Goods retrieval method and controller based on a stereoscopic warehouse

Abstract

The application provides a kind of based on stereoscopic warehouse's method and controller for fetching goods, the method is applied to the controller in warehouse fetching system, warehouse fetching system further includes at least one clamping structure and stereoscopic warehouse, stereoscopic warehouse includes multiple goods, clamping structure and controller communication connection, the method includes: obtaining delivery order, delivery order includes the goods code of goods to be fetched and the quantity to be fetched of goods to be fetched;Based on goods linked list algorithm, the position of goods to be fetched is determined according to the goods code of goods to be fetched;According to the position of goods to be fetched and the quantity to be fetched of goods to be fetched, control clamping structure to grasp goods to be fetched to the outlet of stereoscopic warehouse.The method uses algorithm to fetch mixed stacked goods to the outlet in the shortest time, uses clamping structure instead of trolley to save the space of trolley running on the ground, solves the problem of low efficiency in prior art based on stereoscopic warehouse's method for fetching goods.

Description

Technical Field

[0001] This application relates to the field of stacked automated warehouse shipping, and more specifically, to a picking method and controller based on an automated warehouse. Background Technology

[0002] In recent years, rising labor costs have prompted many companies to seek automated management to reduce them. In manufacturing, warehousing and logistics costs consistently account for a significant proportion, estimated at around 50% of total manufacturing costs. Therefore, companies aiming to reduce costs and increase efficiency must find ways to cut warehousing and logistics expenses. Against this backdrop, the demand for automated warehousing is growing. The use of automated storage and retrieval systems (AS / RS) can significantly reduce manpower and save on labor costs, while also greatly improving warehousing and logistics efficiency. In recent years, more and more companies have prioritized AS / RS when planning their warehousing and logistics. However, existing AS / RS-based picking methods are inefficient, space-consuming, and have low space utilization. Summary of the Invention

[0003] The main objective of this application is to provide a picking method and controller based on automated warehouses, so as to at least solve the problem of low efficiency in the prior art of picking methods based on automated warehouses.

[0004] To achieve the above objectives, according to one aspect of this application, a retrieval method based on an automated warehouse is provided, applied to a controller in a warehouse retrieval system. The warehouse retrieval system further includes at least one clamping structure and an automated warehouse, the automated warehouse including multiple goods, the clamping structure and the controller being communicatively connected. The method further includes: obtaining a shipping order, the shipping order including the goods code of the goods to be retrieved and the quantity of the goods to be retrieved; determining the position of the goods to be retrieved based on a goods linked list algorithm according to the goods code of the goods to be retrieved, the goods linked list algorithm being used to represent the relationship between the goods code of each goods in the automated warehouse and the position of each goods in the automated warehouse; and controlling the clamping structure to grab the goods to be retrieved and move them to the exit of the automated warehouse according to the position of the goods to be retrieved and the quantity of the goods to be retrieved.

[0005] Optionally, the automated warehouse includes a scheduling area, which is a temporary storage area for the goods. Based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grip the goods to be retrieved and move them to the exit of the automated warehouse. This includes: if there are non-retrievable goods placed on the surface of the side of the goods to be retrieved, the clamping structure is controlled to first grip the non-retrievable goods and temporarily store them in the scheduling area; after temporarily storing the non-retrievable goods in the scheduling area, based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grip the goods to be retrieved and move them to the exit of the automated warehouse.

[0006] Optionally, the number of goods that the clamping structure can grasp each time is a target number, the number of goods to be retrieved is at least one, the number of goods not to be retrieved is at least one, and each of the goods not to be retrieved is located on the grasping side of all the goods to be retrieved. All the goods to be retrieved and all the goods not to be retrieved are stacked sequentially into a target column. When there are goods not to be retrieved placed on the surface of the grasping side of the goods to be retrieved, the clamping structure is controlled to first grasp the goods not to be retrieved and temporarily store them in the scheduling area. This includes: when the number of goods not to be retrieved in the target column is less than or equal to the target number, obtaining the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved in the target column, and based on the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved, controlling the clamping structure to grasp all the goods not to be retrieved in the target column in a single operation and temporarily store them in the scheduling area; when the number of goods not to be retrieved in the target column is greater than the target number, and the number of goods not to be retrieved is... When the quantity of goods is an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in N steps according to the first target position, where N is the maximum value among integer multiples, and the quantity grabbed each time is the target quantity. The quantity of non-deliverable goods between the first target position and the farthest position is an integer multiple of the target quantity minus one. The farthest position is the position of the non-deliverable goods furthest from the surface of the grabbing side of the deliverable goods, and N≥2. When the quantity of non-deliverable goods stacked on the target column is greater than the target quantity, and the quantity of non-deliverable goods is not an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in M ​​steps according to the second target position. The quantity of non-deliverable goods grabbed in the Mth step is less than the target quantity, and the quantity of non-deliverable goods grabbed in the first M-1 steps is equal to the target quantity. The second target position includes the first target position and the position of the non-deliverable goods in the target column closest to the surface of the grabbing side of the deliverable goods, and M≥2.

[0007] Optionally, the automated warehouse further includes multiple cargo partitions, each of which stores goods with corresponding cargo codes. The method further includes: when no non-deliverable goods are placed on the surface of the side to be grabbed of the goods to be retrieved, and both the target partition and the non-target partition contain the goods to be retrieved, controlling the clamping structure to first grab the goods to be retrieved from the non-target partition and move them to the exit of the automated warehouse; if the number of goods to be retrieved in the non-target partition is less than the number of goods to be retrieved, then grab the goods to be retrieved from the target partition and move them to the exit of the automated warehouse.

[0008] Optionally, the automated warehouse further includes multiple cargo zones, each containing cargo with a corresponding cargo code. Based on the location and quantity of the cargo to be retrieved, the clamping structure is controlled to grip the cargo to be retrieved and move it to the exit of the automated warehouse. This includes: when no cargo other than the cargo to be retrieved is placed on the surface of the cargo to be retrieved and all cargo to be retrieved is placed in the target zone, controlling the clamping structure to grip a number of the cargo to be retrieved and move it to the exit of the automated warehouse; when no cargo other than the cargo to be retrieved is placed on the surface of the cargo to be retrieved and both the target zone and the non-target zone contain cargo to be retrieved, at least based on the quantity of the cargo to be retrieved, the quantity of the cargo to be retrieved placed in the target zone, and the quantity of the cargo to be retrieved placed in the non-target zone, controlling the clamping structure to grip a number of the cargo to be retrieved and move it to the exit of the automated warehouse.

