Warehouse scheduling system and method

Abstract

The present application provides a warehouse scheduling system and method, the system including a control server, an inventory area, a container picking and placing device, a container cache mechanism, and a workstation, wherein the control server is configured to determine the inventory container to be executed, the container picking and placing device, and the cache position of the inventory container in the container cache mechanism, and send a container picking and placing instruction to the container picking and placing device; the container picking and placing device is configured to be located on the first side of the container cache mechanism, and in response to the container picking and placing instruction, take out the inventory container from a movable carrier located at the container picking and placing device, and place the inventory container in the cache position of the container cache mechanism, or take out the inventory container from the cache position of the container cache mechanism, and place the inventory container in a movable carrier located at the container picking and placing device.

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 current warehouse management, ordered goods are picked at picking stations. When the robot arrives at the station, only the containers or goods corresponding to that station can be checked out. If the next station needs the container or goods on the shelf, the robot needs to move the shelf to the next workstation to complete the picking. The robot's transportation path is long, and a single shelf also needs to go to each station to wait for the picking to be completed before it can be moved back to the inventory area, resulting in unnecessary transportation. The number of order containers corresponding to each station is limited, resulting in a low hit rate for a single shelf. 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, an inventory area, a container picking and placing device, a container cache mechanism, and a workstation, wherein the inventory area stores a plurality of movable carriers, each of which can accommodate at least one inventory container, the container cache mechanism is provided with a plurality of cache positions, each of which can carry at least one inventory container, a first surface of the container cache mechanism can be connected in parallel to a plurality of container picking and placing devices, and a second surface can be connected in parallel to a plurality of workstations, and the inventory containers cached in the container cache mechanism are subjected to warehousing operations at the workstation;

[0006] The control server is configured to determine the inventory container to be executed, the container picking and placing device, the cache position of the inventory container in the container cache mechanism, and send a container picking and placing instruction to the container picking and placing device;

[0007] The container picking and placing device is configured to be located on the first side of the container caching mechanism, and in response to the container picking and placing instruction, take out the inventory container from the movable carrier located at the container picking and placing device, and place the inventory container in the cache position of the container caching mechanism, or take out the inventory container from the cache position of the container caching mechanism, and place the inventory container in the movable carrier located at the container picking and placing device; or,

[0008] The container picking and placing device is configured to obtain the inventory container located in the inventory area in response to the container picking and placing instruction, transport the inventory container from the inventory area to the first side of the container cache mechanism, and place the inventory container in the cache position of the container cache mechanism, or take out the inventory container from the cache position of the container cache mechanism, and transport the inventory container from the first side of the container cache mechanism to the inventory area.

[0009] Optionally, the container cache mechanism includes a first area and a second area, wherein the height of the first area is lower than the height of the second area.

[0010] Optionally, the container picking and placing device is configured to place the inventory container in the first area or the second area.

[0011] Optionally, the container picking and placing device is further configured to take out the inventory containers in the second area and place them in the first area, or take out the inventory containers in the first area and place them in the second area.

[0012] Optionally, the control server is further configured to determine whether to place the inventory container in the first area or the second area of ​​the container cache mechanism according to preset conditions.

[0013] Optionally, the preset conditions include at least one of the popularity of the goods stored in the inventory container and the probability that the goods stored in the inventory container will be hit by future orders, and the popularity of the goods is determined by at least one of the shipping frequency or the shipping volume of the goods.

[0014] Optionally, an inclination angle is set between the cache bits in the first area and the horizontal plane, wherein the inclination angle is smaller than a preset angle threshold.

[0015] Optionally, the workstation is docked with the first area of ​​the container cache mechanism located on the second surface, so as to facilitate the operation end to perform warehousing operations on the inventory containers located in the first area.

[0016] Optionally, the system further includes an auxiliary device, configured to assist the operating terminal in performing warehousing operations on the inventory containers located in the first area.

[0017] Optionally, the control server is further configured to determine the inventory container for the task to be performed, the container picking and placing device, and the workstation corresponding to the inventory container, and send a container picking and placing instruction to the container picking and placing device;

[0018] The container picking and placing device is configured to be located on the second side of the container caching mechanism, and in response to the container picking and placing instruction, takes out the inventory container from the container caching mechanism and places it on a movable carrier or a transmission line, the movable carrier is transported to the workstation, and the transmission line leads to the workstation; or,

[0019] The container picking and placing device is configured to take out the inventory container from the container cache mechanism in response to the container picking and placing instruction, and transport the inventory container to the workstation.

[0020] Optionally, the container picking and placing equipment includes a container loading and unloading mechanism; wherein,

[0021] The container loading and unloading mechanism is configured to be located on the first side of the container caching mechanism, and to take out the inventory container from the movable carrier located at the container loading and unloading mechanism in response to the container pick-and-place instruction, and place it in the cache position of the container caching mechanism, and / or,

[0022] The container loading and unloading mechanism is configured to be located on the second side of the container caching mechanism, and to take out the inventory container from the container caching mechanism in response to the container pick-and-place instruction and place it in a movable carrier located at the container loading and unloading mechanism.

[0023] Optionally, the system further comprises a handling device;

[0024] The handling equipment is configured to perform at least one of the following operations: handling the movable carrier from the inventory area to the first side of the container cache mechanism, handling the movable carrier from the first side of the container cache mechanism back to the inventory area, handling the movable carrier from the second side of the container cache mechanism to the workstation, and handling the movable carrier from the workstation to the second side of the container cache mechanism.

[0025] Optionally, the workstation is provided with a transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, the transmission line inlet and the transmission line outlet are respectively provided with a container loading and unloading mechanism, and the workstation is located on the path of the transmission line;

[0026] A container loading and unloading mechanism located at the entrance of the transmission line is configured to take out the inventory container to be operated from the cache position of the container cache mechanism or the movable carrier and place it at the entrance of the transmission line;

[0027] The container loading and unloading mechanism located at the outlet of the transmission line is configured to take out the operated inventory containers from the outlet of the transmission line and place them in the cache position of the container cache mechanism or in a movable carrier.

