A goods shelving system and method

Abstract

The present disclosure provides a goods shelving system, method and robot. The system includes a control server, handling equipment, a vehicle storage area storing a plurality of movable vehicles, a workstation and an automatic shelving device. The movable vehicle is provided with a plurality of cargo spaces for storing goods to be shelved. The control server is configured to, before assigning a shelving task to the workstation, based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, screen out the preferred movable vehicle from the vehicle storage area, and dispatch the handling equipment to transport the preferred movable vehicle to the empty movable vehicle queuing position located at the workstation. After assigning the shelving task to the workstation, dispatch the handling equipment to transport the preferred movable vehicle from the corresponding movable vehicle queuing position to the goods shelving position, and dispatch the automatic shelving device located at the workstation to place the goods to be shelved located at the workstation onto the preferred movable vehicle located at the goods shelving position.

Description

Technical Field

[0001] The present disclosure relates to the field of warehousing automation technology, and more particularly, to a goods shelving system and method. Background Art

[0002] With the rapid development of the warehousing automation field, it has now been realized to complete the automatic shelving of goods by using automated mechanical devices such as robotic arms. Specifically, the control server first dispatches a goods shelving task to the workstation for goods shelving (the workstation where the robotic arm is located). Then, the control server selects a suitable shelf and a storage location on the shelf according to the goods to be shelved in the goods shelving task. After that, the control server schedules the handling equipment to transport the selected shelf to the goods shelving workstation to achieve the automatic shelving of goods.

[0003] It can be understood that the above process of realizing the automatic shelving of goods is suitable for manual shelving, but not for automatic shelving of types such as robotic arms. In an actual scenario, the goods conveying device connected to the robotic arm continuously provides the robotic arm with goods to be shelved, and the reserved goods shelving time for the robotic arm is short. After receiving the goods shelving task, the robotic arm still needs to wait for the handling equipment to transport the shelf to the workstation. Here, the farther the shelf is from the workstation, the longer the robotic arm waits for the handling equipment to transport, so the working efficiency of the robotic arm will be reduced. In the trend of the development of warehousing automation and intelligence, how to improve the intelligence of the robotic arm shelving process and the goods shelving efficiency is an urgent problem to be solved. Summary of the Invention

[0004] The embodiments of the present disclosure provide at least a goods shelving system and method.

[0005] In a first aspect, the embodiments of the present disclosure provide a goods shelving system, which includes at least one control server, at least one handling equipment, a vehicle storage area storing a plurality of movable carriers, at least one workstation, and at least one automatic shelving equipment; the movable carrier is provided with a plurality of storage locations for storing goods to be shelved, and any one of the at least one workstations is provided with at least one automatic shelving equipment, at least one movable carrier queuing position, and at least one goods shelving position; wherein, the at least one control server is wirelessly communicatively connected to the at least one handling equipment and the at least one automatic shelving equipment respectively;

[0006] The control server is configured to, before assigning the shelving task to the workstation, screen at least one preferred movable vehicle from the vehicle storage area at least partially based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, and dispatch at least one of the handling devices to transport the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation. After assigning the shelving task to the workstation, dispatch at least one of the handling devices to transport the at least one preferred movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position, and dispatch at least one of the automatic shelving devices located at the workstation to place the goods to be shelved at the workstation on the preferred movable vehicle located at the at least one goods shelving position;

[0007] The handling device is configured to transport the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation; and transport the at least one preferred movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position;

[0008] The automatic shelving device is configured to place the goods to be shelved at the workstation on the preferred movable vehicle located at the at least one goods shelving position.

[0009] In an alternative embodiment, the control server is further configured to, after assigning the shelving task to the workstation, when it is determined according to the shelving task that there is at least one target movable vehicle among the at least one preferred movable vehicles that meets the shelving conditions, dispatch at least one of the handling devices to transport the at least one target movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position, and dispatch at least one of the automatic shelving devices located at the workstation to place the goods to be shelved at the workstation on the at least one target movable vehicle;

[0010] The handling device is configured to transport the at least one target movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position;

[0011] The automatic shelving device is configured to place the goods to be shelved at the workstation on the at least one target movable vehicle.

[0012] In an alternative embodiment, the control server is further configured to determine the number of available movable vehicles based on the current empty cargo space information of each movable vehicle. In the case where the number of available movable vehicles is less than the number of queuing positions of the movable vehicles, at least one preferred movable vehicle is selected from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle; the number of non-empty movable vehicles among the preferred movable vehicles is determined based on the shelving requirement information of the remaining goods to be shelved except for the goods to be shelved on the available movable vehicles and the number of queuing positions of the movable vehicles minus the number of available movable vehicles among the preferred movable vehicles.

[0013] In an alternative embodiment, the control server is further configured to determine the storage cargo spaces of each of the goods to be shelved and the types of each storage cargo space based on the shelving requirement information of each of the goods to be shelved; determine the proportion information of each type of storage cargo space among all storage cargo spaces, and select at least one preferred movable vehicle from the vehicle storage area based on the proportion information and the current empty cargo space information of each movable vehicle.

[0014] In an alternative embodiment, the non-empty movable vehicle includes a mixed storage cargo space; the mixed storage cargo space is used to store at least one stock-keeping unit (SKU) of goods to be shelved.

[0015] In an alternative embodiment, the control server is further configured to determine the number of available movable vehicles based on the current empty cargo space information of each movable vehicle. In the case where the number of available movable vehicles is greater than or equal to the number of queuing positions of the movable vehicles, at least one preferred movable vehicle is selected from the available movable vehicles based on the positions of the available movable vehicles and the shelving requirement information of the goods to be shelved; the number of selected preferred movable vehicles is less than or equal to the number of queuing positions of the movable vehicles.

[0016] In an alternative embodiment, at least one shipping position is provided in any one of the at least one workstations.

[0017] The control server is further configured to determine the target shelving requirement information of the target goods to be shelved located at the at least one shipping position; based on at least one piece of the target shelving requirement information, dispatch at least one of the automatic shelving devices located at the workstation to place the target goods to be shelved on the target storage cargo space in the at least one target movable vehicle; the target storage cargo space is the storage cargo space indicated by the target shelving requirement information.

[0018] In an alternative embodiment, the control server is further configured to, after assigning the shelving task to the workstation, in the case that there is no at least one target movable vehicle satisfying the shelving condition among the at least one preferred movable vehicles determined according to the shelving task, based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, screen out at least one target movable vehicle satisfying the shelving condition from the vehicle storage area, and dispatch at least one of the handling devices to transport the at least one screened target movable vehicle to at least one empty goods shelving position located at the workstation;

[0019] The handling device is configured to transport the at least one screened target movable vehicle to at least one empty goods shelving position located at the workstation;

[0020] The automatic shelving device is configured to place the goods to be shelved located at the workstation on the at least one target movable vehicle.

[0021] In an alternative embodiment, the control server is further configured to, in the case that the target storage location does not exist in the target movable vehicle at the goods shelving position and the target movable vehicle at the goods shelving position satisfies the shelving conditions of other goods to be shelved, dispatch the handling device to transfer the target movable vehicle at the goods shelving position to an empty movable vehicle queuing position.

[0022] In an alternative embodiment, the control server is further configured to, in the case that the target storage location does not exist in the target movable vehicle at the goods shelving position and the target movable vehicle at the goods shelving position stores the target goods, dispatch the handling device to transfer the target movable vehicle at the goods shelving position to the vehicle storage area.

[0023] In an alternative embodiment, the control server is further configured to, in the case that the target storage location does not exist in the target movable vehicle at the goods shelving position and the target movable vehicle at the goods shelving position does not satisfy the shelving conditions of other goods to be shelved, dispatch the handling device to transfer the target movable vehicle at the goods shelving position to the vehicle storage area.

[0024] In an alternative embodiment, the control server is further configured to, when the number of preferred movable vehicles in the movable vehicle queuing positions is less than a preset threshold, based on the number of movable vehicle queuing positions, the number of preferred movable vehicles in the movable vehicle queuing positions, the shelving requirement information of the goods to be shelved, and the current empty cargo space information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area, and dispatch at least one of the handling devices to transport the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation.

[0025] In an alternative embodiment, the control server is further configured to call at least one of the handling devices to transfer the preferred movable vehicle whose waiting duration in the movable vehicle queuing position exceeds a preset duration to the vehicle storage area.

[0026] In an alternative embodiment, the automatic shelving device includes a robotic arm.

[0027] In a second aspect, an embodiment of the present disclosure further provides a goods shelving method, which is characterized in that it is applied to the control server in the goods shelving system described in any one of the above first aspects;

[0028] The goods shelving method includes:

[0029] When no shelving task is assigned to the workstation, based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area; dispatch at least one of the handling devices to transport the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation;

[0030] When a shelving task has been assigned to the workstation, dispatch at least one of the handling devices to transport the at least one preferred movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position; and dispatch at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation on the preferred movable vehicle located at the at least one goods shelving position.

