Cargo dispatching method for three-dimensional warehousing system

Abstract

The present invention provides a cargo dispatching method for a three-dimensional warehousing system. If storing materials, a material storage instruction is input; information about a material box and the materials in the material box is input; it is determined whether there are vacant cargo spaces in the warehouse management system, and if so, the materials are put into the warehouse; the control system locates an vacant cargo space in the warehouse management system; the warehouse management system places the material box at the designated vacant cargo space; if picking materials, a material removal instruction is input; it is determined whether the material is in the warehouse management system, and if so, the materials are taken out of the warehouse; the control system locates the picking cargo space of the material box to be picked up in the warehouse management system; a transfer robot arm is moved to the corresponding picking cargo space, and it is detected whether there are temporarily stored material boxes outside the picking cargo space, and if not, the transfer robot arm is used to pick up the material box to be picked up from the picking cargo space. The cargo dispatching method for a three-dimensional warehousing system of the present invention is used to solve the material transfer and storage problems of a three-dimensional warehousing system with double-deep vertical shelves.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing technology, and in particular to a cargo dispatching method for a three-dimensional warehousing system. Background Art

[0002] Smart warehousing refers to the use of automatic transport equipment to automatically unload and retrieve materials from shelves. The existing smart warehousing shelves are single-depth high-level shelves. The access heat of materials is determined according to the quantity and type of materials (materials with short validity periods or good sales have high heat), and then the materials are matched to the available storage locations according to the access heat of the materials (materials with high heat will be frequently shipped out and need to be arranged in the storage locations close to the warehouse exit). Since the high-level shelves are single-depth, there is only one grabbing position on the stacker, and only the corresponding material box (used to hold materials) is grabbed for transportation each time. With the growth of production demand, in order to further save warehouse resources, double-deep vertical shelves (double rows of shelves arranged in parallel, materials can be stored on the double rows of shelves one after another) began to be used in the three-dimensional warehousing system. Multiple material boxes are stored on the double-deep vertical shelves, but because there is only one stacker and it can only transport one material box at a time, if the same cargo scheduling strategy is adopted, it will make it difficult to remove materials from some cargo locations, resulting in old materials being expired and materials being piled up. Therefore, how to achieve rapid retrieval of material boxes on the double-deep vertical shelves is an urgent problem to be solved. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a cargo scheduling method for a three-dimensional storage system that solves the material transfer and storage problems of a three-dimensional storage system equipped with double-deep vertical shelves.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The cargo dispatching method of the three-dimensional warehousing system includes:

[0006] The three-dimensional warehousing system includes a warehouse management system, an operating system, and a control system. The warehouse management system is used to store and manage material boxes. The operating system is used for staff to input instructions and obtain warehouse information, material information, and cargo scheduling information for warehouse management. The control system is used to calculate and locate the storage locations of material boxes for outbound and inbound storage within the warehouse management system based on the instructions output by the operating system. The warehouse management system is equipped with double-deep vertical racks, transfer robots, and shift robots. One side of the rack is used to store temporary material boxes, and the other side is used to store material boxes to be retrieved.

[0007] If stockpiling is carried out, it includes:

[0008] Input material storage instructions through the operating system;

[0009] Enter information about the bin and the materials in it;

[0010] Determine whether there are any available storage spaces in the warehouse management system; if so, the material is put into storage; otherwise, the operating system reports an error;

[0011] The material box is transported to the warehouse management system, and the control system locates an empty storage location in the warehouse management system;

[0012] The control system sends control instructions to the warehouse management system, and the warehouse management system places the material box in the designated empty storage location;

[0013] If taking materials, including:

[0014] Input material removal instructions through the operating system;

[0015] Determine whether the material exists in the warehouse management system; if so, execute the material outbound, otherwise, the operating system reports an error;

[0016] The control system locates the material pickup location of the material box to be picked up in the warehouse management system;

[0017] The transfer robot arm moves to the corresponding material picking location according to the positioning result of the material picking location, and detects whether there is a temporarily stored material box outside the material picking location. If not, the transfer robot arm extracts the material box to be extracted from the material picking location. Otherwise, the shift robot arm moves out the temporarily stored material box from the material picking location, and the transfer robot arm then extracts the material box to be extracted from the material picking location.