[0009] Optionally, there are multiple clamping structures. When no non-retrievable goods are placed on the surface of the side to be gripped of the goods to be retrieved, and both the target partition and the non-target partition contain goods to be retrieved, the clamping structures are controlled to grip a number of goods to be retrieved and move them to the exit of the automated warehouse, based at least on the number of goods to be retrieved, the number of goods to be retrieved placed in the target partition, and the number of goods to be retrieved placed in the non-target partition. This includes: obtaining the position of the target partition and the position of the non-target partition; determining a first distance and a second distance based on the position of the target partition and the position of the non-target partition, where the first distance is the distance between the target partition and the exit of the automated warehouse, and the second distance is the distance between the non-target partition and the exit of the automated warehouse; and controlling the clamping structures to grip a number of goods to be retrieved and move them to the exit of the automated warehouse based on the first distance, the second distance, the number of goods to be retrieved, the number of goods to be retrieved stacked in the target partition, and the number of goods to be retrieved stacked in the non-target partition.

[0010] Optionally, there are multiple clamping structures. Based on the first distance, the second distance, the number of goods to be retrieved, the number of goods to be retrieved stacked in the target area, and the number of goods to be retrieved stacked in the non-target area, the clamping structures are controlled to grab the number of goods to be retrieved and move them to the exit of the automated warehouse. This includes: obtaining the position of each clamping structure; calculating a first time based on the first distance and the position of each clamping structure, wherein the first time is the time when one or more clamping structures grab one goods to be retrieved from the target area on average. The time to reach the exit of the automated warehouse; the second time is calculated based on the second distance and the position of each clamping structure, the second time being the average time for one or more clamping structures to grab one item to be retrieved from the non-target zone to the exit of the automated warehouse; based on the first time, the second time, the number of items to be retrieved, the number of items to be retrieved stacked in the target zone, and the number of items to be retrieved stacked in the non-target zone, the clamping structures are controlled to grab the number of items to be retrieved to the exit of the automated warehouse.

[0011] Optionally, based on the first time, the second time, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target partition, and the quantity of goods to be retrieved stacked in the non-target partition, the clamping structure is controlled to grab a number of goods to be retrieved and move them to the exit of the automated warehouse, including at least one of the following: if the quantity of goods to be retrieved stacked in the target partition is greater than or equal to the quantity of goods to be retrieved and the first time is less than the second time, the clamping structure is controlled to grab a number of goods to be retrieved from the target partition and move them to the exit of the automated warehouse; if the quantity of goods to be retrieved stacked in the non-target partition is greater than or equal to the quantity of goods to be retrieved and the second time is less than the first time, the clamping structure is controlled to grab a number of goods to be retrieved from the non-target partition and move them to the exit of the automated warehouse.

[0012] Optionally, the automated warehouse includes a scheduling area, which is an area for temporarily storing the goods. The method further includes: determining, based on a first type of pointer variable, that no non-goods to be retrieved are placed on the surface of the side to be grasped of the goods to be retrieved, where the first type of pointer variable indicates that no non-goods to be retrieved are placed on the surface of the side to be grasped of the goods to be retrieved; and determining, based on a second type of pointer variable, that non-goods to be retrieved are placed on the surface of the side to be grasped of the goods to be retrieved, where the second type of pointer variable indicates that non-goods to be retrieved are placed on the surface of the side to be grasped of the goods to be retrieved.

[0013] According to another aspect of this application, a controller is provided, the controller further comprising: an acquisition unit for acquiring a shipping order, the shipping order including a cargo code of goods to be retrieved and a quantity of goods to be retrieved; a determination unit for determining the location of the goods to be retrieved based on a cargo chaining algorithm, the cargo chaining algorithm representing the relationship between the cargo codes of each item in the automated warehouse and the location of each item in the automated warehouse; and a gripping unit for controlling a gripping structure to grip the goods to be retrieved and move them to the exit of the automated warehouse based on the location of the goods to be retrieved and the quantity of goods to be retrieved.

[0014] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the described automated warehouse-based retrieval methods.

[0015] According to another aspect of this application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any of the described automated warehouse-based retrieval methods.

[0016] Applying the technical solution of this application, this method is used in a controller of a warehouse picking system. The warehouse picking system also includes at least one clamping structure and an automated warehouse. The automated warehouse includes multiple goods. The clamping structure and the controller are communicatively connected. The method includes: obtaining a shipping order, which includes the goods code and quantity of the goods to be picked up; determining the position of the goods to be picked up based on a goods linked list algorithm, whereby the goods linked list algorithm represents the relationship between the goods code of each goods in the automated warehouse and the position of each goods in the automated warehouse; and controlling the clamping structure to pick up the goods to be picked up and move them to the exit of the automated warehouse based on the position and quantity of the goods to be picked up. This method uses an algorithm to retrieve mixed and stacked goods to the exit in the shortest time. Using a clamping structure instead of a trolley saves the space required for the trolley to run on the ground, thus solving the problem of low efficiency in existing automated warehouse-based picking methods. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 A hardware structure block diagram of a mobile terminal for executing a pickup method based on an automated warehouse, according to an embodiment of this application, is shown.

[0019] Figure 2 A schematic flowchart of a retrieval method based on an automated warehouse according to an embodiment of this application is shown.

[0020] Figure 3 A schematic flowchart of another retrieval method based on an automated warehouse according to an embodiment of this application is shown.

[0021] Figure 4 A structural block diagram of a controller provided according to an embodiment of this application is shown.

[0022] The above figures include the following reference numerals:

[0023] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] As described in the background section, existing automated warehouse-based retrieval methods are inefficient, occupy a large amount of space, and have low space utilization. To address the problem of low efficiency in existing automated warehouse-based retrieval methods, embodiments of this application provide an automated warehouse-based retrieval method and controller.

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a retrieval method based on an automated warehouse, according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1The different configurations shown.

[0030] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] This embodiment provides a method for retrieving goods from an automated warehouse that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0032] Figure 2 This is a flowchart of a retrieval method based on an automated warehouse according to an embodiment of this application. The method is applied to a controller in a warehouse retrieval system. The warehouse retrieval system further includes at least one clamping structure and an automated warehouse, which contains multiple goods. The clamping structure and the controller are communicatively connected. Figure 2 As shown, the method includes the following steps:

[0033] Step S201: Obtain a shipping order, which includes the goods code of the goods to be picked up and the quantity of the goods to be picked up.

[0034] Specifically, automated warehouses are generally stacked warehouses, and the goods in them are generally stacked. The aforementioned clamping structure can be a robotic arm, which replaces the trolley to pick up and put down the goods, saving the space for the trolley to run on the ground. Furthermore, stacked warehouses also save the space occupied by the shelves in rack-type automated warehouses, allowing more goods to be stored.

[0035] Step S202: Based on the cargo chain algorithm, determine the location of the cargo to be retrieved according to the cargo code of the cargo to be retrieved. The cargo chain algorithm is used to represent the relationship between the cargo code of each cargo in the automated warehouse and the location of each cargo in the automated warehouse.