[0028] Optionally, the container picking and placing device includes an autonomous mobile robot;

[0029] The autonomous mobile robot is configured to obtain an inventory container located in the inventory area, move the inventory container from the inventory area to the first side of the container cache mechanism, and place the inventory container in the cache position, or take out the inventory container from the cache position of the container cache mechanism, and move the inventory container from the first side of the container cache mechanism to the inventory area; and / or,

[0030] The autonomous mobile robot is configured to move to the second side of the container cache mechanism, obtain the inventory container located at the container cache mechanism, and transport the inventory container to the workstation, or move to the workstation to obtain the inventory container and transport the inventory container to the second side of the container cache mechanism.

[0031] Optionally, the container loading and unloading mechanism includes: a frame and a container loading and unloading assembly;

[0032] The frame includes a horizontal X-axis track and a vertical Y-axis track perpendicular to each other;

[0033] 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.

[0034] Optionally, the frame includes a door frame assembly;

[0035] The X-axis track includes a ground rail structure and a ceiling rail structure arranged on the gantry assembly;

[0036] The two ends of the Y-axis track are respectively guided and matched with the ground rail structure and the ceiling rail structure.

[0037] Optionally, at least two Y-axis tracks are provided, and at least one of the pick-and-place container assemblies is provided on each Y-axis track.

[0038] Optionally, the container picking and placing component picks and places the container by at least one of sucking, pushing, clamping, grabbing, hooking, lifting, and lifting.

[0039] According to a second aspect of an embodiment of the present application, a warehouse scheduling method is provided, which is applied to a warehouse system, wherein the system includes a control server, an inventory area, a container picking and placing device, a container cache mechanism, and a workstation, wherein the inventory area stores a plurality of movable carriers, each of which can accommodate at least one inventory container, the container cache mechanism is provided with a plurality of cache positions, each of which can carry at least one inventory container, the first surface of the container cache mechanism can be connected to a plurality of container picking and placing devices in parallel, and the second surface can be connected to a plurality of workstations in parallel, and the inventory containers cached on the container cache mechanism are subjected to warehouse operations at the workstation; the method includes:

[0040] The control server determines the inventory container for the task to be executed, the container picking and placing device, and the cache position of the inventory container in the container cache mechanism, and sends a container picking and placing instruction to the container picking and placing device.

[0041] The container picking and placing device is located on the first side of the container caching mechanism, and in response to the container picking and placing instruction, takes out the inventory container from the movable carrier located at the container picking and placing device, and places the inventory container in the cache position of the container caching mechanism, or takes out the inventory container from the cache position of the container caching mechanism, and places the inventory container in the movable carrier located at the container picking and placing device; or,

[0042] The container picking and placing device obtains the inventory container located in the inventory area in response to the container picking and placing instruction, transports the inventory container from the inventory area to the first side of the container cache mechanism, and places the inventory container in the cache position of the container cache mechanism, or takes out the inventory container from the cache position of the container cache mechanism, and transports the inventory container from the first side of the container cache mechanism to the inventory area.

[0043] Optionally, the container caching mechanism includes a first area and a second area, wherein the height of the first area is lower than the height of the second area;

[0044] The container retrieval device places an inventory container in the first area or the second area.

[0045] Optionally, the method further includes:

[0046] The container picking and placing device takes out the inventory containers in the second area and places them in the first area, or takes out the inventory containers in the first area and places them in the second area.

[0047] Optionally, the method further includes:

[0048] The control server determines the inventory container to be executed, the container picking and placing device, and the workstation corresponding to the inventory container, and sends a container picking and placing instruction to the container picking and placing device;

[0049] The container picking and placing device is located on the second side of the container caching mechanism, and in response to the container picking and placing instruction, the inventory container is taken out from the container caching mechanism and placed on a movable carrier or a transmission line. The movable carrier is transported to the workstation, and the transmission line leads to the workstation; or,

[0050] The container picking and placing device takes out the inventory container from the container cache mechanism in response to the container picking and placing instruction, and transports the inventory container to the workstation.

[0051] Optionally, the container picking and placing equipment includes a container loading and unloading mechanism; wherein,

[0052] The container loading and unloading mechanism is located on the first side of the container caching mechanism, and in response to the container pick-up and placement instruction, takes out the inventory container from the movable carrier located at the container loading and unloading mechanism and places it in the cache position of the container caching mechanism, and / or,

[0053] The container loading and unloading mechanism is located on the second side of the container caching mechanism. In response to the container pick-and-place instruction, the inventory container is taken out from the container caching mechanism and placed in a movable carrier located at the container loading and unloading mechanism.

[0054] Optionally, the system further comprises a handling device;

[0055] The transporting equipment performs at least one of transporting the movable carrier from the inventory area to the first side of the container cache mechanism, transporting the movable carrier from the first side of the container cache mechanism back to the inventory area, transporting the movable carrier from the second side of the container cache mechanism to the workstation, and transporting the movable carrier from the workstation to the second side of the container cache mechanism.

[0056] Optionally, the workstation is provided with a transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, the transmission line inlet and the transmission line outlet are respectively provided with a container loading and unloading mechanism, and the workstation is located on the path of the transmission line;

[0057] The container loading and unloading mechanism located at the entrance of the transmission line takes out the inventory container to be operated from the buffer position of the container buffer mechanism or the movable carrier and places it at the entrance of the transmission line;

[0058] The container loading and unloading mechanism located at the outlet of the transmission line takes out the inventory container that has been operated from the outlet of the transmission line and places it in the cache position of the container cache mechanism or in a movable carrier.

[0059] Optionally, the container picking and placing device includes an autonomous mobile robot;

[0060] The autonomous mobile robot obtains the inventory container located in the inventory area, moves the inventory container from the inventory area to the first side of the container cache mechanism, and places the inventory container in the cache position, or takes out the inventory container from the cache position of the container cache mechanism, and moves the inventory container from the first side of the container cache mechanism to the inventory area; and / or,

[0061] The autonomous mobile robot moves to the second side of the container cache mechanism, obtains the inventory container located at the container cache mechanism, and transports the inventory container to the workstation, or moves to the workstation to obtain the inventory container, and transports the inventory container to the second side of the container cache mechanism.