[0018] Compared with the prior art, the cargo dispatching method of a three-dimensional warehousing system of the present invention has the following beneficial effects:

[0019] (1) The three-dimensional warehousing system of the present invention is composed of three parts: a warehouse management system, an operating system, and a control system. The warehouse management system is used to manage all materials in the warehouse (control the entry and exit of materials), record the quantity of materials, the entry and exit information of materials, store material boxes, and record the location of material boxes. The operating system is used to face the staff and allow the staff to issue instructions and obtain information on material boxes, outbound channels, inbound channels, cargo locations, material racks, and the frequency of outbound and inbound materials. The control system is used to perform relevant calculations related to the entry and exit of materials. The three-dimensional warehousing system adopts the above-mentioned setting method, so that the staff can optimize the storage capacity of the three-dimensional warehousing system by optimizing the control system, reasonably arrange the extraction of outbound material boxes, and quickly determine the storage location (vacant cargo location) of inbound material boxes.

[0020] (2) The warehouse management system of the present invention is provided with double-deep vertical shelves, and two material box extraction positions are set on the double-deep vertical shelves, thereby increasing the material storage quantity of the shelves and saving warehouse land resources. The present invention sets specific material storage operations and material extraction operations for the double-deep vertical shelves (the material storage operations and the material extraction operations are related), thereby effectively improving the material storage and extraction efficiency of the double-deep vertical shelves and saving costs;

[0021] (3) The present invention first confirms whether there is an empty cargo space during the material storage operation, and first confirms whether the material is available during the material retrieval operation, thereby avoiding subsequent erroneous operations and wasting operating time.

[0022] Furthermore, according to the location of the shelf, the time Tn for the transfer robot arm to move to the corresponding shelf is calculated. Several shelves correspond to several times Tn.

[0023] Determine whether the time Tn of a cargo location is greater than the time threshold A. If so, classify Tn into the long time group set R; otherwise, classify Tn into the short time group set V.

[0024] By setting the long time group set R and the short time group set V, it is convenient to quickly select the free storage location and the material retrieval location by selecting the long time group set R or the short time group set V according to the needs during the subsequent storage and retrieval of materials.

[0025] Furthermore, the process of calculating the time Tn includes:

[0026] Determine whether the cargo location is outside the shelf. If so, Tn = the time t1 for the transfer machine to move to the cargo location + the time t2 for the transfer machine to reset from the cargo location; otherwise, Tn = the time t1 for the transfer machine to move to the cargo location + the time t2 for the transfer machine to reset from the cargo location + the time t3 for the transfer robot arm to move out and reset the temporarily stored material boxes on the cargo location.

[0027] Since the present invention is aimed at the situation where double-deep vertical shelves are provided in the warehouse management system (two material box extraction positions are provided on the double-deep vertical shelves), therefore, when locating the vacant storage locations / material extraction positions, it is necessary to consider whether the vacant storage locations / material extraction positions belong to the storage locations on the outer side of the shelf or the storage locations on the inner side of the shelf. By adding the time t3 for the shifting robot arm to move out and reset the temporarily stored material boxes on the storage locations to Tn for the vacant storage locations / material extraction positions belonging to the inner side of the shelf, the value of Tn is increased, thereby affecting the subsequent selection of vacant storage locations / material extraction positions.

[0028] Furthermore, the control system locates a vacant storage location in the warehouse management system, including:

[0029] Get the frequency Fx of material in and out of several material boxes and the batch parameter Nx of the materials in the material boxes;

[0030] Calculate the bin access heat W, W = α*Nx + β*Fx, α and β are weight values, 0 < α, β < 1, and α + β = 1;

[0031] According to W, R and V, select the designated available storage space.