[0031] In an alternative embodiment, the step of, when a shelving task has been assigned to the workstation, dispatch at least one of the handling devices to transport the at least one preferred movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position; and dispatch at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation on the preferred movable vehicle located at the at least one goods shelving position, includes:

[0032] When the shelving task has been assigned to the workstation and at least one target movable vehicle that meets the shelving conditions exists among the at least one preferred movable vehicle determined according to the shelving task, dispatch at least one of the handling devices to transport the at least one target movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position, and dispatch at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation onto the at least one target movable vehicle.

[0033] In an alternative embodiment, the screening of at least one preferred movable vehicle from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle includes:

[0034] Based on the current empty cargo space information of each movable vehicle, determine the number of empty movable vehicles;

[0035] When the number of empty movable vehicles is less than the number of movable vehicle queuing positions, screen at least one preferred movable vehicle from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle; the number of non-empty movable vehicles among the preferred movable vehicles is determined based on the shelving requirement information of the remaining goods to be shelved except for the goods to be shelved on the empty movable vehicles in the goods to be shelved and the number of movable vehicle queuing positions minus the number of empty movable vehicles in the preferred movable vehicles.

[0036] In an alternative embodiment, the screening of at least one preferred movable vehicle from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle includes:

[0037] Based on the shelving requirement information of each of the goods to be shelved, determine the storage cargo space of each of the goods to be shelved and the type of each storage cargo space;

[0038] Determine the proportion information of each type of storage cargo space in all storage cargo spaces;

[0039] Based on the proportion information and the current empty cargo space information of each movable vehicle, screen at least one preferred movable vehicle from the vehicle storage area.

[0040] In an alternative embodiment, the non-empty movable vehicle includes a mixed storage cargo space; the mixed storage cargo space is used to store at least one stock keeping unit (SKU) of goods to be shelved.

[0041] In an alternative embodiment, the goods shelving method further includes:

[0042] Determine the number of empty movable carriers based on the current empty cargo space information of each movable carrier. In the case where the number of empty movable carriers is greater than or equal to the number of movable carrier queuing positions, based on the positions of each empty movable carrier and the shelving requirement information of the goods to be shelved, screen out at least one preferred movable carrier from each of the empty movable carriers; the number of the screened-out preferred movable carriers is less than or equal to the number of movable carrier queuing positions.

[0043] In an alternative implementation, at least one shipping position is provided in any one of the at least one workstations;

[0044] The dispatching at least one automatic shelving device at the workstation to place the goods to be shelved at the workstation on the at least one target movable carrier includes:

[0045] Determine the target shelving requirement information of the target goods to be shelved located at the at least one shipping position;

[0046] Based on at least one piece of the target shelving requirement information, dispatch at least one of the automatic shelving devices at the workstation to place the target goods to be shelved on the target storage space in the at least one target movable carrier; the target storage space is the storage space indicated by the target shelving requirement information.

[0047] In an alternative implementation, the goods shelving method further includes:

[0048] After assigning the shelving task to the workstation, in the case where there is no at least one target movable carrier that meets the shelving conditions among the at least one preferred movable carriers determined according to the shelving task, based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable carrier, screen out at least one target movable carrier that meets the shelving conditions from the carrier storage area, and dispatch at least one of the handling devices to transport the at least one screened-out target movable carrier to at least one empty goods shelving position at the workstation.

[0049] In an alternative implementation, after dispatching at least one of the automatic shelving devices at the workstation to place the goods to be shelved at the workstation on the at least one target movable carrier, it further includes:

[0050] In the case where the target storage space does not exist in the target movable carrier at the goods shelving position, and the target movable carrier at the goods shelving position meets the shelving conditions of other goods to be shelved, dispatch the handling device to transfer the target movable carrier at the goods shelving position to an empty movable carrier queuing position.

[0051] In an alternative embodiment, after scheduling at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation onto at least one of the target movable carriers, the method further includes:

[0052] When the target storage location does not exist in the target movable carrier at the goods shelving location, and the target movable carrier at the goods shelving location stores target goods, schedule the handling device to transfer the target movable carrier at the goods shelving location to the carrier storage area.

[0053] In an alternative embodiment, after scheduling at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation onto at least one of the target movable carriers, the method further includes:

[0054] When the target storage location does not exist in the target movable carrier at the goods shelving location, and the target movable carrier at the goods shelving location does not meet the shelving conditions for other goods to be shelved, schedule the handling device to transfer the target movable carrier at the goods shelving location to the carrier storage area.

[0055] In an alternative embodiment, the goods shelving method further includes:

[0056] When the number of preferred movable carriers at the movable carrier queuing location is less than a preset threshold, based on the number of movable carrier queuing locations, the number of preferred movable carriers at the movable carrier queuing location, the shelving requirement information of the goods to be shelved, and the current empty space information of each movable carrier, screen out at least one preferred movable carrier from the carrier storage area, and schedule at least one of the handling devices to transport the at least one preferred movable carrier to at least one empty movable carrier queuing location located at the workstation.

[0057] In an alternative embodiment, after scheduling the handling device to transport the at least one target movable carrier to an empty movable carrier queuing location, the method further includes:

[0058] Call at least one of the handling devices to transfer the preferred movable carrier whose waiting duration at the movable carrier queuing location exceeds a preset duration to the carrier storage area.

[0059] In an alternative embodiment, the automatic shelving device includes a robotic arm.

[0060] For the description of the effects of the above goods shelving method, refer to the description of the above goods shelving system, which will not be elaborated here.

[0061] A goods shelving system and method provided by an embodiment of the present disclosure, wherein the system includes a control server, at least one handling device, a vehicle storage area storing a plurality of movable vehicles, at least one workstation, and at least one automatic shelving device; the movable vehicle is provided with a plurality of cargo spaces for storing goods to be shelved, and any one of the at least one workstations is provided with at least one automatic shelving device, at least one movable vehicle queuing position, and at least one goods shelving position; wherein, at least one control server is wirelessly communicatively connected to at least one handling device and at least one automatic shelving device respectively. Before allocating the shelving task to the workstation, the control server can at least partially screen out at least one preferred movable vehicle from the vehicle storage area based on the shelving requirement information of each goods to be shelved and the current empty cargo space information of each movable vehicle, and dispatch at least one handling device to transport at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation. After allocating the commodity inspection task to the workstation, dispatch at least one handling device to transport at least one preferred movable vehicle from the corresponding movable vehicle queuing position to at least one goods shelving position, and dispatch at least one automatic shelving device located at the workstation to place the goods to be shelved located at the workstation onto the preferred movable vehicle located at at least one goods shelving position. Compared with the control server in the prior art that first receives the goods shelving task and then dispatches the handling device to transport the movable vehicle, it utilizes the shelving requirement information of each goods to be shelved pre-entered in the control server, first dispatches the handling device to transport at least one preferred movable vehicle to the empty movable vehicle queuing position, and then, in the case where the control server obtains the shelving requirement of the goods to be shelved, uses one of the preferred movable vehicles already in the movable vehicle queuing position to receive the goods to be shelved. Since the distance from the movable vehicle queuing position to the automatic shelving device is much smaller than the distance from the movable vehicle in the vehicle storage area to the automatic shelving device, therefore, after the control server obtains the shelving requirement of the goods to be shelved, it can quickly match the preferred movable vehicle storing the target goods to be shelved from the movable vehicle queuing position, greatly shortening the waiting time of the automatic shelving device for the preferred movable vehicle and improving the working efficiency of the automatic shelving device.

[0062] To make the above objects, features, and advantages of the present disclosure more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings required for use in the embodiments. The drawings here are incorporated into the specification and constitute a part of this specification. These drawings show embodiments that conform to the present disclosure and, together with the specification, are used to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only show some embodiments of the present disclosure and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0064] Figure 1 Fig. shows a schematic diagram of an application scenario of a goods shelving system provided by an embodiment of the present disclosure;

[0065] Figure 2 Fig. shows a schematic diagram of a goods shelving system provided by an embodiment of the present disclosure;

[0066] Figure 3 Fig. shows a schematic diagram of the process of shelving and storing goods to be shelved provided by an embodiment of the present disclosure. Detailed implementation manners

[0067] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some embodiments of the present disclosure, rather than all embodiments. The components of the embodiments of the present disclosure usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure to be protected, but only represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present disclosure.

[0068] In addition, terms such as "first" and "second" in the specification, claims, and the above-mentioned drawings of the embodiments of the present disclosure are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order different from that shown or described here.