[0062] One embodiment of the present application provides a warehouse scheduling system, which includes a control server, an inventory area, a container picking and placing device, a container cache mechanism, and a workstation, wherein the inventory area stores a plurality of movable carriers, each movable carrier can accommodate at least one inventory container, the container cache mechanism is provided with a plurality of cache positions, each cache position can carry at least one inventory container, the first side of the container cache mechanism can be connected to a plurality of container picking and placing devices in parallel, and the second side can be connected to a plurality of workstations in parallel, and the inventory containers cached on the container cache mechanism are subjected to warehousing operations at the workstation; the control server is configured to determine the inventory container to be executed, the container picking and placing device, and the cache position of the inventory container in the container cache mechanism, and send a container picking and placing instruction to the container picking and placing device; the container picking and placing device is configured to be positioned On the first side of the container caching mechanism, in response to the container pick-and-place instruction, the inventory container is taken out from the movable carrier located at the container pick-and-place device, and the inventory container is placed in the cache position of the container caching mechanism, or the inventory container is taken out from the cache position of the container cache mechanism, and the inventory container is placed in the movable carrier located at the container pick-and-place device; or, the container pick-and-place device is configured to obtain the inventory container located in the inventory area in response to the container pick-and-place instruction, transport the inventory container from the inventory area to the first side of the container cache mechanism, and place the inventory container in the cache position of the container cache mechanism, or take out the inventory container from the cache position of the container cache mechanism, and transport the inventory container from the first side of the container cache mechanism to the inventory area. Through the warehouse scheduling system provided by the embodiment of the present application, a container cache mechanism is set up, the number of material boxes placed in the container cache mechanism at the rear end is increased, the hit rate of the movable carrier in the scene is increased, the shelves do not need to reach multiple workstations, and there is no need to wait for manual picking before putting the container back on the movable carrier, which reduces the time for transportation and waiting of the handling equipment, reduces the number of handling equipment, and improves the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a schematic diagram of the system structure of a warehouse scheduling system provided in one embodiment of the present application;

[0064] Figure 2 is a schematic diagram of a container loading and unloading mechanism provided in one embodiment of the present application;

[0065] Figure 3This is a schematic diagram of the system structure of the warehouse scheduling system provided by the second embodiment of the present application;

[0066] Figure 4 Schematic diagram of the system structure of the warehouse scheduling system provided in the third embodiment of the present application;

[0067] Figure 5 Schematic diagram of the system structure of the warehouse scheduling system provided in the fourth embodiment of the present application;

[0068] Figure 6 Schematic diagram of the system structure of the warehouse scheduling system provided in the fifth embodiment of the present application;

[0069] Figure 7 This is a flowchart of a warehouse scheduling method provided in one embodiment of the present application.

[0070] Reference numerals

[0071] 110-control server, 111-processor, 112-memory, 113-order pool, 114-operating console, 120-inventory area, 130-container cache mechanism, 140-workstation, 150-handling equipment, 160-autonomous mobile robot, 170-container loading and unloading mechanism, 7-frame, 71-X-axis track, 72-Y-axis track, 2-container pickup and delivery assembly. DETAILED DESCRIPTION

[0072] The following description sets forth many specific details to facilitate a thorough understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the scope of the present application. Therefore, the present application is not limited to the specific implementations disclosed below.

[0073] The terms used in one or more embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present application. The singular forms "a", "the" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0074] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0075] In this application, a warehouse scheduling system and method are provided, which are described in detail one by one in the following embodiments.

[0076] Figure 1 A system structure diagram of a warehouse scheduling system provided by an embodiment of the present application is shown, which includes one or more control servers 110, an inventory area 120, a container picking and placing device, a container cache mechanism 130 and a workstation 140, wherein a plurality of movable carriers are arranged in the inventory area, each movable carrier can accommodate at least one inventory container, the container cache mechanism is provided with a plurality of cache positions, each cache position can carry at least one inventory container, one side of the container cache mechanism can be connected to a plurality of container picking and placing devices in parallel, and the other side can be connected to a plurality of workstations in parallel, and the inventory containers cached on the container cache mechanism are subjected to warehousing operations at the workstation.

[0077] The control server 110 is wirelessly connected to the container picking and placing equipment, and the staff operates the control server 110 through the operating console 114. The control server 110 is a software system running on the server with data storage and information processing capabilities. It can be connected to the software system of the workstation 140 via wireless. The control server 110 may include one or more servers, and may be a centralized control architecture or a distributed computing architecture. The control server 110 has a processor 111 and a memory 112. The memory 112 may have an order pool 113, and the order pool 113 stores order information.

[0078] The inventory area 120 can be a dense storage area or a non-dense storage area. A plurality of movable carriers are arranged in the inventory area 120, and the movable carriers include but are not limited to partition shelves, cargo box shelves, picking shelves, pallets, movable shelves, cage trucks, pallet racks, etc.

[0079] The movable carrier can be a movable shelf, which includes at least one layer of partition, which divides the movable shelf into at least two layers. At least one storage position is provided on the partition of the movable shelf, each storage position can accommodate at least one container, and the inventory container can be a cargo box.

[0080] The container cache mechanism 130 is a mechanism for caching inventory containers that are being processed for storage operations at the workstation. The specific form of the cache mechanism can be a cache wall. The storage operations can be specifically put-on-shelf operations, take-off-shelf operations, inventory operations, tally operations, etc. There are multiple cache locations in the container cache mechanism, each of which can hold at least one inventory container. Figure 1 , multiple container picking and placing devices can be docked in parallel on the first side of the container cache mechanism 130, and multiple workstations 140 can be docked in parallel on the second side of the container cache mechanism 130. It should be noted that the multiple mentioned in this application means more than two, that is, multiple cache positions mean more than two cache positions, multiple container picking and placing devices mean more than two container picking and placing devices, and multiple workstations mean more than two workstations.

[0081] Furthermore, the container cache mechanism 130 includes a first area and a second area, wherein the height of the first area is lower than that of the second area. In actual applications, in order to improve the space utilization of the storage system, the height of the container cache mechanism 130 can be very high. In order to facilitate picking, the container cache mechanism can also be divided into the first area and the second area according to the height. The inventory containers in the first area can be directly operated by the operating end, while the inventory containers in the second area need to be operated and processed with the help of a machine.