[0032] In the present invention, when locating an empty storage space for storing a material box, the material entry and exit heat is determined based on the frequency of entry and exit of the material box and the batch parameter Nx of the material in the material box (the batch parameter Nx can display the production date attribute of the material). By taking the batch parameter Nx as a reference factor into consideration in the material storage operation, and combining it with the calculation of the time Tn for the transfer robot arm to move to the empty storage space to store materials, preparation is made for the subsequent material retrieval operation. By setting the calculation method of the batch parameter Nx, it can be achieved that materials with later production dates are arranged to be stored in a reasonable location, and materials with earlier production dates are arranged in a location that can be retrieved faster than materials with later production dates, thereby avoiding waste of resources due to expired materials.

[0033] Furthermore, the process of selecting a designated vacant cargo space based on W, R, and V includes:

[0034] Determine whether the bin access heat W is greater than the heat threshold B. If so, select the vacant storage location with a time Tn earlier in the short-time group set V as the designated vacant storage location; otherwise, select the vacant storage location with a time Tn later in the long-time group set R as the designated vacant storage location.

[0035] By setting the heat threshold B, materials with high bin access heat (W>B) are preferentially placed on the storage location with the shortest distance from the transfer robot arm position among all available storage locations (the empty storage location corresponding to the first time Tn in the short time group set V), so as to shorten the material retrieval time of materials with high bin access heat (shorter storage time setting) during subsequent material retrieval operations, and materials with low bin access heat (W≤B) are placed on the storage location with the longest distance from the transfer robot arm position among all available storage locations (the empty storage location corresponding to the last time Tn in the long time group set R), so as to avoid materials with low bin access heat (longer storage time setting) occupying the storage location with the shortest distance from the transfer robot arm position (the storage location has a high bin turnover rate requirement).

[0036] Furthermore, the process of the control system locating the material pickup location of the material box to be picked up in the warehouse management system includes:

[0037] Get the frequency Fx of material in and out of several material boxes and the batch parameter Nx of the materials in the material boxes;

[0038] Calculate the bin access heat W, W = α*Nx + β*Fx, α and β are weight values, 0 < α, β < 1, and α + β = 1;

[0039] Arrange the storage and access heat W of several bins of the required material from largest to smallest to form a heat set S;

[0040] The location of the material bin corresponding to the first material bin access heat W in the heat set S is selected as the designated material pickup location.

[0041] Since there are multiple material bins storing the same material, if only the batch parameter Nx of the material is considered when the batch parameter Nx of the material is the same, the turnover rate of the material bin will decrease. Therefore, during the material storage / retrieval process, the present invention combines the material bin in and out frequency Fx and the batch parameter Nx of the material in the material bin. The above two factors jointly determine the material bin storage and retrieval heat W, thereby improving the utilization rate of the material bin while activating the material inventory resources.

[0042] Furthermore, if there are several boxes in the heat set S that have the same box access heat W and are tied for first, then according to the positions of the boxes with the same box access heat W, the location where the box with the corresponding time Tn is located at the front in the short time group set V / long time group set R is selected as the designated material collection location.

[0043] For bins with the same storage and retrieval heat W, the bin to which the transfer robot takes the shortest time Tn is selected as the designated retrieval location, that is, the bin that the transfer robot can reach the fastest is selected as the bin to be retrieved, thereby shortening the retrieval time.

[0044] Furthermore, the date is represented in digital form; batch parameter Nx = current date - material production date.

[0045] The digital format is "00000000", such as the digital format date of "September 9, 1999" is "19990909"; in the present invention, the batch parameter Nx is formed by "current date - material production date", so that the larger the batch parameter Nx obtained for the material with an earlier production date, the greater the impact on the material box storage and access heat W, so that the material with a later production date can be given priority in storage and retrieval.

[0046] Furthermore, when the warehouse management system places the material box in the designated empty storage location;

[0047] Detect whether there is a temporarily stored material box outside the vacant storage location. If not, the transfer robot arm places the material box to the vacant storage location. Otherwise, the shift robot arm moves out the temporarily stored material box outside the vacant storage location, and the transfer robot arm places the material box to the vacant storage location.

[0048] Furthermore, in the case where the shifting robot arm moves out the temporarily stored material box, the temporarily stored material box needs to be reset after the shifting robot arm.