[0069] As used herein, "a plurality or several" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0070] It has been found through research that for an automated mechanical device to complete the automatic shelving of goods, in an actual scenario, the goods conveying device docked with the robotic arm continuously provides goods to be shelved for the robotic arm, and the goods shelving time reserved for the robotic arm is relatively short. After receiving the goods shelving task, the robotic arm still needs to wait for the handling equipment to move the shelf to the workstation. Here, the farther the shelf is from the workstation, the longer the robotic arm waits for the handling equipment to move it. Therefore, the working efficiency of the robotic arm will be reduced.

[0071] Based on the above research, the present disclosure provides a goods shelving system and method. By using the shelving requirement information of each good to be shelved pre-entered in the control server, it first schedules the handling equipment to move at least one preferred movable vehicle to an empty movable vehicle queuing position. Then, when the control server obtains the shelving requirement of the goods to be shelved, it uses one of the preferred movable vehicles already in the movable vehicle queuing position to receive the goods to be shelved. Since the distance from the movable vehicle queuing position to the automatic shelving equipment is much smaller than the distance from the movable vehicle in the vehicle storage area to the automatic shelving equipment, after the control server obtains the shelving requirement of the goods to be shelved, it can quickly match the preferred movable vehicle storing the target goods to be shelved from the movable vehicle queuing position, greatly shortening the waiting time of the automatic shelving equipment for the preferred movable vehicle and improving the working efficiency of the automatic shelving equipment.

[0072] Regarding the defects existing in the above solutions, they are all the results obtained by the inventors through practice and careful research. Therefore, the process of discovering the above problems and the solutions proposed by the present disclosure below for the above problems should all be the contributions made by the inventors to the present disclosure during the process of the present disclosure.

[0073] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0074] It should be noted that the specific terms mentioned in the embodiments of the present disclosure include:

[0075] 1. Prime location: From the perspective of ergonomics, it is a location that is easily accessible to the staff.

[0076] 2. Non-prime location: From the perspective of ergonomics, it is a location that is not easily accessible to the staff. Usually, it takes longer to obtain the goods at the non-prime location than at the prime location.

[0077] 3. An AGV (Automated Guided Vehicle), also known as an automated guided transport vehicle, refers to a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical means, capable of traveling along a specified guidance path and having safety protection and various transfer functions. In the embodiments of the present disclosure, it is used for preferably transporting movable carriers. Specifically, it can transport a preferably movable carrier from a carrier storage area to a movable carrier queuing position, or transport a preferably movable carrier from a movable carrier queuing position to a carrier storage area.

[0078] 4. A robotic arm is an automated mechanical device that has been most widely and practically applied in the field of mechanical technology. It can receive instructions and accurately position to a certain point in three-dimensional (or two-dimensional) space for operation. In the embodiments of the present disclosure, it is used to replace manual operation and place the target goods to be shelved into the target storage location according to the shelving requirements.

[0079] 5. SKU (Stock Keeping Unit), the basic unit for inventory in and out measurement, can be in units such as pieces, boxes, pallets, etc.

[0080] 5. Shelving, in a warehousing system, is the process of placing goods on a movable carrier through automated equipment or manually.

[0081] For ease of understanding of this embodiment, first, the application scenario of a goods shelving system disclosed in the embodiments of the present disclosure is introduced. Refer to Figure 1 As shown, it is a schematic diagram of the application scenario of a goods shelving system provided by the embodiments of the present disclosure, including a workstation 10, a control server 11, a handling device 12, an automatic shelving device 13, a goods conveying device 14, at least one goods shelving position 15, a movable carrier queuing position 16, a carrier storage area 17, goods to be shelved 18, and multiple movable carriers 19. The carrier storage area 17 stores multiple movable carriers 19, and the movable carriers 19 include preferably movable carriers 191. The workstation 10 is provided with an automatic shelving device 13, a goods conveying device 14, a goods shelving position 15, a movable carrier queuing position 16, and a shipping position 20.

[0082] During the process of applying to the goods shelving scenario, the control server 11 can achieve the scheduling of the handling device 12 and the automatic shelving device 13, can use the handling device 12 to transport the preferably movable carrier 191 in the carrier storage area 17, can use the goods conveying device 14 to convey the goods to be shelved 18 to the shipping position 20, and can use the automatic shelving device 13 to achieve the shelving process of the goods to be shelved 18.

[0083] Exemplarily, the control server first schedules the handling device to move the preferred movable vehicle to the movable vehicle queuing position near the workstation to queue and wait. After the goods conveying device conveys the goods to be shelved to the shipping position and the control server receives the shelving requirement, it schedules the handling device to move the preferred movable vehicle to the goods shelving position, and schedules the automatic shelving device to place the goods to be shelved at the shipping position into the preferred movable vehicle located at the goods shelving position.

[0084] Exemplarily, the movable vehicle may include but is not limited to: movable vehicle (partition shelf, bin shelf, etc.), pallet rack, cage cart, pallet support, etc. The handling device may be a handling robot, such as an Automated Guided Vehicle (AGV), etc. The automatic shelving device may be a robotic arm, such as a six-axis robotic arm, etc.

[0085] The following introduces a goods shelving system provided by an embodiment of the present disclosure. The system includes at least one control server 11, at least one handling device 12, a vehicle storage area 17 storing a plurality of movable vehicles 19, at least one workstation 10, and at least one automatic shelving device 13; the movable vehicle 19 is provided with a plurality of cargo positions for storing goods to be shelved, and any one of the at least one workstations is provided with at least one automatic shelving device, at least one movable vehicle queuing position, and at least one goods shelving position; wherein, the at least one control server is wirelessly communicable with the at least one handling device and the at least one automatic shelving device respectively.

[0086] It can be seen Figure 2 as shown, which is a schematic diagram of a goods shelving system. The control server 11 schedules the handling device 12 and the automatic shelving device 13 respectively to complete the shelving and storage process of the goods to be shelved. Among them:

[0087] The control server 11 is configured to, before assigning the shelving task to the workstation, at least partially based on the shelving requirement information of the goods to be shelved and the current empty cargo position information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area, and schedule at least one handling device to move the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation. After assigning the shelving task to the workstation, schedule at least one handling device to move the at least one preferred movable vehicle from the corresponding movable vehicle queuing position to at least one goods shelving position, and schedule at least one automatic shelving device located at the workstation to place the goods to be shelved at the workstation onto the preferred movable vehicle located at at least one goods shelving position.

[0088] Here, the control server can pre-store the shelving requirement information of each item to be shelved that is to be placed on the goods conveying device. Among them, the shelving requirement information includes the storage location information of the item to be shelved. For example, taking a movable carrier with five layers of storage locations as an example, the shelving requirement information of item A to be shelved is to be stored in the third-layer storage location of the movable carrier, the shelving requirement information of item B to be shelved is to be stored in the first-layer storage location of the movable carrier, and the shelving requirement information of item C to be shelved is to be stored in the mixed storage location of the movable carrier storing item D.

[0089] Exemplarily, the pre-storage can be performed before the item to be shelved is placed on the goods conveying device. The handling device 12 is configured to move at least one preferably movable carrier to at least one empty movable carrier queuing position located at the workstation; and move at least one preferably movable carrier from the corresponding movable carrier queuing position to at least one goods shelving position.

[0090] Here, the handling device communicates wirelessly with the control server. In the case of receiving the scheduling instruction sent by the control server, it can move the preferably movable carrier from the carrier storage area to at least one empty movable carrier queuing position located at the workstation based on the position of the preferably movable carrier in the carrier storage area carried by the scheduling instruction; and can also move the preferably movable carrier from the corresponding movable carrier queuing position to the goods shelving position based on the position of the goods shelving position carried by the scheduling instruction.

[0091] The automatic shelving device 13 is configured to place the item to be shelved located at the workstation on the preferably movable carrier located at at least one goods shelving position.

[0092] Here, the automatic shelving device communicates wirelessly with the control server. In the case of receiving the scheduling instruction sent by the control server, it can place the item to be shelved located at the workstation on the preferably movable carrier located at the goods shelving position based on the position of the preferably movable carrier in the goods shelving position carried by the scheduling instruction.

[0093] Regarding the current empty storage location information of each of the above-mentioned movable carriers, specifically, the current empty storage location information can include the position information of the current empty storage location of the movable carrier. Further, according to the current empty storage location information, it can be detected whether the movable carrier is an empty movable carrier. For example, if it is determined according to the current empty storage location information that each storage location of the current movable carrier is empty, it can be determined that the movable carrier is an empty movable carrier; in the case where at least some of the storage locations of the movable carrier are non-empty storage locations, it can be determined that the movable carrier is a non-empty movable carrier.

[0094] Alternatively, based on the current empty cargo space information, the number of empty cargo spaces of the movable vehicle can be determined, as well as the type of each empty cargo space. For example, based on the position indicated by the position information of the empty cargo space, the number of empty cargo spaces can be calculated. Here, the type of empty cargo space can include the layer cargo space type of the movable vehicle, such as the first-layer cargo space, the second-layer cargo space, ……, the Nth-layer cargo space, where N is a positive integer.