[0082] In actual applications, the control server is further configured to determine whether to place the inventory container in the first area or the second area of ​​the container cache mechanism based on preset conditions. The preset conditions include at least one of the popularity of the goods stored in the inventory container and the probability that the goods stored in the inventory container will be hit by a future order, and the popularity of the goods is determined by at least one of the shipment frequency or shipment volume of the goods.

[0083] Specifically, the first area is used to store inventory containers for order tasks, making it easier for operators to directly operate on the inventory containers in the first area. The second area is used to store inventory containers for pre-order tasks or inventory containers for hot-selling goods. Pre-placing inventory containers for pre-order tasks or inventory containers for hot-selling goods in the second area of ​​the container cache mechanism eliminates the need to transport the corresponding movable carriers or containers from the inventory area multiple times, thereby improving picking efficiency.

[0084] Workstation 140 is a goods picking area where goods from inventory containers can be picked into order containers. In actual applications, the workstation is used to perform warehousing operations on inventory containers, such as picking goods from inventory containers into order containers, stocking goods, and inventory counting. Operations from inventory containers at workstation 140 are typically performed manually or by automated equipment, which may include automated robotic arms.

[0085] The workstation docks with the first area, located on the other side of the container caching mechanism, to facilitate operations performed by operators on inventory containers stored in the first area's cache. The operators can be manual or automated, such as robotic arms. Furthermore, to facilitate direct operations on inventory containers in the first area, the caches in the first area can be tilted at a predetermined angle relative to the horizontal. When the tilt angle is less than the predetermined angle, operators can directly remove or place items from the caches, improving picking efficiency.

[0086] Specifically, the system also includes an auxiliary device, which is used to assist the operating end in performing warehousing operations on the inventory containers located in the first area, for example, a staff member pulls a cart to pick goods from the inventory containers in the first area, or an order robot follows the staff to pick goods, etc.

[0087] In a specific embodiment provided by the present application, the control server is configured to determine the inventory container to be executed, the container picking and placing device, the cache position of the inventory container in the container cache mechanism, and send a container picking and placing instruction to the container picking and placing device;

[0088] The container picking and placing device is configured to be located on the first side of the container caching mechanism, and in response to the container picking and placing instruction, take out the inventory container from the movable carrier located at the container picking and placing device, and place the inventory container in the cache position of the container caching mechanism, or take out the inventory container from the cache position of the container caching mechanism, and place the inventory container in the movable carrier located at the container picking and placing device; or,

[0089] The container picking and placing device is configured to obtain the inventory container located in the inventory area in response to the container picking and placing instruction, transport the inventory container from the inventory area to the first side of the container cache mechanism, and place the inventory container in the cache position of the container cache mechanism, or take out the inventory container from the cache position of the container cache mechanism, and transport the inventory container from the first side of the container cache mechanism to the inventory area.

[0090] Specifically, the control server determines the inventory container a to be executed, the container picking and placing device, and the cache position of the inventory container a in the container cache mechanism according to the order task, and sends a container picking and placing instruction to the container picking and placing device.

[0091] Specifically, placing containers in the inventory area on the container cache mechanism can be accomplished using a container loading and unloading mechanism. In this scenario, the container retrieval device is container loading and unloading mechanism 170. The control server identifies the container loading and unloading mechanism and sends a container retrieval instruction to the container loading and unloading mechanism. Container loading and unloading mechanism 170 is located on the first side of the container cache mechanism. In response to the container retrieval instruction, container a in inventory is removed from a movable carrier located at container loading and unloading mechanism 170 and placed in a cache position in the container cache mechanism. Alternatively, container a is removed from a cache position in the container cache mechanism and placed in a movable carrier located at the container loading and unloading mechanism.

[0092] See also Figure 2 , Figure 2 A schematic diagram of a container loading and unloading mechanism provided in one embodiment of the present application is shown. The container loading and unloading mechanism includes a frame 7 and a container pickup assembly 2. The frame 7 includes an X-axis track 71 and a Y-axis track 72 that are perpendicular to each other. The X-axis track 71 and the Y-axis track 72 are arranged on a vertical plane. Specifically, the Y-axis track is configured to move along the X-axis track, and the container pickup assembly 2 is configured to move along the Y-axis track. The container pickup assembly 2 can also remove a container from a carrier along the Z-axis direction and load it onto the carrier assembly, or unload a container from the carrier assembly and place it on a movable carrier.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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 each pick-up and delivery container assembly on the Y-axis track can move independently, thereby improving the working efficiency of the loading and unloading device.

[0097] In this embodiment, the loading and unloading device is used to transfer containers on the 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 shelf.

[0098] In practical applications, the container picking and placing assembly picks and places the container by at least one of sucking, pushing, clamping, grabbing, hooking, lifting, and lifting.

[0099] In the scenario where the container loading and unloading mechanism is used, see Figure 1 The system further includes a transport device 150, which is configured to transport the movable carrier from the inventory area to the first side of the container cache mechanism, or to transport the movable carrier from the first side of the container cache mechanism back to the inventory area. In actual application, the transport device 150 transports the movable carrier from the first side of the container cache mechanism back to its original position or other position in the inventory area. Specifically, the position of the first movable carrier in the inventory area can be determined based on the heat of the first movable carrier and the correlation between the goods stored in the first movable carrier and the goods in other movable carriers.

[0100] It should be noted that the popularity of the movable carrier in this application refers to the popularity of the goods in the movable carrier, that is, the shipment volume or shipment frequency of the goods in the movable carrier. The higher the popularity of the goods, the larger the shipment volume or the higher the shipment frequency. The higher the popularity of the goods, the higher the popularity of the corresponding movable carrier; the correlation between goods refers to the frequency of goods being selected together in the order task. For example, nail polish and nail polish remover usually appear in one order, then the correlation between these two goods is relatively high. Placing two movable carriers with higher correlation adjacent to each other, or placing two inventory containers with higher correlation on the same movable carrier, can effectively improve picking efficiency.