[0036] Specifically, the goods linked list algorithm is applicable to all warehouse sizes. It uses a gripping structure that operates in the air to pick up and place goods. The gripping structure can move within the entire area and can move along the x, y, and z axes. We assume that goods already exist in the warehouse and that the quantity of goods in the warehouse is greater than or equal to the quantity to be shipped. The shipping order needs to be sent to the goods linked list algorithm function in JSON data transmission format. The data structure used by the goods linked list algorithm is a linked list; we assume that if goods exist in the warehouse, the linked list already exists.

[0037] The aforementioned automated warehouse includes a scheduling area, which is a temporary storage area for the aforementioned goods. The method further includes: determining, based on a first type of pointer variable, that no non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved, wherein the first type of pointer variable indicates that no non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved; and determining, based on a second type of pointer variable, that non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved, wherein the second type of pointer variable indicates that non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved.

[0038] Specifically, the coordinates of the target goods are calculated according to the constraints of the order. By pointing the pointer to the coordinates of the target goods, it can be accurately determined whether the aforementioned non-deliverable goods are placed on the surface of the goods to be retrieved.

[0039] Step S203: Based on the location of the goods to be retrieved and the quantity of the goods to be retrieved, control the clamping structure to grab the goods to be retrieved and place them at the exit of the automated warehouse.

[0040] Specifically, the coordinates of the goods to be retrieved are first sent to the gripping structure in JSON format. After obtaining the coordinates of the goods to be retrieved, the gripping structure moves to the location of the goods to be retrieved and then grabs the goods to be retrieved to the exit of the automated warehouse.

[0041] The aforementioned automated warehouse includes a dispatch area, which is a temporary storage area for the aforementioned goods. The specific implementation steps of step S203 are as follows:

[0042] Step S2031: When there is a non-retrievable item on the surface of the side to be grasped of the item to be retrieved, control the clamping structure to first grasp the non-retrievable item and temporarily store the non-retrievable item in the scheduling area.

[0043] Step S2032: After temporarily storing the non-retrievable goods in the dispatch area, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse according to the location of the goods to be retrieved and the quantity of the goods to be retrieved.

[0044] Specifically, when there are non-retrievable items placed on the surface of the side to be grabbed of the item to be retrieved, the coordinates of the non-retrievable items and the coordinates of the scheduling area are first sent to the gripping structure in JSON format. The gripping structure receives the instruction to grab the item above it and move it to the scheduling area, then returns a grab completion instruction. Upon receiving the grab completion instruction, the algorithm sends the coordinates of the item to be retrieved and the coordinates of the exit point to the gripping structure in JSON format. The gripping structure receives the instruction to grab the item to be retrieved and move it to the exit point, then returns a grab completion instruction. Upon receiving the grab completion instruction, the algorithm sends the coordinates of the scheduling area and the initial coordinates of the non-retrievable items to the gripping structure in JSON format. The gripping structure receives the instruction to grab the non-retrievable items in the scheduling area and move them to their initial positions, then returns a grab completion instruction. This increases the space utilization rate within the warehouse and also improves the order of retrieving and placing goods.

[0045] Wherein, the number of goods that the clamping structure can grasp each time is the target number, the number of goods to be retrieved is at least one, the number of goods not to be retrieved is at least one, each of the goods not to be retrieved is located on the grasping side of all the goods to be retrieved, and all the goods to be retrieved and all the goods not to be retrieved are stacked sequentially to form a target column. The specific implementation steps of the above step S2031 are as follows:

[0046] Step S301: When the number of non-deliverable goods in the target column is less than or equal to the target number, obtain the position of the non-deliverable goods in the target column that is closest to the surface of the deliverable goods to be grasped, and control the clamping structure to grasp all the non-deliverable goods in the target column and temporarily store them in the scheduling area in one go, based on the position of the non-deliverable goods that is closest to the surface of the deliverable goods to be grasped.

[0047] Step S302: When the number of non-pickup goods in the target column is greater than the target quantity and the number of non-pickup goods is an integer multiple of the target quantity, the non-pickup goods are grabbed and placed in the scheduling area in N times according to the first target position, where N is equal to the maximum value among integer multiples, and the number grabbed each time is the target quantity. The number of non-pickup goods between the non-pickup goods at the first target position and the non-pickup goods at the farthest position is an integer multiple of the target quantity minus one. The farthest position is the position of the non-pickup goods farthest from the surface of the pickup side of the pickup goods. N≥2.

[0048] Step S303: If the number of non-pickup goods stacked on the target column is greater than the target quantity, and the number of non-pickup goods is not an integer multiple of the target quantity, the non-pickup goods are grabbed and moved to the scheduling area in M ​​steps according to the second target position. The number of non-pickup goods grabbed in the Mth step is less than the target quantity, and the number of non-pickup goods grabbed in the first M-1 steps is equal to the target quantity. The second target position includes the first target position and the position of the non-pickup goods in the target column that is closest to the grabbing side of the pickup goods. M≥2.

[0049] Specifically, since the gripping structure can only grab a certain number of goods at a time, for example, if the target quantity is 5, it is only necessary to obtain the coordinates of the 5th multiple of the non-to be taken out goods stacked in a column from top to bottom, that is, to obtain the coordinates of the 5th and 10th non-to be taken out goods. This can reduce the algorithm calculation and increase the gripping efficiency.

[0050] In addition, the aforementioned automated warehouse also includes multiple cargo zones, each of which stores goods with corresponding cargo codes. The method further includes: when no non-deliverable goods are placed on the surface of the grabbing side of the goods to be retrieved, and both the target zone and the non-target zone contain the goods to be retrieved, the clamping structure is controlled to first grab the goods to be retrieved from the non-target zone and move them to the exit of the automated warehouse; if the number of the goods to be retrieved in the non-target zone is less than the number of goods to be retrieved, the goods to be retrieved are then grabbed from the target zone and moved to the exit of the automated warehouse.

[0051] Specifically, grabbing goods from non-target zones first can make the goods in the warehouse more neatly arranged, which can improve the efficiency of subsequent goods grabbing.

[0052] The aforementioned automated warehouse also includes multiple cargo zones, each containing goods with a corresponding cargo code. The specific implementation steps of step S203 further include:

[0053] Step S401: When no non-deliverable goods are placed on the surface of the grabbing side of the goods to be retrieved and all the goods to be retrieved are placed in the target zone, the clamping structure is controlled to grab the number of goods to be retrieved to the exit of the automated warehouse.

[0054] In step S402, if no non-deliverable goods are placed on the surface of the grabbing side of the goods to be retrieved, and the target partition and non-target partition both contain the goods to be retrieved, the clamping structure is controlled to grab the number of goods to be retrieved to the exit of the automated warehouse, based at least on the number of goods to be retrieved, the number of goods to be retrieved placed in the target partition, and the number of goods to be retrieved placed in the non-target partition.