[0095] Here, non-empty movable vehicles can include movable vehicles without empty cargo spaces and movable vehicles with some empty cargo spaces; among them, non-empty movable vehicles can include mixed storage cargo spaces; the mixed storage cargo spaces are used to store at least one type of SKU goods to be put on the shelves.

[0096] In a possible implementation manner, after it is determined that there are no empty cargo spaces in the movable vehicles in the vehicle storage area, it can further be determined whether there are non-empty cargo spaces in the movable vehicles that belong to the mixed storage cargo spaces according to the information of the goods stored in each storage cargo space of the movable vehicle. In the case where a mixed storage cargo space for goods C and goods D is determined, when it is determined that the goods to be put on the shelves C are to be mixed and stored with goods D according to the shelving requirement information of each goods to be put on the shelves, the movable vehicle with such a mixed storage cargo space is determined to be a preferred movable vehicle.

[0097] In a possible implementation manner, the control server is further configured to determine the storage cargo spaces for each goods to be put on the shelves and the types of each storage cargo space based on the shelving requirement information of each goods to be put on the shelves; determine the proportion information of each type of storage cargo space among all storage cargo spaces, and based on the proportion information and the current empty cargo space information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area. Here, the type of storage cargo space includes the layer type of the movable vehicle, such as the first-layer cargo space, the second-layer cargo space, ……, the Nth-layer cargo space, where N is a positive integer.

[0098] During specific implementation, based on the above-mentioned shelving requirement information of each goods to be shelved and the current empty cargo space information of each movable vehicle, at least one preferred movable vehicle that is likely to meet the shelving conditions of the goods to be shelved can be screened out from the vehicle storage area, and at least one handling device can be scheduled to move at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation. Exemplarily, taking a movable vehicle with five layers of cargo spaces as an example, from bottom to top are the first layer of cargo space (the bottom layer of cargo space, i.e., non-golden cargo space), the second layer of cargo space (golden cargo space), the third layer of cargo space (golden cargo space), the fourth layer of cargo space (golden cargo space), and the fifth layer of cargo space (the top layer of cargo space, i.e., non-golden cargo space). According to the shelving requirement information of each goods to be shelved, it is determined that 50% of the goods to be shelved are to be stored in the third layer of cargo space, 20% of the goods to be shelved are to be stored in the second layer of cargo space, 15% of the goods to be shelved are to be stored in the fourth layer of cargo space, 5% of the goods to be shelved are to be stored in the first layer of cargo space and the fifth layer of cargo space respectively, and 5% of the goods to be shelved are to be stored in the mixed storage cargo space. In one case, according to the current empty cargo space information of each movable vehicle, most of the movable vehicles with the third layer of cargo space empty can be screened out as preferred movable vehicles in the vehicle storage area. After that, a small part of the movable vehicles with the second layer of cargo space and the fourth layer of cargo space empty can be screened out as preferred movable vehicles in the vehicle storage area. A small number of movable vehicles with the first layer of cargo space empty and the fifth layer of cargo space empty can be appropriately selected as preferred movable vehicles. Finally, the movable vehicles that meet the mixed storage cargo space are used as preferred movable vehicles. After that, at least one handling device can be scheduled to move the at least one preferred movable vehicle screened out above to at least one empty movable vehicle queuing position located at the workstation.

[0099] Exemplarily, in the case where the number of movable vehicle queuing positions is limited, the handling device can also be scheduled to move the above-mentioned preferred movable vehicles in sequence according to the priority order. For example, first move the preferred movable vehicle with an empty third layer of cargo space, then move the preferred movable vehicle with an empty second layer of cargo space, then move the preferred movable vehicle with an empty fourth layer of cargo space, and then move the preferred movable vehicle with an empty first layer of cargo space or the preferred movable vehicle with an empty fifth layer of cargo space. Or, first schedule multiple handling devices at one time to move a part of the preferred movable vehicles with empty third layer of cargo space, second layer of cargo space, and fourth layer of cargo space. After that, when there are vacancies in the movable vehicle queuing position, a part of the preferred movable vehicles with empty first layer of cargo space, fifth layer of cargo space, and mixed storage cargo space can be supplemented.

[0100] In a possible implementation manner, the control server can also screen out the target movable vehicle that meets the shelving conditions from the determined preferred movable vehicles for goods shelving processing. Specifically:

[0101] The control server 11 is further configured to, after assigning the shelving task to the workstation, that is, after there is a shelving requirement for the goods to be shelved on the goods conveying device, in the case that at least one target movable vehicle that meets the shelving conditions exists among at least one preferred movable vehicle determined according to the shelving task, dispatch at least one handling device to move at least one target movable vehicle from the corresponding movable vehicle queuing position to at least one goods shelving position, and dispatch at least one automatic shelving device located at the workstation to place the goods to be shelved at the workstation on at least one target movable vehicle.

[0102] The handling device 12 is configured to move at least one target movable vehicle from the corresponding movable vehicle queuing position to at least one goods shelving position.

[0103] The automatic shelving device 13 is configured to place the goods to be shelved at the workstation on at least one target movable vehicle.

[0104] As described above, meeting the shelving conditions may mean that for the goods to be shelved, there is a target storage space in the target movable vehicle for storing the goods to be shelved, and the target storage space may be an empty storage space, or a mixed storage space.

[0105] The control memory stores the positions of each movable vehicle queuing position and the positions of each goods shelving position. After determining the target movable vehicle, the handling device can be dispatched to move from the corresponding movable vehicle queuing position to the corresponding goods shelving position. Dispatch the automatic shelving device to obtain the goods to be shelved from the corresponding shipping position and place them on the target movable vehicle at the corresponding goods shelving position.

[0106] Exemplarily, an empty movable vehicle can meet the shelving conditions for any goods to be shelved. After assigning the shelving task to the workstation, any empty movable vehicle can be directly screened from the preferred movable vehicles, and the handling device can be dispatched to move the any empty movable vehicle from the corresponding movable queuing position to the goods shelving position. Or, according to the priority of the queuing position, the handling device can be dispatched to move the empty movable vehicle closest to the goods shelving position from the corresponding movable queuing position to the goods shelving position.

[0107] In a possible implementation manner, the control server 11 is further configured to, after assigning the shelving task to the workstation, in the case that at least one target movable vehicle that meets the shelving conditions does not exist among at least one preferred movable vehicle determined according to the shelving task, based on the shelving requirement information of the goods to be shelved and the current empty storage space information of each movable vehicle, screen out at least one target movable vehicle that meets the shelving conditions from the vehicle storage area, and dispatch at least one handling device to move the at least one screened target movable vehicle to at least one empty goods shelving position located at the workstation.

[0108] The handling device 12 is configured to transport at least one selected target movable vehicle to at least one empty goods shelving position located at the workstation.

[0109] The automatic shelving device 13 is configured to place the goods to be shelved located at the workstation on at least one target movable vehicle.

[0110] The control memory stores the positions of each movable vehicle in the vehicle storage area and the positions of each goods shelving position. After determining the target movable vehicle in the vehicle storage area, the handling device can be scheduled to transport the target movable vehicle from the corresponding position in the vehicle storage area to the position of the corresponding goods shelving position. The automatic shelving device is scheduled to obtain the goods to be shelved from the corresponding shipping position and place them on the target movable vehicle at the corresponding goods shelving position.

[0111] In some embodiments, at least one of the at least one workstations is provided with at least one shipping position; the control server 11 is further configured to determine the target shelving requirement information of the target goods to be shelved located at the at least one shipping position; based on the at least one target shelving requirement information, schedule at least one automatic shelving device located at the workstation to place the target goods to be shelved in the target storage position in at least one target movable vehicle; the target storage position is the storage position indicated by the target shelving requirement information.

[0112] Here, the situations that meet the shelving conditions include: the empty storage position existing in the target movable vehicle is the storage position indicated by the target shelving requirement information, or, the mixed storage position existing in the target movable vehicle is the storage position indicated by the target shelving requirement information.

[0113] Exemplarily, the target goods to be shelved 181 is Figure 1 The goods to be shelved at the shipping position 20 on the goods conveying device 14 as shown. After the goods to be shelved are conveyed by the goods conveying device to the shipping position 20, the control server will receive the target shelving requirement information of the target goods to be shelved. Then, according to the target shelving requirement information, it can be determined whether there is a target storage position that meets the shelving conditions in the target movable vehicle located at the goods shelving position 15. If there is a target storage position that meets the shelving conditions, the automatic shelving device can be scheduled to place the target goods to be shelved at the shipping position into the target storage position in the target movable vehicle.

[0114] Here, if there are target storage positions that meet the shelving conditions in the target movable vehicles at multiple goods shelving positions 15 at the same time, it is only necessary to randomly determine one target storage position that meets the shelving conditions.