[0101] In addition to being achieved by placing containers in the inventory area on the container cache mechanism through a container loading and unloading mechanism, it can also be achieved in other forms. Specifically, in another specific embodiment provided in the present application, the container picking and placing device can also be an autonomous mobile robot 160 for picking up and placing and transporting inventory containers. In this scenario, the autonomous mobile robot 160 responds to the container picking and placing instruction to obtain the inventory container located in the inventory area, transports the inventory container from the inventory area to the first side of the container cache mechanism, and places the inventory container in the cache position of the container cache mechanism, or takes out the inventory container from the cache position of the container cache mechanism and transports the inventory container from the first side of the container cache mechanism to the inventory area.

[0102] In actual applications, when transporting inventory containers in the inventory area to the container cache mechanism, the above two scenarios can coexist, that is, the container loading and unloading structure takes out the inventory container from the movable carrier and places it in the target cache position of the container cache mechanism, and the autonomous mobile robot takes out the target inventory container from the inventory area and places it in the target cache position of the container cache mechanism.

[0103] After the inventory containers are transported to the container cache mechanism, they need to be sorted by a workstation. Specifically, this can be achieved by a container pick-and-place device located on the second side of the container cache mechanism. Specifically, the control server is further configured to determine the inventory container to be executed, the container pick-and-place device, and the workstation corresponding to the inventory container, and send a container pick-and-place instruction to the container pick-and-place device.

[0104] The container picking and placing device is configured to be located on the second side of the container caching mechanism, and in response to the container picking and placing instruction, takes out the inventory container from the container caching mechanism and places it on a movable carrier or a transmission line, the movable carrier is transported to the workstation, and the transmission line leads to the workstation; or,

[0105] The container picking and placing device is configured to take out the inventory container from the container cache mechanism in response to the container picking and placing instruction, and transport the inventory container to the workstation.

[0106] During the process of transporting inventory containers to the workstation for picking, the container retrieval device can also be a container loading and unloading mechanism 170. Accordingly, the container loading and unloading mechanism is located on the second side of the container buffer mechanism. In response to container retrieval instructions, it retrieves inventory containers from the container buffer mechanism and places them on a movable carrier or conveyor line located at the container retrieval mechanism. When placed on a movable carrier, the movable carrier can be transported to the workstation via the transport device 150; when placed on a conveyor line, the conveyor line can transport the inventory containers to the workstation.

[0107] Specifically, in the scenario where the transport equipment transports the movable carrier to the workstation, the transport equipment 150 transports the movable carrier from the second side of the container cache mechanism to the workstation, and may also transport the movable carrier from the workstation to the second side of the container cache mechanism.

[0108] Specifically, in a scenario where inventory containers are transported to a workstation via a transmission line, a transmission line may be provided between the workstation and the container loading and unloading mechanism, the transmission line including a transmission line inlet and a transmission line outlet, the transmission line including a transmission line inlet and a transmission line outlet, container loading and unloading mechanisms being provided at the transmission line inlet and the transmission line outlet, respectively, and the picking station of the workstation being located on the path of the transmission line. The container loading and unloading mechanism located at the transmission line inlet is configured to take out the inventory container to be operated from the cache position of the container cache mechanism or a movable carrier and place it at the transmission line inlet. The transmission line then transfers the inventory container to the picking station, where the picking of the order task is completed. The transmission line then transfers the inventory container after the operation is completed to the transmission line outlet. The container loading and unloading mechanism located at the transmission line outlet is configured to take out the inventory container after the operation is completed from the transmission line outlet and place it in the cache position of the container cache mechanism or a movable carrier.

[0109] When transporting inventory containers to the workstation for picking, the container picking and placing device may also be an autonomous mobile robot 160. Specifically, the autonomous mobile robot 160 is configured to move to the second side of the container caching mechanism, obtain an inventory container located in the container caching mechanism, and transport the inventory container to the workstation, or to move to the workstation, obtain an inventory container, and transport the inventory container to the second side of the container caching mechanism.

[0110] The following is a further explanation of the warehouse scheduling system provided by this application in conjunction with specific embodiments.

[0111] Example 1

[0112] See also Figure 1 , Figure 1 A warehouse scheduling system provided by an embodiment of the present application is shown, and the system includes a control server 110, an inventory area 120, a container cache mechanism 130, a workstation 140, a container picking and placing device, and a handling device 150.

[0113] The control server 110 is configured to determine the inventory container a, the container loading and unloading mechanism, the cache position of the inventory container a in the container cache mechanism 130, the movable carrier corresponding to the inventory container a, the transporting equipment 150 for transporting the movable carrier, and send a transport instruction to the transporting equipment 150 and a pick-and-place instruction to the container loading and unloading mechanism.

[0114] The transporting device 150 transports the movable carrier from the inventory area 120 to the first side of the container cache mechanism 130 in response to the transport instruction.

[0115] The container loading and unloading mechanism is configured to be located on the first side of the container cache mechanism 130, and to take out the inventory container a from the movable carrier in response to the container pick-and-place instruction, and place it on the cache position of the container cache mechanism 130. The staff picks the goods at the workstation 140 on the second side of the container cache mechanism 130.

[0116] Example 2

[0117] See also Figure 3 , Figure 3 A schematic diagram of the system structure of a warehouse scheduling system provided in an embodiment of the present application is shown, wherein the system includes a control server 110 , an inventory area 120 , a container cache mechanism 130 , a workstation 140 , and an autonomous mobile robot 160 .

[0118] The control server 110 is configured to determine the inventory container b located in the inventory area, the cache position of the inventory container b in the container cache mechanism 130, the autonomous mobile robot 160 for transporting the inventory container b, and send a pick-up and place instruction to the autonomous mobile robot 160.

[0119] The autonomous mobile robot 160 moves to the inventory container b in the inventory area in response to the pick and place instruction, takes out the inventory container b, and transports the inventory container b to the first side of the container cache mechanism 130, placing it in the cache position of the container cache mechanism 130. The staff picks the goods at the workstation 140 on the second side of the container cache mechanism 130.

[0120] Example 3

[0121] See also Figure 4 , Figure 4 A schematic diagram of the system structure of a warehouse scheduling system provided in one embodiment of the present application is shown. The system includes a control server 110, an inventory area 120, a container caching mechanism 130, a workstation 140, an autonomous mobile robot 160, and a container loading and unloading mechanism 170. The inventory containers are transported from the inventory area 120 to the container caching mechanism 130 by the autonomous mobile robot 160.