[0049] The above setting method can prevent the position of the material box from being disrupted, thereby affecting the positioning of the free storage space when storing materials and the positioning of the material storage space when taking materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of double-deep vertical racking;

[0051] Figure 2 It is a flow chart of the inventory of the present invention;

[0052] Figure 3 It is the flow chart of taking materials of the present invention. DETAILED DESCRIPTION

[0053] The following describes the embodiments of the present invention with reference to the accompanying drawings:

[0054] The cargo scheduling method of the three-dimensional warehousing system of this embodiment is applicable to the following three-dimensional warehousing system, which includes a warehouse management system, an operating system and a control system; the warehouse management system is used to store and manage material boxes; the operating system is used for staff to input instructions, obtain warehouse information, material information and cargo scheduling information for warehouse management; the control system is used to calculate and locate the cargo positions of the material boxes coming out of the warehouse and the material boxes coming into the warehouse in the warehouse management system according to the instructions output by the operating system.

[0055] The warehouse management system is equipped with double-deep vertical racks, transfer robots and shift robots. Figure 1 One side is used to store temporary boxes, and the other side is used to store boxes to be retrieved.

[0056] The cargo dispatching method of the three-dimensional warehousing system includes material storage operation and material retrieval operation.

[0057] According to the location of the shelf, calculate the time Tn for the transfer robot to move to the corresponding shelf. Several shelves have several times Tn.

[0058] Determine whether the time Tn of a cargo location is greater than the time threshold A. If so, classify Tn into the long time group set R; otherwise, classify Tn into the short time group set V.

[0059] By setting the long time group set R and the short time group set V, it is convenient to quickly select the free storage location and the material retrieval location by selecting the long time group set R or the short time group set V according to the needs during the subsequent storage and retrieval of materials.

[0060] The process of calculating the time Tn includes:

[0061] Determine whether the cargo location is outside the shelf. If so, Tn = the time t1 for the transfer machine to move to the cargo location + the time t2 for the transfer machine to reset from the cargo location; otherwise, Tn = the time t1 for the transfer machine to move to the cargo location + the time t2 for the transfer machine to reset from the cargo location + the time t3 for the transfer robot arm to move out and reset the temporarily stored material boxes on the cargo location.

[0062] Since the present invention is aimed at the situation where double-deep vertical shelves are provided in the warehouse management system (two material box extraction positions are provided on the double-deep vertical shelves), therefore, when locating the vacant storage locations / material extraction positions, it is necessary to consider whether the vacant storage locations / material extraction positions belong to the storage locations on the outer side of the shelf or the storage locations on the inner side of the shelf. By adding the time t3 for the shifting robot arm to move out and reset the temporarily stored material boxes on the storage locations to Tn for the vacant storage locations / material extraction positions belonging to the inner side of the shelf, the value of Tn is increased, thereby affecting the subsequent selection of vacant storage locations / material extraction positions.

[0063] See also Figure 2 If stock is carried out, it includes:

[0064] Input material storage instructions through the operating system;

[0065] Enter information about the bin and the materials in it;

[0066] Determine whether there are any available storage spaces in the warehouse management system; if so, the material is put into storage; otherwise, the operating system reports an error;

[0067] The material box is transported to the warehouse management system, and the control system locates an empty storage location in the warehouse management system;

[0068] The control system sends control instructions to the warehouse management system, and the warehouse management system places the material box in the designated empty storage location.

[0069] When storing materials, determine whether there is material in the material box. If so, perform the storage operation; otherwise, stop storing materials.

[0070] The above arrangement can prevent empty material boxes from occupying space resources on the shelf, thereby increasing the amount of material that can be stored on the shelf.

[0071] The process by which the control system locates an empty storage location within the warehouse management system includes:

[0072] Get the frequency Fx of material in and out of several material boxes and the batch parameter Nx of the materials in the material boxes;

[0073] Calculate the bin access heat W, W = α*Nx + β*Fx, α and β are weight values, 0 < α, β < 1, and α + β = 1;

[0074] According to W, R and V, select the designated available storage space.

