The auxiliary picking device includes at least one of a visual sensor and a light barrier.

13. The warehouse scheduling system according to claim 1, wherein: The container loading and unloading mechanism includes: a frame and a container loading and unloading assembly; The frame includes a horizontal X-axis track and a vertical Y-axis track perpendicular to each other; The Y-axis track is configured to move along the X-axis track, and the pick-and-place container assembly is configured to move along the Y-axis track.

14. The warehouse scheduling system according to claim 13, characterized in that: The frame includes a door frame assembly; The X-axis track includes a ground rail structure and a ceiling rail structure arranged on the gantry assembly; The two ends of the Y-axis track are respectively guided and matched with the ground rail structure and the ceiling rail structure.

15. The warehouse scheduling system according to claim 14, characterized in that: 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.

16. The warehouse scheduling system according to claim 13, wherein: The container picking and placing assembly picks and places the container by at least one of sucking, pushing, clamping, grabbing, hooking, lifting, and lifting.

17. A warehouse scheduling method, characterized in that: Applied to a warehouse scheduling system, the system includes a control server, a container picking and placing device, and a cache area, wherein the cache area is provided with a plurality of cache carriers, wherein the cache carrier is provided with at least one storage position, each storage position being capable of carrying at least one order container capable of accommodating ordered goods; The method comprises: The control server determines, based on the cache task, a target container picking and placing device, a first order container that has been picked and is to be cached, a first cache carrier where the first order container is to be cached, and a target storage location of the first order container in the first cache carrier, and sends a container picking and placing instruction to the target container picking and placing device; The target container picking and placing device is set in the workstation area, obtains the first order container located in the workstation area according to the container picking and placing instruction, and directly places the first order container in the target storage position of the first buffer carrier transported to the workstation area; or The target container picking and placing device obtains the first order container located in the workstation area according to the container picking and placing instruction, moves the first order container from the workstation area to the buffer area, and places the first order container in the target storage position of the first buffer carrier; Wherein, the target container picking and placing equipment includes a container loading and unloading mechanism; The control server determines a target container picking and placing device and sends a container picking and placing instruction to the target container picking and placing device, including: The control server determines a first container loading and unloading mechanism and sends a first container pick-up and placement instruction to the first container loading and unloading mechanism; Accordingly, the target container picking and placing device is set in the workstation area, and directly places the first order container in the target storage position of the first buffer carrier transported to the workstation area, including: The first container loading and unloading mechanism is disposed in the workstation area and places the first order container at a target storage location of the first buffer carrier in response to the first container pick-and-place instruction; The container picking and placing equipment also includes an autonomous mobile robot for picking, placing and transporting order containers; The control server determines a target container picking and placing device and sends a container picking and placing instruction to the target container picking and placing device, including: The control server determines a first autonomous mobile robot and sends a container pick-up and placement instruction to the first autonomous mobile robot; Accordingly, the target container picking and placing device obtains the first order container located in the workstation area according to the container picking and placing instruction, moves the first order container from the workstation area to the buffer area, and places the first order container in the target storage location of the first buffer carrier, including: The first autonomous mobile robot responds to the container pick and place instruction, obtains the first order container located in the workstation area, moves the first order container from the workstation area to the cache area, and places the first order container in the target storage position of the first cache carrier.

18. The warehousing scheduling method according to claim 17, wherein: The system also includes a handling device; The method further comprises: The control server determines a first transport device for transporting the first cache carrier, and sends a first transport instruction to the first transport device; In response to the first transport instruction, the first transport device transports the first cache carrier from the cache area to the workstation area, or transports the first cache carrier from the workstation area back to the cache area.

19. The warehouse scheduling method according to claim 18, wherein: The method further comprises: The first transport device transports the first cache carrier from the workstation area back to the original cache position or other cache position in the cache area.

20. The warehouse scheduling method according to claim 17, wherein: The system further comprises a transmission line, wherein the transmission line comprises a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive an order container that completes an order task; The target container picking and placing device obtains the first order container located in the workstation area according to the container picking and placing instruction, including: The target container picking and placing device takes out the first order container from the conveying line exit, wherein the target container picking and placing device is located at the conveying line exit.

21. The warehouse scheduling method according to claim 17, wherein: The system further includes an autonomous mobile robot for picking up, placing, and transporting inventory containers and an inventory area, wherein the inventory area is provided with a plurality of inventory carriers, each of which is provided with at least one storage location, each storage location being capable of carrying at least one inventory container capable of accommodating stored goods; The method further comprises: The control server determines, according to the order task, a target inventory container, a target inventory carrier where the target inventory container is located, and a second autonomous mobile robot for transporting the target inventory container, and sends a second access instruction to the second autonomous mobile robot; The second autonomous mobile robot moves to the target inventory carrier in response to the second access instruction, retrieves the target inventory container from the target inventory carrier, and transports the target inventory container to the workstation area.

22. The warehouse scheduling method according to claim 21, characterized in that: The system further includes a handling device, the inventory carrier includes a movable shelf, the movable shelf includes at least one layer of partition, the at least one layer of partition divides the movable shelf into at least two layers, and at least one storage location is provided on the partition of the movable shelf; The method further comprises: The control server determines, according to the order task, a target inventory container and a target movable shelf where the target inventory container is located, a second transport device for transporting the target movable shelf, and sends a second transport instruction to the second transport device; The second transport device transports the target movable rack to the workstation area in response to the second transport instruction.

23. The warehousing scheduling method according to any one of claims 17 to 21, characterized in that: The system also includes a container loading and unloading mechanism; The method further comprises: The control server determines, based on the delivery task, a second order container, a second cache carrier where the second order container is located, a third transport device for transporting the second cache carrier, and a second container loading and unloading mechanism, and sends a third transport instruction to the third transport device and a second container loading and unloading instruction to the second container loading and unloading mechanism; The third transport device transports the second cache carrier from the cache area to the exit of the cache area in response to the third transport instruction; The second container loading and unloading mechanism takes out the second order container from the second cache carrier in response to the second container loading and unloading instruction and places it in a designated area, wherein the second container loading and unloading mechanism is arranged at the exit of the cache area.

24. The warehousing scheduling method according to any one of claims 17 to 21, characterized in that: The system also includes an autonomous mobile robot for picking up and carrying order containers; The method further comprises: The control server determines, according to the delivery task, a third order container, a third cache carrier where the third order container is located, and a third autonomous mobile robot for carrying the third order container, and sends a third access instruction to the third autonomous mobile robot; The third autonomous mobile robot moves to the third cache carrier in response to the third access instruction, takes out the third order container from the third cache carrier, and transports the third order container to a designated area.

25. The warehouse scheduling method according to claim 17, wherein: The method further comprises: The control server is further configured to determine a target storage location of the first order container in the first cache carrier according to the order container processing task.

26. The warehouse scheduling method according to claim 25, characterized in that: The order container processing task includes at least one of a task of merging order goods in at least two order containers and a task of sorting at least two order containers.

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