[0122] The control server 110 is configured to determine the inventory container c located on the cache mechanism 130 , the container loading and unloading mechanism 170 for picking up and placing the inventory container c, and send a picking and placing instruction to the container loading and unloading mechanism 170 .

[0123] The container loading and unloading mechanism 170 is located on the second side of the container cache mechanism 130, takes out the inventory container c from the container cache mechanism 130, and places it on the workstation 140, where goods are picked from the inventory container c by humans or robotic arms.

[0124] Example 4

[0125] See also Figure 5 , Figure 5 A system structure diagram of a warehouse scheduling system provided by an embodiment of the present application is shown, wherein the system includes a control server 110, an inventory area 120, a container cache mechanism 130, a workstation 140, an autonomous mobile robot 160, a container loading and unloading mechanism 170 and a transmission line, wherein the inventory container is transported from the inventory area 120 to the container cache mechanism 130 by the autonomous mobile robot 160.

[0126] The control server 110 is configured to determine the inventory container d located on the container cache mechanism 130 , the container loading and unloading mechanism 170 for picking up and placing the inventory container d, and send a picking and placing instruction to the container loading and unloading mechanism 170 .

[0127] The container loading and unloading mechanism 170 is located on the second side of the container cache mechanism 130, takes out the inventory container d from the container cache mechanism 130, and places it at the entrance of the transmission line.

[0128] The inventory container d is transported to the workstation 140 via the conveyor line to complete picking, and is then transported to the conveyor line outlet via the conveyor line.

[0129] The container loading and unloading mechanism 170 takes out the inventory container d from the transmission line outlet and places it in the cache position of the container cache mechanism 130.

[0130] Example 5

[0131] See also Figure 6 , Figure 6 A system structure diagram of a warehouse scheduling system provided by an embodiment of the present application is shown, wherein the system includes a control server 110, an inventory area 120, a container cache mechanism 130, a workstation 140, a handling device 150, an autonomous mobile robot 160, a container loading and unloading mechanism 170 and a transmission line, wherein the handling device 150 obtains a movable shelf from the inventory area 120 and transports it to the container loading and unloading mechanism 170 located on the first side of the container cache mechanism 130, and the container loading and unloading mechanism 170 takes out the inventory container from the movable shelf and places it on the container cache mechanism 130.

[0132] The control server 110 is configured to determine the inventory container e located on the container cache mechanism 130 , the autonomous mobile robot 160 for transporting the inventory container e, and send a pick-and-place instruction to the autonomous mobile robot 160 .

[0133] The autonomous mobile robot 160 responds to the pick-and-place instruction to the inventory area e on the second side of the container cache mechanism 130, takes out the inventory container e, and transports the inventory container e to the workstation 140, where the staff or automated equipment located at the workstation 140 completes the goods picking.

[0134] An embodiment of the present application provides a warehouse scheduling system, which includes a control server, an inventory area, a container picking and placing device, a container cache mechanism, and a workstation, wherein the inventory area stores a plurality of movable carriers, each movable carrier can accommodate at least one inventory container, the container cache mechanism is provided with a plurality of cache positions, each cache position can carry at least one inventory container, the first side of the container cache mechanism can be connected to a plurality of container picking and placing devices in parallel, and the second side can be connected to a plurality of workstations in parallel, and the inventory containers cached on the container cache mechanism are subjected to warehouse operations at the workstation; the control server is configured to determine the inventory container to be executed, the container picking and placing device, the cache position of the inventory container in the container cache mechanism, and send a container picking and placing instruction to the container picking and placing device; the container picking and placing device is configured to be located on the first side of the container cache mechanism, and in response to the container picking and placing instruction, take out the inventory container from the movable carrier located at the container picking and placing device, and place the inventory container in the cache position of the container cache mechanism, or take out the inventory container from the cache position of the container cache mechanism, and place the inventory container in the movable carrier located at the container picking and placing device. Through the warehouse scheduling system provided by the embodiment of the present application, a container cache mechanism is set up, the number of material boxes placed in the container cache mechanism at the rear end is increased, the hit rate of the movable carrier in the scene is increased, the shelves do not need to reach multiple workstations, and there is no need to wait for manual picking before putting the container back on the movable carrier, which reduces the time for transportation and waiting of the handling equipment, reduces the number of handling equipment, and improves the picking efficiency.

[0135] Figure 7 A flowchart of a warehouse scheduling method provided by an embodiment of the present application is shown. The method is applied to a warehouse system, which includes a control server, an inventory area, a container picking and placing device, a container cache mechanism, and a workstation. The inventory area stores a plurality of movable carriers, each of which can accommodate at least one inventory container. The container cache mechanism is provided with a plurality of cache positions, each of which can carry at least one inventory container. The first surface of the container cache mechanism can be connected to a plurality of container picking and placing devices in parallel, and the second surface can be connected to a plurality of workstations in parallel. The inventory containers cached on the container cache mechanism are subjected to warehouse operations at the workstation. The method includes:

[0136] Step 702: The control server determines the inventory container for the task to be executed, the container picking and placing device, and the cache position of the inventory container in the container cache mechanism, and sends a container picking and placing instruction to the container picking and placing device.

[0137] Step 704: The container picking and placing device is located on the first side of the container caching mechanism, and in response to the container picking and placing instruction, the inventory container is taken out from the movable carrier located at the container picking and placing device, and the inventory container is placed in the cache position of the container caching mechanism, or the inventory container is taken out from the cache position of the container caching mechanism, and the inventory container is placed in the movable carrier located at the container picking and placing device; or,

[0138] The container picking and placing device obtains the inventory container located in the inventory area in response to the container picking and placing instruction, transports the inventory container from the inventory area to the first side of the container cache mechanism, and places the inventory container in the cache position of the container cache mechanism, or takes out the inventory container from the cache position of the container cache mechanism, and transports the inventory container from the first side of the container cache mechanism to the inventory area.

[0139] Optionally, the container caching mechanism includes a first area and a second area, wherein the height of the first area is lower than the height of the second area;

[0140] The container retrieval device places an inventory container in the first area or the second area.