[0075] In the present invention, when locating an empty storage space for storing a material box, the material entry and exit heat is determined based on the frequency of entry and exit of the material box and the batch parameter Nx of the material in the material box (the batch parameter Nx can display the production date attribute of the material). By taking the batch parameter Nx as a reference factor into consideration in the material storage operation, and combining it with the calculation of the time Tn for the transfer robot arm to move to the empty storage space to store materials, preparation is made for the subsequent material retrieval operation. By setting the calculation method of the batch parameter Nx, it can be achieved that materials with later production dates are arranged to be stored in a reasonable location, and materials with earlier production dates are arranged in a location that can be retrieved faster than materials with later production dates, thereby avoiding waste of resources due to expired materials.

[0076] The date is expressed in digital form; batch parameter Nx = current date - material production date.

[0077] The digital format is "00000000", such as the digital format date of "September 9, 1999" is "19990909"; in the present invention, the batch parameter Nx is formed by "current date - material production date", so that the larger the batch parameter Nx obtained for the material with an earlier production date, the greater the impact on the material box storage and access heat W, so that the material with a later production date can be given priority in storage and retrieval.

[0078] The process of selecting designated available storage space based on W, R, and V includes:

[0079] Determine whether the bin access heat W is greater than the heat threshold B. If so, select the vacant storage location with a time Tn earlier in the short-time group set V as the designated vacant storage location; otherwise, select the vacant storage location with a time Tn later in the long-time group set R as the designated vacant storage location.

[0080] By setting the heat threshold B, materials with high bin access heat (W>B) are preferentially placed on the storage location with the shortest distance from the transfer robot arm position among all available storage locations (the empty storage location corresponding to the first time Tn in the short time group set V), so as to shorten the material retrieval time of materials with high bin access heat (shorter storage time setting) during subsequent material retrieval operations, and materials with low bin access heat (W≤B) are placed on the storage location with the longest distance from the transfer robot arm position among all available storage locations (the empty storage location corresponding to the last time Tn in the long time group set R), so as to avoid materials with low bin access heat (longer storage time setting) occupying the storage location with the shortest distance from the transfer robot arm position (the storage location has a high bin turnover rate requirement).

[0081] When the warehouse management system places the material box in the designated empty storage location;

[0082] Detect whether there is a temporarily stored material box outside the vacant storage location. If not, the transfer robot arm places the material box to the vacant storage location. Otherwise, the shift robot arm moves out the temporarily stored material box outside the vacant storage location, and the transfer robot arm places the material box to the vacant storage location.

[0083] In the case where the shifting robot arm moves out the temporarily stored material box, the temporarily stored material box needs to be reset after the shifting robot arm.

[0084] The above setting method can prevent the position of the material box from being disrupted, thereby affecting the positioning of the free storage space when storing materials and the positioning of the material storage space when taking materials.

[0085] See also Figure 3 If taking materials, including:

[0086] Input material removal instructions through the operating system;

[0087] Determine whether the material exists in the warehouse management system; if so, execute the material outbound, otherwise, the operating system reports an error;

[0088] The control system locates the material pickup location of the material box to be picked up in the warehouse management system;

[0089] The transfer robot arm moves to the corresponding material picking location according to the positioning result of the material picking location, and detects whether there is a temporarily stored material box outside the material picking location. If not, the transfer robot arm extracts the material box to be extracted from the material picking location. Otherwise, the shift robot arm moves out the temporarily stored material box from the material picking location, and the transfer robot arm then extracts the material box to be extracted from the material picking location.

[0090] The control system locates the material picking location of the material box to be picked up in the warehouse management system, including:

[0091] Get the frequency Fx of material in and out of several material boxes and the batch parameter Nx of the materials in the material boxes;

[0092] Calculate the bin access heat W, W = α*Nx + β*Fx, α and β are weight values, 0 < α, β < 1, and α + β = 1;

[0093] Arrange the storage and access heat W of several bins of the required material from largest to smallest to form a heat set S;

[0094] The location of the material bin corresponding to the first material bin access heat W in the heat set S is selected as the designated material pickup location.