[0055] Specifically, the efficiency of the gripping structure is affected by the different quantities of goods to be retrieved, the quantity of goods to be retrieved placed in the target partition, and the quantity of goods to be retrieved placed in the non-target partition. Therefore, based on the actual distribution of each quantity and the actual algorithm, the gripping scheme with the highest gripping efficiency is selected for implementation.

[0056] There are multiple clamping structures mentioned above, and the specific implementation steps of step S402 are as follows:

[0057] Step S4021: Obtain the location of the target partition and the location of the non-target partition;

[0058] Step S4022: Based on the location of the target partition and the location of the non-target partition, determine the first distance and the second distance. The first distance is the distance between the target partition and the exit of the automated warehouse, and the second distance is the distance between the non-target partition and the exit of the automated warehouse.

[0059] Step S4023: Based on the first distance, the second distance, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, control the clamping structure to grab the quantity of goods to be retrieved to the exit of the automated warehouse.

[0060] Specifically, since the distances from the target zone and the non-target zone to the exit may be different, if a sufficient number of goods to be retrieved are placed in both the target zone and the non-target zone, the grabbing path of the goods to be retrieved can be selected based on the first distance and the second distance.

[0061] There are multiple clamping structures mentioned above, and the specific steps of step S4023 are as follows:

[0062] Step S501: Obtain the position of each of the above-mentioned clamping structures;

[0063] Step S502: Based on the first distance and the position of each of the clamping structures, calculate the first time, which is the average time for one or more clamping structures to grab one of the goods to be retrieved from the target zone to the exit of the automated warehouse.

[0064] Step S503: Calculate the second time based on the second distance and the position of each of the clamping structures. The second time is the average time it takes for one or more of the clamping structures to grab a piece of goods to be retrieved from the non-target zone to the exit of the automated warehouse.

[0065] Step S504: Based on the first time, the second time, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, control the clamping structure to grab the quantity of goods to be retrieved to the exit of the automated warehouse.

[0066] Specifically, since there may be multiple gripping structures in the warehouse, and the positions of each gripping structure may be different, when there are a sufficient number of goods to be retrieved in both the target zone and the non-target zone, the position of each gripping structure, the position of the target zone, and the position of the non-target zone may all affect the efficiency of the gripping structure in gripping the goods to be retrieved. Therefore, based on the actual situation, the shortest time for the gripping structure to grab the goods to be retrieved to the exit of the automated warehouse is calculated, and the path corresponding to the shortest time is used to implement the grabbing.

[0067] Specifically, based on the aforementioned first time, second time, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, controlling the clamping structure to grab the quantity of goods to be retrieved and place them at the exit of the automated warehouse includes at least one of the following: when the quantity of goods to be retrieved stacked in the target area is greater than or equal to the quantity of goods to be retrieved and the first time is less than the second time, controlling the clamping structure to grab the quantity of goods to be retrieved from the target area and place them at the exit of the automated warehouse; when the quantity of goods to be retrieved stacked in the non-target area is greater than or equal to the quantity of goods to be retrieved and the second time is less than the first time, controlling the clamping structure to grab the quantity of goods to be retrieved from the non-target area and place them at the exit of the automated warehouse.

[0068] Specifically, this can lead to a sharp increase in the speed and efficiency of outbound shipments, and a significant reduction in time.

[0069] Through the above embodiments, the retrieval method based on an automated warehouse of this application is applied to the controller of a warehouse retrieval system. The warehouse retrieval system also includes at least one clamping structure and an automated warehouse, which includes multiple goods. The clamping structure and the controller are communicatively connected. The method includes: obtaining a shipping order, which includes the goods code and quantity of the goods to be retrieved; determining the location of the goods to be retrieved based on a goods linked list algorithm, whereby the goods linked list algorithm represents the relationship between the goods code of each goods in the automated warehouse and the location of each goods in the automated warehouse; and controlling the clamping structure to grab the goods to be retrieved and move them to the exit of the automated warehouse based on the location and quantity of the goods to be retrieved. This method uses an algorithm to retrieve mixed and stacked goods to the exit in the shortest time. Using a clamping structure instead of a trolley saves the space required for trolley operation on the ground, thus solving the problem of low efficiency in existing automated warehouse retrieval methods.

[0070] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the retrieval method based on an automated warehouse will be described in detail below with reference to specific embodiments.

[0071] This embodiment relates to a specific retrieval method based on an automated warehouse, such as... Figure 3 As shown, it includes the following steps:

[0072] Step S1: Obtain all shipping orders.

[0073] Step S2: Calculate the coordinates of the goods to be retrieved based on the order, and send the coordinates of the goods to be retrieved to the algorithm function in JSON data transmission format.

[0074] Step S3: The algorithm uses a linked list as its data structure. We assume that if there are goods in the warehouse, the linked list already exists. We query and calculate the coordinates of the goods to be retrieved according to the constraints of the order, and then use a pointer to point to the coordinates of the goods to be retrieved.

[0075] Step S4: During the pointer pointing process, it is known whether there are any goods pressing on top of the goods to be retrieved. If there are goods pressing on top, the coordinates of the bottommost goods above the goods to be retrieved are obtained; if there are no goods pressing on top, the goods are retrieved normally.

[0076] Step S5: Send the coordinates of the bottommost item above the item to be retrieved and the coordinates of the scheduling area to the robotic arm in JSON format. The robotic arm receives the instruction, grabs the item above the item to be retrieved into the scheduling area, and returns a grabbing completion instruction.

[0077] Step S6: After receiving the grab completion instruction, the algorithm sends the coordinates of the goods to be retrieved and the coordinates of the exit in JSON format to the robotic arm. The robotic arm receives the instruction, grabs the goods to be retrieved to the exit, and returns the grab completion instruction.

[0078] Step S7: After receiving the grabbing completion instruction, the algorithm sends the coordinates of the scheduling area and the initial coordinates of the goods above the goods to be retrieved in JSON format to the robotic arm. Upon receiving the instruction, the robotic arm grabs the goods in the scheduling area to the initial position and returns the grabbing completion instruction.

[0079] Step S8: Repeat steps three through seven until all shipments are completed.

[0080] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0081] This application also provides a controller. It should be noted that the automated warehouse-based retrieval device of this application can be used to execute the automated warehouse-based retrieval method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0082] The controller provided in the embodiments of this application will be described below.

[0083] Figure 4 This is a schematic diagram of a controller according to an embodiment of this application. Figure 4 As shown, the controller includes an acquisition unit 10, a determination unit 20, and a gripping unit 30. The acquisition unit 10 is used to acquire a shipping order, which includes the cargo code of the goods to be retrieved and the quantity of the goods to be retrieved. The determination unit 20 is used to determine the location of the goods to be retrieved based on the cargo chain algorithm, according to the cargo code of the goods to be retrieved. The cargo chain algorithm is used to represent the relationship between the cargo code of each item in the automated warehouse and the location of each item in the automated warehouse. The gripping unit 30 is used to control the gripping structure to grip the goods to be retrieved and place them at the exit of the automated warehouse according to the location and quantity of the goods to be retrieved.