[0141] Optionally, the method further includes:

[0142] The container picking and placing device takes out the inventory containers in the second area and places them in the first area, or takes out the inventory containers in the first area and places them in the second area.

[0143] Optionally, the method further includes:

[0144] The control server determines the inventory container to be executed, the container picking and placing device, and the workstation corresponding to the inventory container, and sends a container picking and placing instruction to the container picking and placing device;

[0145] The container picking and placing device is located on the second side of the container caching mechanism, and in response to the container picking and placing instruction, the inventory container is taken out from the container caching mechanism and placed on a movable carrier or a transmission line. The movable carrier is transported to the workstation, and the transmission line leads to the workstation; or,

[0146] The container picking and placing device takes out the inventory container from the container cache mechanism in response to the container picking and placing instruction, and transports the inventory container to the workstation.

[0147] Optionally, the container picking and placing equipment includes a container loading and unloading mechanism; wherein,

[0148] The container loading and unloading mechanism is located on the first side of the container caching mechanism, and in response to the container pick-up and placement instruction, takes out the inventory container from the movable carrier located at the container loading and unloading mechanism and places it in the cache position of the container caching mechanism, and / or,

[0149] The container loading and unloading mechanism is located on the second side of the container caching mechanism. In response to the container pick-and-place instruction, the inventory container is taken out from the container caching mechanism and placed in a movable carrier located at the container loading and unloading mechanism.

[0150] Optionally, the system further comprises a handling device;

[0151] The transporting equipment performs at least one of transporting the movable carrier from the inventory area to the first side of the container cache mechanism, transporting the movable carrier from the first side of the container cache mechanism back to the inventory area, transporting the movable carrier from the second side of the container cache mechanism to the workstation, and transporting the movable carrier from the workstation to the second side of the container cache mechanism.

[0152] Optionally, the workstation is provided with a transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, the transmission line inlet and the transmission line outlet are respectively provided with a container loading and unloading mechanism, and the workstation is located on the path of the transmission line;

[0153] The container loading and unloading mechanism located at the entrance of the transmission line takes out the inventory container to be operated from the buffer position of the container buffer mechanism or the movable carrier and places it at the entrance of the transmission line;

[0154] The container loading and unloading mechanism located at the outlet of the transmission line takes out the inventory container that has been operated from the outlet of the transmission line and places it in the cache position of the container cache mechanism or in a movable carrier.

[0155] Optionally, the container picking and placing device includes an autonomous mobile robot;

[0156] The autonomous mobile robot obtains the inventory container located in the inventory area, moves the inventory container from the inventory area to the first side of the container cache mechanism, and places the inventory container in the cache position, or takes out the inventory container from the cache position of the container cache mechanism, and moves the inventory container from the first side of the container cache mechanism to the inventory area; and / or,

[0157] The autonomous mobile robot moves to the second side of the container cache mechanism, obtains the inventory container located at the container cache mechanism, and transports the inventory container to the workstation, or moves to the workstation to obtain the inventory container, and transports the inventory container to the second side of the container cache mechanism.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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, an inventory area, a container picking and placing device, a container cache mechanism, and a workstation, wherein the inventory area stores a plurality of movable carriers, each movable carrier can accommodate at least one inventory container, the container cache mechanism is provided with a plurality of cache positions, each cache position can carry at least one inventory container, the first surface of the container cache mechanism can be docked with a plurality of container picking and placing devices in parallel, and the second surface can be docked with a plurality of workstations in parallel, the inventory containers cached on the container cache mechanism are subjected to warehousing operations at the workstation, and the container cache mechanism includes a first area and a second area, the first area stores inventory containers hit by order tasks, and the second area stores inventory containers hit by pre-hit orders or inventory containers storing hot-selling goods; The control server is configured to determine the inventory container to be executed, the container picking and placing device, and the cache position of the inventory container in the container cache mechanism, and send a container picking and placing instruction to the container picking and placing device, wherein the container picking and placing device includes a container loading and unloading mechanism; The container loading and unloading mechanism is configured to be located on a first side of the container caching mechanism, and in response to the container pick-and-place instruction, take out the inventory container from a movable carrier located at the container loading and unloading mechanism and place the inventory container in a cache position of the container caching mechanism, or take out the inventory container from a cache position of the container caching mechanism and place the inventory container in a movable carrier located at the container loading and unloading mechanism; The container picking and placing device is configured to take out the inventory containers in the second area and place them in the first area, or take out the inventory containers in the first area and place them in the second area.

2. The warehouse scheduling system according to claim 1, characterized in that: The height of the first region is lower than that of the second region.

3. The warehouse scheduling system according to claim 1, characterized in that: The control server is further configured to determine whether to place the inventory container in the first area or the second area of ​​the container cache mechanism according to preset conditions.

4. The warehouse scheduling system according to claim 3, characterized in that: The preset condition includes at least one of the popularity of the goods stored in the inventory container and the probability that the goods stored in the inventory container will be hit by future orders, and the popularity of the goods is determined by at least one of the shipping frequency or the shipping volume of the goods.

5. The warehouse scheduling system according to claim 1, characterized in that: An inclination angle is set between the cache bits in the first area and the horizontal plane, wherein the inclination angle is less than a preset angle threshold.

6. The warehouse scheduling system according to claim 1, characterized in that: The workstation is docked with the first area of ​​the container cache mechanism located on the second surface, so that the operating end can perform storage operations on the inventory containers located in the first area.

7. The warehouse scheduling system according to claim 6, characterized in that: The system further includes an auxiliary device configured to assist the operating terminal in performing warehousing operations on the inventory containers located in the first area.

8. The warehouse scheduling system according to claim 1, characterized in that: The control server is further configured to determine the inventory container for the task to be performed, the container picking and placing device, and the workstation corresponding to the inventory container, and send a container picking and placing instruction to the container picking and placing device; The container picking and placing device is configured to be located on the second side of the container caching mechanism, and in response to the container picking and placing instruction, takes out the inventory container from the container caching mechanism and places it on a movable carrier or a transmission line, the movable carrier is transported to the workstation, and the transmission line leads to the workstation; or, The container picking and placing device is configured to take out the inventory container from the container cache mechanism in response to the container picking and placing instruction, and transport the inventory container to the workstation.