[0115] Exemplarily, the target goods to be shelved requirement information indicates that the target goods to be shelved will be stored in the third - layer storage location, and the target goods to be shelved cannot be stored mixed with other goods to be shelved. If the third - layer storage location of the target movable vehicle currently located in the movable vehicle queuing position is empty, it can be determined that the target movable vehicle meets the shelving conditions for the target goods to be shelved; if the third - layer storage location of the target movable vehicle currently located in the movable vehicle queuing position is not empty, it can be determined that the target movable vehicle does not meet the shelving conditions for the target goods to be shelved.

[0116] After that, the target movable vehicle with the goods to be shelved placed can be directly transported back to the vehicle storage area. Or, it can also be determined whether the target movable vehicle with the goods to be shelved already placed still meets the shelving conditions for other goods to be shelved. If it is determined that it meets the conditions, the target movable vehicle can be transported to an empty movable vehicle queuing position to wait for the next call.

[0117] Here, if there is no target storage location that meets the shelving conditions among the target movable vehicles at the goods shelving position, the following processing methods can be adopted for the target movable vehicles at the goods shelving position:

[0118] Method 1: When there is no target storage location among the target movable vehicles at the goods shelving position and the target movable vehicles at the goods shelving position meet the shelving conditions for other goods to be shelved, the handling equipment is scheduled to transfer the target movable vehicles at the goods shelving position to an empty movable vehicle queuing position.

[0119] Exemplarily, when the target shelving requirement information indicates that the storage location for the target goods to be shelved is the third - layer storage location, if the third - layer storage location of the target movable vehicle located in the movable vehicle shelving queue is not empty and the target goods to be shelved cannot be stored mixed with other goods to be shelved, it can be determined that there is no target storage location among the target movable vehicles at the goods shelving position. If it is further determined that there are empty storage locations on the first layer, second layer, fourth layer, and fifth layer among the target movable vehicles at the goods shelving position, it can be judged that the target movable vehicle will probably meet the shelving requirements for other goods to be shelved. Therefore, the handling equipment can be scheduled to transfer the target movable vehicle at the current goods shelving position to an empty movable vehicle queuing position.

[0120] Exemplarily, in the case where the target storage location for the target goods to be shelved indicated by the target shelving requirement information is a mixed storage location for mixed storage with Goods D, and there is no mixed storage location for mixed storage with Goods D in the target movable vehicle at the goods shelving position, it can be determined that there is no target storage location in the target movable vehicle at the goods shelving position. However, since the control server determines during the process of screening the target movable vehicle that the target movable vehicle with a mixed storage location meets the shelving condition for a goods to be shelved, therefore, the target movable vehicle with this mixed storage location meets the shelving conditions for other goods to be shelved. So, it is possible to dispatch handling equipment to transfer the target movable vehicle with a mixed storage location at the goods shelving position to an empty movable vehicle queuing position, waiting for the shelving requirement of Goods C to be shelved in mixed storage.

[0121] In some embodiments, the control server 11 is further configured to call at least one handling equipment to transfer the preferred movable vehicle whose waiting duration at the movable vehicle queuing position exceeds a preset duration to the vehicle storage area.

[0122] Exemplarily, as the target movable vehicle that is empty continuously receives goods to be shelved, the probability that the target movable vehicle receives the target goods to be shelved again at the goods shelving position will decrease. For example, when only the first-layer storage location or the fifth-layer storage location of the target movable vehicle is empty, continuously dispatch handling equipment to move the target movable vehicle to the movable vehicle queuing position to queue. The target movable vehicle that leaves the goods shelving position and goes to the movable vehicle queuing position is a preferred movable vehicle. If the waiting duration of this preferred movable vehicle at the movable vehicle queuing position will exceed the preset duration, at this time, it is possible to dispatch handling equipment to transfer the preferred movable vehicle whose waiting duration at the movable vehicle queuing position exceeds the preset duration to the vehicle storage area.

[0123] Exemplarily, in the case where the control server does not receive the shelving requirement of the target goods to be shelved for a long time, it is possible to call handling equipment to transfer the preferred movable vehicle whose waiting duration at the movable vehicle queuing position exceeds the preset duration to the vehicle storage area.

[0124] Method 2: In the case where there is no target storage location in the target movable vehicle at the goods shelving position and the target movable vehicle at the goods shelving position does not meet the shelving conditions for other goods to be shelved, dispatch handling equipment to transfer the target movable vehicle at the goods shelving position to the vehicle storage area.

[0125] Exemplarily, when the target storage location indicated by the target shelving requirement information for the target goods to be shelved is the first - layer storage location, and when the first - layer storage location of the target movable vehicle at the goods shelving position is not empty and the non - empty first - layer storage location does not belong to the mixed storage location, it can be determined that there is no target storage location in the target movable vehicle at the goods shelving position, and it can also be determined that the target movable vehicle at the goods shelving position does not meet the shelving conditions for other goods to be shelved. Therefore, the handling equipment can be scheduled to transfer the target movable vehicle at the current goods shelving position to the vehicle storage area.

[0126] After the above - mentioned handling equipment transfers the preferred movable vehicle to the vehicle storage area, there will be an empty position in the movable vehicle queuing position. At this time, the control server can call the handling equipment again to supplement the target movable vehicle to the empty movable vehicle queuing position. In a possible implementation, the control server 11 is further configured to, when the number of preferred movable vehicles in the movable vehicle queuing position is less than the preset threshold, based on the number of movable vehicle queuing positions, the number of preferred movable vehicles in the movable vehicle queuing position, the shelving requirement information of the goods to be shelved, and the current empty storage position information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area, and schedule at least one handling equipment to move at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation. It should be noted that the specific value of the preset threshold can be defined according to the actual application scenario, and the embodiments of the present disclosure do not specifically limit it.

[0127] Exemplarily, when the number of preferred movable vehicles in the movable vehicle queuing position is less than the preset threshold, the number of movable vehicle queuing positions minus the number of preferred movable vehicles is the number of preferred movable vehicles to be supplemented. Then, based on the number of supplemented preferred movable vehicles, the shelving requirement information of the goods to be shelved, and the current empty storage position information of each movable vehicle, according to the above - mentioned screening process, the supplemented preferred movable vehicles are determined. And schedule the handling equipment to move at least one supplemented preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation.

[0128] Method 3: When there is no target storage location in the target movable vehicle at the goods shelving position and the target movable vehicle at the goods shelving position stores the target goods, schedule the handling equipment to transfer the target movable vehicle at the goods shelving position to the vehicle storage area.

[0129] Here, the target goods may include goods to be picked, and the goods to be picked are the goods to be picked out of the movable vehicle. When the control server receives a picking request for the target goods stored on the target movable vehicle, it will dispatch the handling device to transfer the target movable vehicle at the goods shelving position to the vehicle storage area, so as to wait for the picking of the target goods in the vehicle storage area. It should be noted that the target goods may also include goods to be shipped out of the warehouse, or other goods to be transferred, and different categories can be set according to different application scenarios, which are not specifically limited in the embodiments of the present disclosure.

[0130] In some embodiments, the control server 11 is further configured to, when the preferred movable vehicle at the movable vehicle queuing position does not meet the shelving conditions for the goods to be shelved, dispatch the handling device to transfer the preferred movable vehicle to the vehicle storage area.

[0131] Here, the situation where the preferred movable vehicle at the movable vehicle queuing position does not meet the shelving conditions for the goods to be shelved can refer to the processing methods (such as the above methods 1 to 3) for the target movable vehicle where there is no target storage location that meets the shelving conditions, and the repeated part will not be elaborated here.

[0132] In some embodiments, when the preferred movable vehicle at the movable vehicle queuing position stores the target goods, the handling device can also be dispatched to transfer the preferred movable vehicle storing the target goods to other areas. Here, the other area can be the goods shipping area, etc. After that, based on the shelving requirement information of each goods to be shelved and the current empty cargo space information of each movable vehicle, or the preferred movable vehicle calculated according to the priority order, the handling device is dispatched again to move the preferred movable vehicle to the empty movable vehicle queuing position.

[0133] It should be noted that the control server stores the positions of each movable vehicle in the vehicle storage area and the positions of the movable vehicle queuing positions. Therefore, based on the positions of the preferred movable vehicle in the vehicle storage area and the movable vehicle queuing positions, the handling device can be dispatched to transfer the preferred movable vehicle to the empty movable vehicle queuing position.

[0134] In addition, after the target movable vehicle moves out of the goods shelving position, it can be replenished with target movable vehicles for the goods shelving position in the Figure 1 shown direction in sequence. An automatic shelving device can provide the goods to be shelved for the target movable vehicle at at least one goods shelving position.