[0084] Through the above embodiments, the controller of this application includes an acquisition unit, a determination unit, and a gripping unit. The acquisition unit is used to acquire a shipping order, which includes the cargo code of the goods to be retrieved and the quantity of the goods to be retrieved. The determination unit is used to determine the location of the goods to be retrieved based on a cargo chain algorithm, according to the cargo code of the goods to be retrieved. The cargo chain algorithm is used to represent the relationship between the cargo code of each item in the automated warehouse and the location of each item in the automated warehouse. The gripping unit is used to control the gripping structure to grip the goods to be retrieved to the exit of the automated warehouse according to the location and quantity of the goods to be retrieved. This device uses an algorithm to retrieve mixed and stacked goods to the exit in the shortest time. Using a gripping structure instead of a trolley saves the space required for the trolley to run on the ground, solving the problem of low efficiency in existing automated warehouse retrieval methods.

[0085] As an optional solution, the aforementioned automated warehouse includes a dispatch area, which is a temporary storage area for the goods. Based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse. This includes: if non-retrievable goods are placed on the surface of the side of the goods to be retrieved, the clamping structure is controlled to first grab the non-retrievable goods and temporarily store them in the dispatch area; after temporarily storing the non-retrievable goods in the dispatch area, based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse. This increases the space utilization rate within the warehouse and also improves the order of goods retrieval and placement.

[0086] For example, the number of goods that the clamping structure can grasp each time is a target number, the number of goods to be retrieved is at least one, the number of goods not to be retrieved is at least one, and each of the goods not to be retrieved is located on the grasping side of all the goods to be retrieved. All the goods to be retrieved and all the goods not to be retrieved are stacked sequentially into a target column. When there are goods not to be retrieved placed on the surface of the grasping side of the goods to be retrieved, the clamping structure is controlled to first grasp the goods not to be retrieved and temporarily store them in the scheduling area. This includes: when the number of goods not to be retrieved in the target column is less than or equal to the target number, obtaining the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved in the target column, and based on the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved, controlling the clamping structure to grasp all the goods not to be retrieved in the target column in a single operation and temporarily store them in the scheduling area; when the number of goods not to be retrieved in the target column is greater than the target number, and the number of goods not to be retrieved is at least one... When the quantity of goods is an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in N steps according to the first target position, where N is equal to the maximum value among integer multiples, and the quantity grabbed each time is the target quantity. The quantity of non-deliverable goods between the non-deliverable goods at the first target position and the non-deliverable goods at the farthest position is an integer multiple of the target quantity minus one. The farthest position is the position of the non-deliverable goods farthest from the surface of the grabbing side of the goods to be retrieved, and N≥2. When the quantity of non-deliverable goods stacked on the target column is greater than the target quantity, and the quantity of non-deliverable goods is not an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in M ​​steps according to the second target position. The quantity of non-deliverable goods grabbed in the Mth step is less than the target quantity, and the quantity of non-deliverable goods grabbed in the first M-1 steps is equal to the target quantity. The second target position includes the first target position and the position of the non-deliverable goods in the target column that is closest to the surface of the grabbing side of the goods to be retrieved, and M≥2. This reduces algorithmic computation and increases crawling efficiency.

[0087] In an optional example, the automated warehouse further includes multiple cargo zones, each containing goods with a corresponding cargo code. The method further includes: when no non-deliverable goods are placed on the surface of the grabbing side of the goods to be retrieved, and both the target zone and the non-target zone contain the goods to be retrieved, controlling the gripping structure to first grab the goods to be retrieved from the non-target zone and move them to the exit of the automated warehouse; if the quantity of the goods to be retrieved in the non-target zone is less than the quantity of goods to be retrieved, then grab the goods to be retrieved from the target zone and move them to the exit of the automated warehouse. This can improve the efficiency of subsequent goods grabbing.

[0088] In one optional example, the automated warehouse further includes multiple cargo zones, each containing goods with corresponding cargo codes. Based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grasp the goods to be retrieved and move them to the exit of the automated warehouse. This includes: if no non-retrievable goods are placed on the surface of the grasping side of the goods to be retrieved and all the goods to be retrieved are placed in the target zone, the clamping structure is controlled to grasp a certain number of the goods to be retrieved and move them to the exit of the automated warehouse; if no non-retrievable goods are placed on the surface of the grasping side of the goods to be retrieved and both the target and non-target zones contain the goods to be retrieved, the clamping structure is controlled to grasp a certain number of the goods to be retrieved and move them to the exit of the automated warehouse, based at least on the quantity of the goods to be retrieved, the quantity of the goods to be retrieved in the target zone, and the quantity of the goods to be retrieved in the non-target zones. Based on the actual quantity distribution and the actual algorithm, the scheme with the highest grasping efficiency is selected for grasping.

[0089] In one embodiment, multiple clamping structures are provided. When no non-deliverable goods are placed on the surface of the grasping side of the goods to be retrieved, and both the target and non-target zones contain goods to be retrieved, the clamping structures are controlled to grasp a number of goods to be retrieved and move them to the exit of the automated warehouse, based at least on the number of goods to be retrieved, the number of goods to be retrieved in the target zone, and the number of goods to be retrieved in the non-target zone. This includes: obtaining the position of the target zone and the position of the non-target zone; determining a first distance and a second distance based on the positions of the target zone and the non-target zone, wherein the first distance is the distance between the target zone and the exit of the automated warehouse, and the second distance is the distance between the non-target zone and the exit of the automated warehouse; and controlling the clamping structures to grasp a number of goods to be retrieved and move them to the exit of the automated warehouse based on the first distance, the second distance, the number of goods to be retrieved, the number of goods to be retrieved stacked in the target zone, and the number of goods to be retrieved stacked in the non-target zone. The grabbing path for the goods to be retrieved can be selected based on the first distance and the second distance.

[0090] As an optional embodiment, there are multiple clamping structures. Based on the first distance, the second distance, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target partition, and the quantity of goods to be retrieved stacked in the non-target partition, the clamping structures are controlled to grab the quantity of goods to be retrieved and place them at the exit of the automated warehouse. This includes: obtaining the position of each clamping structure; calculating a first time based on the first distance and the position of each clamping structure, wherein the first time is the time when one or more clamping structures average one of the goods to be retrieved from the target partition. The time taken for the goods to be retrieved to reach the exit of the automated warehouse is calculated. Based on the second distance and the positions of each clamping structure, a second time is calculated, whereby the average time for one or more clamping structures to retrieve one item from the non-target area to the exit of the automated warehouse is determined. Based on the first time, the second time, the quantity of items to be retrieved, the quantity of items stacked in the target area, and the quantity of items stacked in the non-target area, the clamping structures are controlled to retrieve the specified quantity of items to be retrieved to the exit of the automated warehouse. According to the actual situation, the shortest time for the clamping structures to retrieve the items to the exit of the automated warehouse is calculated, and the path corresponding to the shortest time is used for retrieval.