9. The storage scheduling system according to claim 1 or 8, characterized in that: The container loading and unloading mechanism is also configured to be located on the second side of the container caching mechanism, and to take out the inventory container from the container caching mechanism in response to the container pick-and-place instruction and place it in a movable carrier located at the container loading and unloading mechanism.

10. The warehouse scheduling system according to claim 9, characterized in that: The system also includes a handling device; The handling equipment is configured to perform at least one of the following operations: handling the movable carrier from the inventory area to the first side of the container cache mechanism, handling the movable carrier from the first side of the container cache mechanism back to the inventory area, handling the movable carrier from the second side of the container cache mechanism to the workstation, and handling the movable carrier from the workstation to the second side of the container cache mechanism.

11. The warehouse scheduling system according to claim 9, characterized in that: The workstation is provided with a transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, and container loading and unloading mechanisms are respectively provided at the transmission line inlet and the transmission line outlet, and the workstation is located on the path of the transmission line; A container loading and unloading mechanism located at the entrance of the transmission line is configured to take out the inventory container to be operated from the cache position of the container cache mechanism or the movable carrier and place it at the entrance of the transmission line; The container loading and unloading mechanism located at the outlet of the transmission line is configured to take out the operated inventory containers from the outlet of the transmission line and place them in the cache position of the container cache mechanism or in a movable carrier.

12. The warehouse scheduling system according to claim 1 or 8, characterized in that: The container picking and placing equipment includes an autonomous mobile robot; The autonomous mobile robot is configured to obtain an inventory container located in the inventory area, move the inventory container from the inventory area to the first side of the container cache mechanism, and place the inventory container in the cache position, or take out the inventory container from the cache position of the container cache mechanism, and move the inventory container from the first side of the container cache mechanism to the inventory area; and / or, The autonomous mobile robot is configured to move to the second side of the container cache mechanism, obtain the inventory container located at the container cache mechanism, and transport the inventory container to the workstation, or move to the workstation to obtain the inventory container and transport the inventory container to the second side of the container cache mechanism.

13. The warehouse scheduling system according to claim 9, characterized in that: 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: The method is applied to a warehousing system, which includes a control server, an inventory area, a container picking and placing device, a container cache mechanism, and a workstation, wherein the inventory area stores a plurality of movable carriers, each of which can accommodate at least one inventory container, and the container cache mechanism is provided with a plurality of cache positions, each of which can carry at least one inventory container, a first surface of the container cache mechanism can be docked with a plurality of container picking and placing devices in parallel, and a second surface can be docked with a plurality of workstations in parallel, and the inventory containers cached on the container cache mechanism are subjected to warehousing operations at the workstation, and the container cache mechanism includes a first area and a second area, the first area stores inventory containers hit by order tasks, and the second area stores inventory containers hit by pre-hit orders or inventory containers containing hot-selling goods; The control server determines the inventory container to be executed, the container picking and placing device, and the cache position of the inventory container in the container cache mechanism, and sends a container picking and placing instruction to the container picking and placing device, wherein the container picking and placing device includes a container loading and unloading mechanism; The container loading and unloading mechanism is located on the first side of the container caching mechanism, and in response to the container pick-up and placement instruction, takes out the inventory container from the movable carrier located at the container loading and unloading mechanism and places the inventory container in the cache position of the container caching mechanism, or takes out the inventory container from the cache position of the container caching mechanism and places the inventory container in the movable carrier located at the container loading and unloading mechanism; The container picking and placing device takes out the inventory containers in the second area and places them in the first area, or takes out the inventory containers in the first area and places them in the second area.

18. The warehouse scheduling method according to claim 17, wherein: The method further comprises: The control server determines the inventory container to be executed, the container picking and placing device, and the workstation corresponding to the inventory container, and sends a container picking and placing instruction to the container picking and placing device; The container picking and placing device is located on the second side of the container caching mechanism, and in response to the container picking and placing instruction, the inventory container is taken out from the container caching mechanism and placed on a movable carrier or a transmission line. The movable carrier is transported to the workstation, and the transmission line leads to the workstation; or, The container picking and placing device takes out the inventory container from the container cache mechanism in response to the container picking and placing instruction, and transports the inventory container to the workstation.

19. The storage scheduling method according to claim 17 or 18, characterized in that: The container loading and unloading mechanism is located on the second side of the container caching mechanism. In response to the container pick-and-place instruction, the inventory container is taken out from the container caching mechanism and placed in a movable carrier located at the container loading and unloading mechanism.

20. The warehouse scheduling method according to claim 19, wherein: The system also includes a handling device; The transporting equipment performs at least one of transporting the movable carrier from the inventory area to the first side of the container cache mechanism, transporting the movable carrier from the first side of the container cache mechanism back to the inventory area, transporting the movable carrier from the second side of the container cache mechanism to the workstation, and transporting the movable carrier from the workstation to the second side of the container cache mechanism.

21. The warehouse scheduling method according to claim 20, characterized in that: The workstation is provided with a transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, and container loading and unloading mechanisms are respectively provided at the transmission line inlet and the transmission line outlet, and the workstation is located on the path of the transmission line; The container loading and unloading mechanism located at the entrance of the transmission line takes out the inventory container to be operated from the buffer position of the container buffer mechanism or the movable carrier and places it at the entrance of the transmission line; The container loading and unloading mechanism located at the outlet of the transmission line takes out the inventory container that has been operated from the outlet of the transmission line and places it in the cache position of the container cache mechanism or in a movable carrier.

22. The warehouse scheduling method according to claim 17 or 18, characterized in that: The container picking and placing equipment includes an autonomous mobile robot; The autonomous mobile robot obtains the inventory container located in the inventory area, moves the inventory container from the inventory area to the first side of the container cache mechanism, and places the inventory container in the cache position, or takes out the inventory container from the cache position of the container cache mechanism, and moves the inventory container from the first side of the container cache mechanism to the inventory area; and / or, The autonomous mobile robot moves to the second side of the container cache mechanism, obtains the inventory container located at the container cache mechanism, and transports the inventory container to the workstation, or moves to the workstation to obtain the inventory container, and transports the inventory container to the second side of the container cache mechanism.

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