[0135] Continuing the above process of screening the preferred movable vehicle, the following will make a detailed description of screening at least one preferred movable vehicle from the vehicle storage area:

[0136] Generally, the movable vehicles in the vehicle storage area are all storing goods, and the number of empty movable vehicles is very small or even none. Therefore, the number of empty movable vehicles determined by the control server often cannot meet the requirement of shelving all the goods to be shelved. In some embodiments, the control server 11 is further configured to determine the number of empty movable vehicles based on the current empty cargo space information of each movable vehicle. When the number of empty movable vehicles is less than the number of movable vehicle queuing positions, at least one preferred movable vehicle is selected from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle; the number of non-empty movable vehicles among the preferred movable vehicles is determined based on the shelving requirement information of the remaining goods to be shelved among the goods to be shelved except for the goods to be shelved on the empty movable vehicles and the number of movable vehicle queuing positions minus the number of empty movable vehicles among the preferred movable vehicles.

[0137] Exemplarily, according to the position information of the empty cargo spaces indicated by the empty cargo space information, it can be detected whether the movable vehicles in the vehicle storage area are empty movable vehicles, and based on the detection result, the number of empty movable vehicles is determined. The control server stores the number of movable vehicle queuing positions. Then, the number of movable vehicle queuing positions is compared with the number of empty movable vehicles. When the number of empty movable vehicles is less than the number of movable vehicle queuing positions, since the empty movable vehicles can meet the shelving conditions of any goods to be shelved, all the empty movable vehicles can be used as the preferred movable vehicles. Then, based on the shelving requirement information of the remaining goods to be shelved among the goods to be shelved except for the goods to be shelved on the empty movable vehicles and the number of movable vehicle queuing positions minus the number of empty movable vehicles among the preferred movable vehicles, the remaining number of preferred movable vehicles is selected from the non-empty movable vehicles in the vehicle storage area, where the remaining number is the number of movable vehicle queuing positions minus the number of empty movable vehicles among the preferred movable vehicles.

[0138] Exemplarily, taking the example of having 10 queuing positions for movable vehicles, according to the position information of the empty cargo spaces indicated by the empty cargo space information, it can be detected that there are only two empty movable vehicles among the movable vehicles in the vehicle storage area. Then, the empty movable vehicles can be used as preferred movable vehicles, and the remaining 8 queuing positions for movable vehicles will be used to arrange and park non-empty movable vehicles. The non-empty movable vehicles include movable vehicles without empty cargo spaces and movable vehicles with empty cargo spaces. Based on the shelving requirement information of each goods to be shelved, if the shelving requirement information indicates that there are no goods to be shelved that need to be stored in a mixed manner among the goods to be shelved, preferred movable vehicles can be directly screened from the movable vehicles with empty cargo spaces. For example, it is determined that 50% of the goods to be shelved are to be stored in the third-layer cargo space, 20% of the goods to be shelved are to be stored in the second-layer cargo space, 20% of the goods to be shelved are to be stored in the fourth-layer cargo space, and 5% of the goods to be shelved are to be stored in the first-layer cargo space and the fifth-layer cargo space respectively. 4 movable vehicles with empty third-layer cargo spaces can be screened out as preferred movable vehicles, 2 movable vehicles with empty second-layer cargo spaces can be screened out as preferred movable vehicles, and 2 movable vehicles with empty fourth-layer cargo spaces can be screened out as preferred movable vehicles. Since the empty movable vehicles can meet the shelving conditions of all goods to be shelved, therefore, for the goods to be shelved onto the first-layer cargo space and the fifth-layer cargo space, the preferred movable vehicles that match them can be carried during the subsequent scheduling of handling equipment, and the preferred movable vehicles that are likely to meet the shelving conditions will be preferentially carried during the first-round scheduling of handling equipment, that is, the empty movable vehicles, the movable vehicles with empty third-layer cargo spaces among the non-empty movable vehicles, the movable vehicles with empty second-layer cargo spaces, and the movable vehicles with empty fourth-layer cargo spaces.

[0139] If the shelving requirement information indicates that there are goods to be shelved that need to be stored in a mixed manner among the goods to be shelved, it is also necessary to determine the category of the goods to be stored in a mixed manner with it, and determine the movable vehicle where the goods are located, and use the movable vehicle where the goods are located as the preferred movable vehicle. In some embodiments, the control server 11 is configured to determine the number of empty movable vehicles based on the current empty cargo space information of each movable vehicle. When the number of empty movable vehicles is less than the number of queuing positions for movable vehicles, the empty movable vehicles are used as preferred movable vehicles; if the shelving requirement information indicates that there are goods to be shelved that need to be stored in a mixed manner among the goods to be shelved, the preferred movable vehicle for a mixed storage cargo space is determined based on the category of the goods to be stored in a mixed manner with the goods to be shelved; based on the number of queuing positions for movable vehicles, the number of empty movable vehicles, and the number of preferred movable vehicles for the mixed storage cargo space, the remaining number of preferred movable vehicles is determined, and the remaining number of preferred movable vehicles is screened from the movable vehicles with empty cargo spaces. The specific screening process can refer to the screening process of the above embodiments, and the repeated parts will not be elaborated.

[0140] In a possible implementation, when there is only a small amount of goods stored in the movable vehicles in the vehicle storage area, there will be a situation where the number of empty movable vehicles is much larger than the number of movable vehicle queuing positions. Since the empty movable vehicles can meet the shelving conditions of each piece of goods to be shelved, the control server is further configured to determine the number of empty movable vehicles based on the current empty cargo space information of each movable vehicle. When the number of empty movable vehicles is greater than or equal to the number of movable vehicle queuing positions, at least one preferred movable vehicle is selected from each empty movable vehicle based on the positions of each empty movable vehicle and the shelving requirement information of the goods to be shelved; wherein, the number of selected preferred movable vehicles is less than or equal to the number of movable vehicle queuing positions. Here, the selection rule may be to select the empty movable vehicle closest to the movable vehicle queuing position based on the positions of each empty movable vehicle. Here, the positions of each empty movable vehicle are stored in the control server.

[0141] See Figure 3 As shown, it is a schematic flow diagram of the shelving and storage of goods to be shelved. Specifically, the control server is used to dispatch handling equipment and automatic shelving equipment respectively to complete the shelving and storage process of the goods to be shelved, including:

[0142] S301. Analyze the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, and calculate the preferred movable vehicle;

[0143] S302. Dispatch the handling equipment to move the preferred movable vehicle to the movable vehicle queuing position;

[0144] S303. Determine whether there is a shelving requirement; if yes, execute S304, if no, execute S308;

[0145] S304. Determine whether there is a target storage cargo space for the target movable vehicle at the goods shelving position; if yes, execute S313, if no, execute S305;

[0146] S305. Determine whether the target movable vehicle at the goods shelving position stores the target goods; if yes, execute S310, if no, execute S306;

[0147] S306. Determine whether the target movable vehicle at the goods shelving position meets the shelving conditions of other goods to be shelved; if yes, execute S307, if no, execute S310;

[0148] S307. Dispatch the handling equipment to move the target movable vehicle at the goods shelving position to the empty movable vehicle queuing position, and then loop to execute S303.

[0149] S308. Determine the waiting duration of the preferred movable vehicle in the movable vehicle queuing position.

[0150] S309. Determine whether the waiting duration of the preferred movable vehicle in the movable vehicle queuing position exceeds a preset duration; if so, execute S310; if not, loop and execute S309.

[0151] S310. Dispatch the handling device to move the preferred movable vehicle into the vehicle storage area;

[0152] S311. Determine whether the number of preferred movable vehicles in the movable vehicle queuing position is less than a preset threshold; if so, execute S312; if not, loop and execute S311;

[0153] S312. Calculate the supplementary preferred movable vehicle based on the number of movable vehicle queuing positions, the number of preferred movable vehicles in the movable vehicle queuing position, the shelving requirement information of the goods to be shelved, and the current empty cargo space information of each movable vehicle, and then execute step S302;

[0154] S313. Dispatch the automatic shelving device to place the target goods to be shelved into the target storage cargo space in the target movable vehicle, and end the process.

[0155] In the above process of shelving and storing the goods to be shelved, using the shelving requirement information of each goods to be shelved pre - entered in the control server, first dispatch the handling device to move at least one preferred movable vehicle to the empty movable vehicle queuing position. Then, when the control server obtains the shelving requirement of the goods to be shelved, use one of the preferred movable vehicles already in the movable vehicle queuing position to receive the goods to be shelved. Since the distance from the movable vehicle queuing position to the automatic shelving device is much less than the distance from the movable vehicle in the vehicle storage area to the automatic shelving device, after the control server obtains the shelving requirement of the goods to be shelved, it can quickly match the preferred movable vehicle for storing the target goods to be shelved from the movable vehicle queuing position, greatly shortening the waiting time of the automatic shelving device for the preferred movable vehicle and improving the working efficiency of the automatic shelving device.