[0095] Since there are multiple material bins storing the same material, if only the batch parameter Nx of the material is considered when the batch parameter Nx of the material is the same, the turnover rate of the material bin will decrease. Therefore, during the material storage / retrieval process, the present invention combines the material bin in and out frequency Fx and the batch parameter Nx of the material in the material bin. The above two factors jointly determine the material bin storage and retrieval heat W, thereby improving the utilization rate of the material bin while activating the material inventory resources.

[0096] If there are several boxes in the heat set S with the same access heat W and tied for first place, then according to the position of the boxes with the same access heat W, select the corresponding time Tn in the short time group set V or the long time group set R (the time Tn corresponding to the above box may be in the short time group set V or in the long time group set R. First search the short time group set V and then search the long time group set R. The time Tn in the short time group set V is less than any time Tn in the long time group set R) as the designated material collection location.

[0097] For bins with the same storage and retrieval heat W, the bin to which the transfer robot takes the shortest time Tn is selected as the designated retrieval location, that is, the bin that the transfer robot can reach the fastest is selected as the bin to be retrieved, thereby shortening the retrieval time.

[0098] The date is expressed in digital form; batch parameter Nx = current date - material production date.

[0099] In the case where the shifting robot arm moves out the temporarily stored material box, the temporarily stored material box needs to be reset after the shifting robot arm.

[0100] When storing / retrieving materials, after the task is completed, the stored material box information / retrieved material box information needs to be uploaded to the control system, and the warehouse management system, operating system and control system update the data.

[0101] Compared with the prior art, the cargo dispatching method of a three-dimensional warehousing system of the present invention has the following beneficial effects:

[0102] (1) The three-dimensional warehousing system of the present invention is composed of three parts: a warehouse management system, an operating system, and a control system. The warehouse management system is used to manage all materials in the warehouse (control the entry and exit of materials), record the quantity of materials, the entry and exit information of materials, store material boxes, and record the location of material boxes. The operating system is used to face the staff and allow the staff to issue instructions and obtain information on material boxes, outbound channels, inbound channels, cargo locations, material racks, and the frequency of outbound and inbound materials. The control system is used to perform relevant calculations related to the entry and exit of materials. The three-dimensional warehousing system adopts the above-mentioned setting method, so that the staff can optimize the storage capacity of the three-dimensional warehousing system by optimizing the control system, reasonably arrange the extraction of outbound material boxes, and quickly determine the storage location (vacant cargo location) of inbound material boxes.

[0103] (2) The warehouse management system of the present invention is provided with double-deep vertical shelves, and two material box extraction positions are set on the double-deep vertical shelves, thereby increasing the material storage quantity of the shelves and saving warehouse land resources. The present invention sets specific material storage operations and material extraction operations for the double-deep vertical shelves (the material storage operations and the material extraction operations are related), thereby effectively improving the material storage and extraction efficiency of the double-deep vertical shelves and saving costs;

[0104] (3) The present invention first confirms whether there is an empty cargo space during the material storage operation, and first confirms whether the material is available during the material retrieval operation, thereby avoiding subsequent erroneous operations and wasting operating time.