[0091] In one approach, based on the aforementioned first time, second time, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, the clamping structure is controlled to grab the quantity of goods to be retrieved and place them at the exit of the automated warehouse. This includes at least one of the following: when the quantity of goods to be retrieved stacked in the target area is greater than or equal to the quantity of goods to be retrieved and the first time is less than the second time, the clamping structure is controlled to grab the quantity of goods to be retrieved from the target area and place them at the exit of the automated warehouse; when the quantity of goods to be retrieved stacked in the non-target area is greater than or equal to the quantity of goods to be retrieved and the second time is less than the first time, the clamping structure is controlled to grab the quantity of goods to be retrieved from the non-target area and place them at the exit of the automated warehouse. Specifically, this can lead to a significant increase in the speed and efficiency of outbound operations, and a substantial reduction in time.

[0092] For example, the aforementioned automated warehouse includes a scheduling area, which is a region for temporarily storing the aforementioned goods. The method further includes: determining, based on a first type of pointer variable, that no non-retrievable goods are placed on the surface of the side of the goods to be retrieved that is to be grasped, where the first type of pointer variable indicates that no non-retrievable goods are placed on the surface of the side of the goods to be retrieved that is to be grasped; and determining, based on a second type of pointer variable, that non-retrievable goods are placed on the surface of the side of the goods to be retrieved that is to be grasped, where the second type of pointer variable indicates that non-retrievable goods are placed on the surface of the side of the goods to be retrieved that is to be grasped. This allows for accurate determination of whether non-retrievable goods are placed on the surface of the goods to be retrieved.

[0093] The aforementioned retrieval device based on an automated warehouse includes a processor and a memory. The aforementioned retrieval units are all stored as program units in the memory, and the processor executes these program units to achieve the corresponding functions. All of the aforementioned modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0094] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and adjusting kernel parameters can address the low efficiency problem of existing automated warehouse-based retrieval methods.

[0095] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0096] This invention provides a computer-readable storage medium including a stored program, wherein when the program is executed, it controls the device containing the computer-readable storage medium to perform the aforementioned retrieval method based on an automated warehouse.

[0097] Specifically, the retrieval methods based on automated warehouses include:

[0098] Step S201: Obtain a shipping order, which includes the goods code of the goods to be picked up and the quantity of the goods to be picked up.

[0099] Specifically, automated warehouses are generally stacked warehouses, and the goods in them are generally stacked. The aforementioned clamping structure can be a robotic arm, which replaces the trolley to pick up and put down the goods, saving the space for the trolley to run on the ground. Furthermore, stacked warehouses also save the space occupied by the shelves in rack-type automated warehouses, allowing more goods to be stored.

[0100] Step S202: Based on the cargo chain algorithm, determine the location of the cargo to be retrieved according to the cargo code of the cargo to be retrieved. The cargo chain algorithm is used to represent the relationship between the cargo code of each cargo in the automated warehouse and the location of each cargo in the automated warehouse.

[0101] Specifically, the goods linked list algorithm is applicable to all warehouse sizes. It uses a gripping structure that operates in the air to pick up and place goods. The gripping structure can move within the entire area and can move along the x, y, and z axes. We assume that goods already exist in the warehouse and that the quantity of goods in the warehouse is greater than or equal to the quantity to be shipped. The shipping order needs to be sent to the goods linked list algorithm function in JSON data transmission format. The data structure used by the goods linked list algorithm is a linked list; we assume that if goods exist in the warehouse, the linked list already exists.

[0102] Step S203: Based on the location of the goods to be retrieved and the quantity of the goods to be retrieved, control the clamping structure to grab the goods to be retrieved and place them at the exit of the automated warehouse.

[0103] Specifically, the coordinates of the goods to be retrieved are first sent to the gripping structure in JSON format. After obtaining the coordinates of the goods to be retrieved, the gripping structure moves to the location of the goods to be retrieved and then grabs the goods to be retrieved to the exit of the automated warehouse.

[0104] Optionally, the automated warehouse includes a dispatch area, which is an area for temporarily storing the goods. Based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse. This includes: if there are non-retrievable goods placed on the surface of the side of the goods to be retrieved, the clamping structure is controlled to first grab the non-retrievable goods and temporarily store them in the dispatch area; after temporarily storing the non-retrievable goods in the dispatch area, based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse.

[0105] Optionally, the number of goods that the clamping structure can grasp each time is a target number, the number of goods to be retrieved is at least one, the number of goods not to be retrieved is at least one, and each of the goods not to be retrieved is located on the grasping side of all the goods to be retrieved. All the goods to be retrieved and all the goods not to be retrieved are stacked sequentially into a target column. When there are goods not to be retrieved placed on the surface of the grasping side of the goods to be retrieved, the clamping structure is controlled to first grasp the goods not to be retrieved and temporarily store them in the scheduling area. This includes: when the number of goods not to be retrieved in the target column is less than or equal to the target number, obtaining the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved in the target column, and based on the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved, controlling the clamping structure to grasp all the goods not to be retrieved in the target column in a single operation and temporarily store them in the scheduling area; when the number of goods not to be retrieved in the target column is greater than the target number, and the goods not to be retrieved... When the quantity of goods is an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in N steps according to the first target position, where N is equal to the maximum value among integer multiples, and the quantity grabbed each time is the target quantity. The quantity of non-deliverable goods between the non-deliverable goods at the first target position and the non-deliverable goods at the farthest position is an integer multiple of the target quantity minus one. The farthest position is the position of the non-deliverable goods farthest from the surface of the grabbing side of the goods to be retrieved, and N≥2. When the quantity of non-deliverable goods stacked on the target column is greater than the target quantity, and the quantity of non-deliverable goods is not an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in M ​​steps according to the second target position. The quantity of non-deliverable goods grabbed in the Mth step is less than the target quantity, and the quantity of non-deliverable goods grabbed in the first M-1 steps is equal to the target quantity. The second target position includes the first target position and the position of the non-deliverable goods in the target column that is closest to the surface of the grabbing side of the goods to be retrieved, and M≥2.