[0156] Based on the above goods shelving system, an embodiment of the present disclosure further provides a goods shelving method, and its execution subject is the control server in the goods shelving system;

[0157] The goods shelving method includes:

[0158] In the case where no shelving task is assigned to the workstation, based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, at least one preferred movable vehicle is screened out from the vehicle storage area; at least one of the handling devices is scheduled to transport the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation;

[0159] In the case where a shelving task has been assigned to the workstation, at least one of the handling devices is scheduled to transport the at least one preferred movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position; and, at least one of the automatic shelving devices located at the workstation is scheduled to place the goods to be shelved located at the workstation onto the preferred movable vehicle located at the at least one goods shelving position.

[0160] In an optional implementation manner, the step of, in the case where a shelving task has been assigned to the workstation, scheduling at least one of the handling devices to transport the at least one preferred movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position; and, scheduling at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation onto the preferred movable vehicle located at the at least one goods shelving position, includes:

[0161] In the case where a shelving task has been assigned to the workstation, and in the case where there is at least one target movable vehicle that meets the shelving conditions among the at least one preferred movable vehicles determined according to the shelving task, at least one of the handling devices is scheduled to transport the at least one target movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position, and at least one of the automatic shelving devices located at the workstation is scheduled to place the goods to be shelved located at the workstation onto the at least one target movable vehicle.

[0162] In an optional implementation manner, the step of screening out at least one preferred movable vehicle from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle includes:

[0163] Based on the current empty cargo space information of each movable vehicle, determine the number of empty movable vehicles;

[0164] When the number of the empty movable carriers is less than the number of the movable carrier queuing positions, at least one preferred movable carrier is screened out from the carrier storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable carrier; the number of non-empty movable carriers among the preferred movable carriers is determined based on the shelving requirement information of the remaining goods to be shelved except for the goods to be shelved on the empty movable carriers among the goods to be shelved and the number of the movable carrier queuing positions minus the number of empty movable carriers among the preferred movable carriers.

[0165] In an alternative embodiment, the screening out of at least one preferred movable carrier from the carrier storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable carrier includes:

[0166] Based on the shelving requirement information of each of the goods to be shelved, the storage cargo spaces of each of the goods to be shelved and the types of each storage cargo space are determined;

[0167] The proportion information of each type of storage cargo space in all storage cargo spaces is determined;

[0168] Based on the proportion information and the current empty cargo space information of each movable carrier, at least one preferred movable carrier is screened out from the carrier storage area.

[0169] In an alternative embodiment, the non-empty movable carrier includes a mixed storage cargo space; the mixed storage cargo space is used for storing at least one stock keeping unit (SKU) of goods to be shelved.

[0170] In an alternative embodiment, the goods shelving method further includes:

[0171] The number of empty movable carriers is determined based on the current empty cargo space information of each movable carrier. When the number of the empty movable carriers is greater than or equal to the number of the movable carrier queuing positions, at least one preferred movable carrier is screened out from each of the empty movable carriers based on the positions of each of the empty movable carriers and the shelving requirement information of the goods to be shelved; the number of the screened-out preferred movable carriers is less than or equal to the number of the movable carrier queuing positions.

[0172] In an alternative embodiment, at least one shipping position is provided at any one of the at least one workstations;

[0173] The scheduling of at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation on the at least one target movable carrier includes:

[0174] Determine the target shelving requirement information of the target goods to be shelved located at the at least one shipping position;

[0175] Based on at least one of the target shelving requirement information, dispatch at least one of the automatic shelving devices located at the workstation to place the target goods to be shelved on the target storage location in the at least one target movable carrier; the target storage location is the storage location indicated by the target shelving requirement information.

[0176] In an alternative embodiment, the goods shelving method further includes:

[0177] After assigning the shelving task to the workstation, when there is no at least one target movable carrier that meets the shelving conditions among the at least one preferred movable carriers determined according to the shelving task, based on the shelving requirement information of the goods to be shelved and the current empty storage location information of each movable carrier, screen out at least one target movable carrier that meets the shelving conditions from the carrier storage area, and dispatch at least one of the handling devices to transport the at least one screened target movable carrier to at least one empty goods shelving position located at the workstation.

[0178] In an alternative embodiment, after dispatching at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation on the at least one target movable carrier, it further includes:

[0179] When the target storage location does not exist in the target movable carrier at the goods shelving position, and the target movable carrier at the goods shelving position meets the shelving conditions of other goods to be shelved, dispatch the handling device to transfer the target movable carrier at the goods shelving position to an empty movable carrier queuing position.

[0180] In an alternative embodiment, after dispatching at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation on the at least one target movable carrier, it further includes:

[0181] When the target storage location does not exist in the target movable carrier at the goods shelving position, and the target goods are stored in the target movable carrier at the goods shelving position, dispatch the handling device to transfer the target movable carrier at the goods shelving position to the carrier storage area.

[0182] In an alternative embodiment, after dispatching at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation on the at least one target movable carrier, it further includes:

[0183] When the target storage location does not exist in the target movable vehicle at the goods shelving location and the shelving conditions for other goods to be shelved are not met in the target movable vehicle at the goods shelving location, dispatch the handling device to transfer the target movable vehicle at the goods shelving location into the vehicle storage area.

[0184] In an alternative embodiment, the goods shelving method further includes:

[0185] When the number of preferred movable vehicles at the movable vehicle queuing location is less than a preset threshold, based on the number of movable vehicle queuing locations, the number of preferred movable vehicles at the movable vehicle queuing location, the shelving requirement information of the goods to be shelved, and the current empty cargo space information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area, and dispatch at least one of the handling devices to transport the at least one preferred movable vehicle to at least one empty movable vehicle queuing location located at the workstation.

[0186] In an alternative embodiment, after dispatching the handling device to transport the at least one target movable vehicle to an empty movable vehicle queuing location, it further includes:

[0187] Call at least one of the handling devices to transfer the preferred movable vehicle whose waiting duration at the movable vehicle queuing location exceeds a preset duration into the vehicle storage area.

[0188] In an alternative embodiment, the automatic shelving device includes a robotic arm.

Claims

1. A goods shelving system, characterized in that, The system includes at least one control server, at least one handling device, a vehicle storage area storing a plurality of movable vehicles, at least one workstation, and at least one automatic shelving device; the movable vehicle is provided with a plurality of cargo spaces for storing goods to be shelved, and one of the at least one workstations is provided with at least one automatic shelving device, at least one movable vehicle queuing position, and at least one goods shelving position; wherein, the at least one control server is in wireless communication with the at least one handling device and the at least one automatic shelving device respectively; The control server is configured to, before allocating the shelving task to the workstation, at least partially based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area, and dispatch at least one of the handling devices to transport the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation. After allocating the shelving task to the workstation, dispatch at least one of the handling devices to transport the at least one preferred movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position, and dispatch at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation onto the preferred movable vehicle located at the at least one goods shelving position; The handling device is configured to transport the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation; transport the at least one preferred movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position; The automatic shelving device is configured to place the goods to be shelved located at the workstation onto the preferred movable vehicle located at the at least one goods shelving position.

2. The system according to claim 1, wherein The control server is further configured to, after allocating the shelving task to the workstation, in the case that there is at least one target movable vehicle satisfying the shelving condition among the at least one preferred movable vehicles determined according to the shelving task, dispatch at least one of the handling devices to transport the at least one target movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position, and dispatch at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation onto the at least one target movable vehicle; The handling device is configured to transport the at least one target movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position; The automatic shelving device is configured to place the goods to be shelved located at the workstation onto the at least one target movable vehicle.

3. The system according to claim 1, wherein The control server is further configured to determine the number of available movable vehicles based on the current empty cargo space information of each movable vehicle. When the number of available movable vehicles is less than the number of vehicle queuing positions, at least one preferred movable vehicle is selected from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle; the number of non-available movable vehicles among the preferred movable vehicles is determined based on the shelving requirement information of the remaining goods to be shelved except for the goods to be shelved on the available movable vehicles among the goods to be shelved and the number of vehicle queuing positions minus the number of available movable vehicles among the preferred movable vehicles.

4. The system according to any one of claims 1-3, characterized in that, The control server is further configured to determine the storage cargo space of each of the goods to be shelved and the type of each storage cargo space based on the shelving requirement information of each of the goods to be shelved; determine the proportion information of each type of storage cargo space among all storage cargo spaces, and select at least one preferred movable vehicle from the vehicle storage area based on the proportion information and the current empty cargo space information of each movable vehicle.

5. The system according to claim 3, wherein The non-available movable vehicle includes a mixed storage cargo space; the mixed storage cargo space is used to store at least one stock keeping unit (SKU) of goods to be shelved.

6. The system according to claim 1, wherein The control server is also configured to determine the number of available movable vehicles based on the current empty cargo space information of each movable vehicle. When the number of available movable vehicles is greater than or equal to the number of vehicle queuing positions, at least one preferred movable vehicle is selected from the available movable vehicles based on the positions of the available movable vehicles and the shelving requirement information of the goods to be shelved; the number of selected preferred movable vehicles is less than or equal to the number of vehicle queuing positions.