[0105] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. A cargo dispatching method for a three-dimensional warehousing system, characterized in that: include: The three-dimensional warehousing system includes a warehouse management system, an operating system, and a control system; the warehouse management system is used to store and manage material boxes; The operating system is used for staff to input instructions and obtain warehouse information, material information, and cargo scheduling information for warehouse management. The control system is used to calculate and locate the cargo locations of outbound and inbound material boxes within the warehouse management system based on the instructions output by the operating system. The warehouse management system is equipped with double-deep vertical racks, transfer robots, and shift robots. One side of the rack is used to store temporary material boxes, and the other side is used to store material boxes to be retrieved. If stockpiling is carried out, it includes: Input material storage instructions through the operating system; Enter information about the bin and the materials in it; Determine whether there are any available storage spaces in the warehouse management system; if so, the material is put into storage; otherwise, the operating system reports an error; The material box is transported to the warehouse management system, and the control system locates an empty storage location in the warehouse management system; The control system sends control instructions to the warehouse management system, and the warehouse management system places the material box in the designated empty storage location; If taking materials, including: Input material removal instructions through the operating system; Determine whether the material exists in the warehouse management system; if so, execute the material outbound, otherwise, the operating system reports an error; The control system locates the material pickup location of the material box to be picked up in the warehouse management system; The transfer robot arm moves to the corresponding material picking location according to the positioning result of the material picking location, and detects whether there is a temporarily stored material box outside the material picking location. If not, the transfer robot arm extracts the material box to be extracted from the material picking location. Otherwise, the shift robot arm moves out the temporarily stored material box of the material picking location, and the transfer robot arm then extracts the material box to be extracted from the material picking location. According to the location of the shelf, calculate the time Tn for the transfer robot to move to the corresponding shelf. Several shelves have several times Tn. Determine whether the time Tn of a cargo location is greater than the time threshold A. If so, classify Tn into the long-time group set R; otherwise, classify Tn into the short-time group set V; The control system locates the process of an empty storage location in the warehouse management system, including: Get the frequency Fx of material in and out of several material boxes and the batch parameter Nx of the materials in the material boxes; Calculate the bin access heat W, W = α*Nx + β*Fx, α and β are weight values, 0 < α, β < 1, and α + β = 1; According to W, R and V, select the designated available storage space.

2. The cargo dispatching method of the three-dimensional warehousing system according to claim 1, characterized in that: The process of calculating the time Tn includes: Determine whether the cargo location is outside the shelf. If so, Tn = the time t1 for the transfer robot arm to move to the cargo location + the time t2 for the transfer robot arm to reset from the cargo location; otherwise, Tn = the time t1 for the transfer robot arm to move to the cargo location + the time t2 for the transfer robot arm to reset from the cargo location + the time t3 for the transfer robot arm to move out and reset the temporarily stored material boxes on the cargo location.

3. The cargo dispatching method of the three-dimensional warehousing system according to claim 1, characterized in that: The process of selecting designated available storage space based on W, R, and V includes: Determine whether the bin access heat W is greater than the heat threshold B. If so, select the vacant storage location with a time Tn earlier in the short-time group set V as the designated vacant storage location; otherwise, select the vacant storage location with a time Tn later in the long-time group set R as the designated vacant storage location.

4. The cargo dispatching method for a three-dimensional storage system according to claim 1, characterized in that: The control system locates the material picking location of the material box to be picked up in the warehouse management system, including: Get the frequency Fx of material in and out of several material boxes and the batch parameter Nx of the materials in the material boxes; Calculate the bin access heat W, W = α*Nx + β*Fx, α and β are weight values, 0 < α, β < 1, and α + β = 1; Arrange the storage and access heat W of several bins of the required material from largest to smallest to form a heat set S; The location of the material bin corresponding to the first material bin access heat W in the heat set S is selected as the designated material pickup location.

5. The cargo dispatching method of the three-dimensional storage system according to claim 4, characterized in that: If there are several boxes in the heat set S with the same access heat W and tied for first place, then according to the positions of the boxes with the same access heat W, the location where the box with the corresponding time Tn is located at the front in the short time group set V / long time group set R is selected as the designated material collection location.

6. The cargo dispatching method of the three-dimensional storage system according to claim 1, 3, 4 or 5, characterized in that: Represent dates in digital form; Batch parameter Nx = current date - material production date.

7. The cargo dispatching method for a three-dimensional storage system according to claim 1, characterized in that: When the warehouse management system places the material box in the designated empty storage location; Detect whether there is a temporarily stored material box outside the vacant storage location. If not, the transfer robot arm places the material box to the vacant storage location. Otherwise, the shift robot arm moves out the temporarily stored material box outside the vacant storage location, and the transfer robot arm places the material box to the vacant storage location.

8. The cargo dispatching method of the three-dimensional storage system according to claim 1 or 7, characterized in that: In the case where the shifting robot arm moves out the temporarily stored material box, the temporarily stored material box needs to be reset after the shifting robot arm.

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