[0106] Optionally, the automated warehouse further includes multiple cargo zones, each of which stores goods with corresponding cargo codes. The method further includes: when no non-deliverable goods are placed on the surface of the grabbing side of the goods to be retrieved, and both the target zone and the non-target zone contain the goods to be retrieved, the clamping structure is controlled to first grab the goods to be retrieved from the non-target zone and move them to the exit of the automated warehouse; if the number of goods to be retrieved in the non-target zone is less than the number of goods to be retrieved, the goods to be retrieved are then grabbed from the target zone and moved to the exit of the automated warehouse.

[0107] Optionally, the automated warehouse further includes multiple cargo zones, each containing cargo with a corresponding cargo code. Based on the location and quantity of the cargo to be retrieved, the clamping structure is controlled to grip the cargo to be retrieved and move it to the exit of the automated warehouse. This includes: when no cargo other than cargo to be retrieved is placed on the surface of the cargo to be retrieved and all cargo to be retrieved is placed in the target zone, the clamping structure is controlled to grip a number of cargo to be retrieved and move them to the exit of the automated warehouse; when no cargo other than cargo is placed on the surface of the cargo to be retrieved and both the target zone and non-target zone contain cargo to be retrieved, the clamping structure is controlled to grip a number of cargo to be retrieved and move them to the exit of the automated warehouse, based at least on the quantity of cargo to be retrieved, the quantity of cargo to be retrieved placed in the target zone, and the quantity of cargo to be retrieved placed in the non-target zone.

[0108] Optionally, there are multiple clamping structures. When no non-retrievable goods are placed on the surface of the grasping side of the goods to be retrieved, and both the target partition and the non-target partition contain goods to be retrieved, the clamping structure is controlled to grasp a number of the goods to be retrieved and move them to the exit of the automated warehouse, based at least on the number of goods to be retrieved, the number of goods to be retrieved placed in the target partition, and the number of goods to be retrieved placed in the non-target partition. This includes: obtaining the position of the target partition and the position of the non-target partition; determining a first distance and a second distance based on the position of the target partition and the position of the non-target partition, wherein the first distance is the distance between the target partition and the exit of the automated warehouse, and the second distance is the distance between the non-target partition and the exit of the automated warehouse; and controlling the clamping structure to grasp a number of the goods to be retrieved and move them to the exit of the automated warehouse based on the first distance, the second distance, the number of goods to be retrieved, the number of goods to be retrieved stacked in the target partition, and the number of goods to be retrieved stacked in the non-target partition.

[0109] Optionally, there are multiple clamping structures. Based on the first distance, the second distance, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, the clamping structures are controlled to grab the quantity of goods to be retrieved and place them at the exit of the automated warehouse. This includes: obtaining the position of each clamping structure; calculating a first time based on the first distance and the position of each clamping structure, wherein the first time is the time when one or more clamping structures grab one item from the target area on average. The time to reach the exit of the automated warehouse; the second time is calculated based on the second distance and the position of each of the clamping structures, the second time being the average time for one or more of the clamping structures to grab one of the goods to be retrieved from the non-target area to the exit of the automated warehouse; based on the first time, the second time, the number of goods to be retrieved, the number of goods to be retrieved stacked in the target area, and the number of goods to be retrieved stacked in the non-target area, the clamping structures are controlled to grab the number of goods to be retrieved to the exit of the automated warehouse.

[0110] Optionally, based on the first time, the second time, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, controlling the clamping structure to grab the quantity of goods to be retrieved to the exit of the automated warehouse includes at least one of the following: when the quantity of goods to be retrieved stacked in the target area is greater than or equal to the quantity of goods to be retrieved and the first time is less than the second time, controlling the clamping structure to grab the quantity of goods to be retrieved from the target area to the exit of the automated warehouse; when the quantity of goods to be retrieved stacked in the non-target area is greater than or equal to the quantity of goods to be retrieved and the second time is less than the first time, controlling the clamping structure to grab the quantity of goods to be retrieved from the non-target area to the exit of the automated warehouse.

[0111] Optionally, the aforementioned automated warehouse includes a scheduling area, which is an area for temporarily storing the aforementioned goods. The method further includes: determining, based on a first type of pointer variable, that no non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved, wherein the first type of pointer variable indicates that no non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved; and determining, based on a second type of pointer variable, that non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved, wherein the second type of pointer variable indicates that non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved.

[0112] This invention provides a processor for running a program, wherein the program executes the above-described retrieval method based on an automated warehouse.

[0113] Specifically, the retrieval methods based on automated warehouses include:

[0114] Step S201: Obtain a shipping order, which includes the goods code of the goods to be picked up and the quantity of the goods to be picked up.

[0115] Specifically, automated warehouses are generally stacked warehouses, and the goods in them are generally stacked. The aforementioned clamping structure can be a robotic arm, which replaces the trolley to pick up and put down the goods, saving the space for the trolley to run on the ground. Furthermore, stacked warehouses also save the space occupied by the shelves in rack-type automated warehouses, allowing more goods to be stored.

[0116] Step S202: Based on the cargo chain algorithm, determine the location of the cargo to be retrieved according to the cargo code of the cargo to be retrieved. The cargo chain algorithm is used to represent the relationship between the cargo code of each cargo in the automated warehouse and the location of each cargo in the automated warehouse.

[0117] Specifically, the goods linked list algorithm is applicable to all warehouse sizes. It uses a gripping structure that operates in the air to pick up and place goods. The gripping structure can move within the entire area and can move along the x, y, and z axes. We assume that goods already exist in the warehouse and that the quantity of goods in the warehouse is greater than or equal to the quantity to be shipped. The shipping order needs to be sent to the goods linked list algorithm function in JSON data transmission format. The data structure used by the goods linked list algorithm is a linked list; we assume that if goods exist in the warehouse, the linked list already exists.

[0118] Step S203: Based on the location of the goods to be retrieved and the quantity of the goods to be retrieved, control the clamping structure to grab the goods to be retrieved and place them at the exit of the automated warehouse.

[0119] Specifically, the coordinates of the goods to be retrieved are first sent to the gripping structure in JSON format. After obtaining the coordinates of the goods to be retrieved, the gripping structure moves to the location of the goods to be retrieved and then grabs the goods to be retrieved to the exit of the automated warehouse.

[0120] Optionally, the automated warehouse includes a dispatch area, which is an area for temporarily storing the goods. Based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse. This includes: if there are non-retrievable goods placed on the surface of the side of the goods to be retrieved, the clamping structure is controlled to first grab the non-retrievable goods and temporarily store them in the dispatch area; after temporarily storing the non-retrievable goods in the dispatch area, based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse.