7. The system according to claim 2, wherein At least one of the at least one workstations is provided with at least one shipping position. The control server is further configured to determine the target shelving requirement information of the target goods to be shelved located at the at least one shipping position; based on at least one of the target shelving requirement information, dispatch at least one of the automatic shelving devices located at the workstation to place the target goods to be shelved on the target storage cargo space in the at least one target movable vehicle; the target storage cargo space is the storage cargo space indicated by the target shelving requirement information.

8. The system according to claim 1, wherein The control server is also configured to, after assigning the shelving task to the workstation, when there is no at least one target movable vehicle that meets the shelving conditions among the at least one preferred movable vehicles determined according to the shelving task, select at least one target movable vehicle that meets the shelving conditions from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, and dispatch at least one of the handling devices to move the at least one selected target movable vehicle to at least one empty goods shelving position located at the workstation. The handling device is configured to move the at least one selected target movable vehicle to at least one empty goods shelving position located at the workstation; The automatic shelving device is configured to place the goods to be shelved located at the workstation on the at least one target movable vehicle.

9. The system according to claim 7, wherein The control server is further configured to, when the target storage location does not exist in the target movable vehicle at the goods shelving position and the target movable vehicle at the goods shelving position meets the shelving conditions for other goods to be shelved, dispatch the handling device to transfer the target movable vehicle at the goods shelving position to an empty movable vehicle queuing position.

10. The system according to claim 7, characterized in that, The control server is further configured to, when the target storage location does not exist in the target movable vehicle at the goods shelving position and the target movable vehicle at the goods shelving position stores the target goods, dispatch the handling device to transfer the target movable vehicle at the goods shelving position to the vehicle storage area.

11. The system according to claim 7, wherein The control server is further configured to, when the target storage location does not exist in the target movable vehicle at the goods shelving position and the target movable vehicle at the goods shelving position does not meet the shelving conditions for other goods to be shelved, dispatch the handling device to transfer the target movable vehicle at the goods shelving position to the vehicle storage area.

12. The system according to claim 1, wherein The control server is further configured to, when the number of preferred movable vehicles at the movable vehicle queuing position is less than a preset threshold, based on the number of movable vehicle queuing positions, the number of preferred movable vehicles at the movable vehicle queuing position, the shelving requirement information of the goods to be shelved, and the current empty cargo space information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area, and dispatch at least one of the handling devices to move the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation.

13. The system according to claim 1, wherein The control server is further configured to call at least one of the handling devices to transfer the preferred movable vehicle whose waiting duration at the movable vehicle queuing position exceeds the preset duration to the vehicle storage area.

14. The system according to claim 1, wherein The automatic shelving device includes a robotic arm.

15. A method for putting goods on shelves, characterized in that, A control server applied to the goods shelving system according to any one of claims 1 to 14; The goods shelving method includes: When no shelving task is assigned to the workstation, based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area; dispatch at least one of the handling devices to move the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation; When a shelving task has been assigned to the workstation, schedule at least one of the handling devices to move the at least one preferably movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position; and schedule at least one of the automatic shelving devices located at the workstation to place the goods to be shelved at the workstation onto the preferably movable vehicle located at the at least one goods shelving position.

16. The method according to claim 15, wherein When a shelving task has been assigned to the workstation, schedule at least one of the handling devices to move the at least one preferably movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position; and schedule at least one of the automatic shelving devices located at the workstation to place the goods to be shelved at the workstation onto the preferably movable vehicle located at the at least one goods shelving position, including: When a shelving task has been assigned to the workstation, and when it is determined that there is at least one target movable vehicle that meets the shelving conditions among the at least one preferably movable vehicle according to the shelving task, schedule at least one of the handling devices to move the at least one target movable vehicle from the corresponding movable vehicle queuing position to the at least one goods shelving position, and schedule at least one of the automatic shelving devices located at the workstation to place the goods to be shelved at the workstation onto the at least one target movable vehicle.

17. The method according to claim 15, characterized in that, The screening of at least one preferably movable vehicle from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle includes: Based on the current empty cargo space information of each movable vehicle, determine the number of empty movable vehicles. When the number of empty movable vehicles is less than the number of movable vehicle queuing positions, screen at least one preferably movable vehicle from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle; the number of non-empty movable vehicles among the preferably movable vehicles is determined based on the shelving requirement information of the remaining goods to be shelved except for the goods to be shelved on the empty movable vehicles among the goods to be shelved and the number of movable vehicle queuing positions minus the number of empty movable vehicles among the preferably movable vehicles.

18. The method according to claim 15, wherein The screening of at least one preferably movable vehicle from the vehicle storage area based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle includes: Based on the shelving requirement information of each of the goods to be shelved, determine the storage cargo space of each of the goods to be shelved and the type of each storage cargo space. Determine the proportion information of each type of storage cargo space in all storage cargo spaces. Based on the proportion information and the current empty cargo space information of each movable vehicle, screen at least one preferably movable vehicle from the vehicle storage area.

19. The method according to claim 17, wherein The non-empty movable vehicle includes a mixed storage cargo space; the mixed storage cargo space is used to store at least one stock keeping unit (SKU) of goods to be shelved.

20. The method according to claim 15, wherein The goods shelving method further includes: Determine the number of empty movable vehicles based on the current empty cargo space information of each movable vehicle. When the number of empty movable vehicles is greater than or equal to the number of movable vehicle queuing positions, based on the positions of each empty movable vehicle and the shelving requirement information of the goods to be shelved, screen out at least one preferred movable vehicle from each of the empty movable vehicles; the number of the screened preferred movable vehicles is less than or equal to the number of movable vehicle queuing positions.

21. The method according to claim 16, characterized in that, One of the at least one workstations is provided with at least one shipping position. At least one of the automatic shelving devices located at the workstation by the scheduler places the goods to be shelved located at the workstation onto at least one target movable vehicle, including: Determine the target shelving requirement information of the target goods to be shelved located at the at least one shipping position. Based on at least one of the target shelving requirement information, the scheduler schedules at least one of the automatic shelving devices located at the workstation to place the target goods to be shelved onto a target storage cargo space in at least one of the target movable vehicles; the target storage cargo space is the storage cargo space indicated by the target shelving requirement information.

22. The method according to claim 15, wherein The goods shelving method further includes: After assigning the shelving task to the workstation, when there is no at least one target movable vehicle that meets the shelving conditions among the at least one preferred movable vehicles determined according to the shelving task, based on the shelving requirement information of the goods to be shelved and the current empty cargo space information of each movable vehicle, screen out at least one target movable vehicle that meets the shelving conditions from the vehicle storage area, and schedule at least one of the handling devices to transport the at least one screened target movable vehicle to at least one empty goods shelving position located at the workstation.

23. The method according to claim 21, wherein After the scheduler schedules at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation onto at least one target movable vehicle, it further includes: When the target storage cargo space does not exist in the target movable vehicle at the goods shelving position, and the target movable vehicle at the goods shelving position meets the shelving conditions of other goods to be shelved, schedule the handling device to transfer the target movable vehicle at the goods shelving position to an empty movable vehicle queuing position.

24. The method according to claim 21, wherein After the scheduler schedules at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation onto at least one target movable vehicle, it further includes: When the target storage cargo space does not exist in the target movable vehicle at the goods shelving position, and the target goods are stored in the target movable vehicle at the goods shelving position, schedule the handling device to transfer the target movable vehicle at the goods shelving position to the vehicle storage area.

25. The method according to claim 21, wherein After the scheduler schedules at least one of the automatic shelving devices located at the workstation to place the goods to be shelved located at the workstation onto at least one target movable vehicle, it further includes: When the target storage location does not exist in the target movable vehicle at the goods shelving position, and the shelving conditions for other goods to be shelved are not met in the target movable vehicle at the goods shelving position, dispatch the handling device to transfer the target movable vehicle at the goods shelving position into the vehicle storage area.

26. The method according to claim 15, characterized in that The goods shelving method further includes: When the number of preferred movable vehicles at the movable vehicle queuing position is less than a preset threshold, based on the number of movable vehicle queuing positions, the number of preferred movable vehicles at the movable vehicle queuing position, the shelving requirement information of the goods to be shelved, and the current empty cargo space information of each movable vehicle, screen out at least one preferred movable vehicle from the vehicle storage area, and dispatch at least one of the handling devices to transport the at least one preferred movable vehicle to at least one empty movable vehicle queuing position located at the workstation.

27. The method according to claim 16, wherein After dispatching the handling device to transport the at least one target movable vehicle to the empty movable vehicle queuing position, it further includes: Call at least one of the handling devices to transfer the preferred movable vehicle whose waiting duration at the movable vehicle queuing position exceeds the preset duration into the vehicle storage area.

28. The method according to claim 15, wherein The automatic shelving device includes a robotic arm.

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