[0121] Optionally, the number of goods that the clamping structure can grasp each time is a target number, the number of goods to be retrieved is at least one, the number of goods not to be retrieved is at least one, and each of the goods not to be retrieved is located on the grasping side of all the goods to be retrieved. All the goods to be retrieved and all the goods not to be retrieved are stacked sequentially into a target column. When there are goods not to be retrieved placed on the surface of the grasping side of the goods to be retrieved, the clamping structure is controlled to first grasp the goods not to be retrieved and temporarily store them in the scheduling area. This includes: when the number of goods not to be retrieved in the target column is less than or equal to the target number, obtaining the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved in the target column, and based on the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved, controlling the clamping structure to grasp all the goods not to be retrieved in the target column in a single operation and temporarily store them in the scheduling area; when the number of goods not to be retrieved in the target column is greater than the target number, and the goods not to be retrieved... When the quantity of goods is an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in N steps according to the first target position, where N is equal to the maximum value among integer multiples, and the quantity grabbed each time is the target quantity. The quantity of non-deliverable goods between the non-deliverable goods at the first target position and the non-deliverable goods at the farthest position is an integer multiple of the target quantity minus one. The farthest position is the position of the non-deliverable goods farthest from the surface of the grabbing side of the goods to be retrieved, and N≥2. When the quantity of non-deliverable goods stacked on the target column is greater than the target quantity, and the quantity of non-deliverable goods is not an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in M ​​steps according to the second target position. The quantity of non-deliverable goods grabbed in the Mth step is less than the target quantity, and the quantity of non-deliverable goods grabbed in the first M-1 steps is equal to the target quantity. The second target position includes the first target position and the position of the non-deliverable goods in the target column that is closest to the surface of the grabbing side of the goods to be retrieved, and M≥2.

[0122] Optionally, the automated warehouse further includes multiple cargo zones, each of which stores goods with corresponding cargo codes. The method further includes: when no non-deliverable goods are placed on the surface of the grabbing side of the goods to be retrieved, and both the target zone and the non-target zone contain the goods to be retrieved, the clamping structure is controlled to first grab the goods to be retrieved from the non-target zone and move them to the exit of the automated warehouse; if the number of goods to be retrieved in the non-target zone is less than the number of goods to be retrieved, the goods to be retrieved are then grabbed from the target zone and moved to the exit of the automated warehouse.

[0123] Optionally, the automated warehouse further includes multiple cargo zones, each containing cargo with a corresponding cargo code. Based on the location and quantity of the cargo to be retrieved, the clamping structure is controlled to grip the cargo to be retrieved and move it to the exit of the automated warehouse. This includes: when no cargo other than cargo to be retrieved is placed on the surface of the cargo to be retrieved and all cargo to be retrieved is placed in the target zone, the clamping structure is controlled to grip a number of cargo to be retrieved and move them to the exit of the automated warehouse; when no cargo other than cargo is placed on the surface of the cargo to be retrieved and both the target zone and non-target zone contain cargo to be retrieved, the clamping structure is controlled to grip a number of cargo to be retrieved and move them to the exit of the automated warehouse, based at least on the quantity of cargo to be retrieved, the quantity of cargo to be retrieved placed in the target zone, and the quantity of cargo to be retrieved placed in the non-target zone.

[0124] Optionally, there are multiple clamping structures. When no non-retrievable goods are placed on the surface of the grasping side of the goods to be retrieved, and both the target partition and the non-target partition contain goods to be retrieved, the clamping structure is controlled to grasp a number of the goods to be retrieved and move them to the exit of the automated warehouse, based at least on the number of goods to be retrieved, the number of goods to be retrieved placed in the target partition, and the number of goods to be retrieved placed in the non-target partition. This includes: obtaining the position of the target partition and the position of the non-target partition; determining a first distance and a second distance based on the position of the target partition and the position of the non-target partition, wherein the first distance is the distance between the target partition and the exit of the automated warehouse, and the second distance is the distance between the non-target partition and the exit of the automated warehouse; and controlling the clamping structure to grasp a number of the goods to be retrieved and move them to the exit of the automated warehouse based on the first distance, the second distance, the number of goods to be retrieved, the number of goods to be retrieved stacked in the target partition, and the number of goods to be retrieved stacked in the non-target partition.

[0125] Optionally, there are multiple clamping structures. Based on the first distance, the second distance, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, the clamping structures are controlled to grab the quantity of goods to be retrieved and place them at the exit of the automated warehouse. This includes: obtaining the position of each clamping structure; calculating a first time based on the first distance and the position of each clamping structure, wherein the first time is the time when one or more clamping structures grab one item from the target area on average. The time to reach the exit of the automated warehouse; the second time is calculated based on the second distance and the position of each of the clamping structures, the second time being the average time for one or more of the clamping structures to grab one of the goods to be retrieved from the non-target area to the exit of the automated warehouse; based on the first time, the second time, the number of goods to be retrieved, the number of goods to be retrieved stacked in the target area, and the number of goods to be retrieved stacked in the non-target area, the clamping structures are controlled to grab the number of goods to be retrieved to the exit of the automated warehouse.

[0126] Optionally, based on the first time, the second time, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, controlling the clamping structure to grab the quantity of goods to be retrieved to the exit of the automated warehouse includes at least one of the following: when the quantity of goods to be retrieved stacked in the target area is greater than or equal to the quantity of goods to be retrieved and the first time is less than the second time, controlling the clamping structure to grab the quantity of goods to be retrieved from the target area to the exit of the automated warehouse; when the quantity of goods to be retrieved stacked in the non-target area is greater than or equal to the quantity of goods to be retrieved and the second time is less than the first time, controlling the clamping structure to grab the quantity of goods to be retrieved from the non-target area to the exit of the automated warehouse.

[0127] Optionally, the aforementioned automated warehouse includes a scheduling area, which is an area for temporarily storing the aforementioned goods. The method further includes: determining, based on a first type of pointer variable, that no non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved, wherein the first type of pointer variable indicates that no non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved; and determining, based on a second type of pointer variable, that non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved, wherein the second type of pointer variable indicates that non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved.

[0128] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0129] Step S201: Obtain a shipping order, which includes the goods code of the goods to be picked up and the quantity of the goods to be picked up.

[0130] Step S202: Based on the cargo chain algorithm, determine the location of the cargo to be retrieved according to the cargo code of the cargo to be retrieved. The cargo chain algorithm is used to represent the relationship between the cargo code of each cargo in the automated warehouse and the location of each cargo in the automated warehouse.

[0131] Step S203: Based on the location of the goods to be retrieved and the quantity of the goods to be retrieved, control the clamping structure to grab the goods to be retrieved and place them at the exit of the automated warehouse.

[0132] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0133] Optionally, the automated warehouse includes a dispatch area, which is an area for temporarily storing the goods. Based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse. This includes: if there are non-retrievable goods placed on the surface of the side of the goods to be retrieved, the clamping structure is controlled to first grab the non-retrievable goods and temporarily store them in the dispatch area; after temporarily storing the non-retrievable goods in the dispatch area, based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse.

[0134] Optionally, the number of goods that the clamping structure can grasp each time is a target number, the number of goods to be retrieved is at least one, the number of goods not to be retrieved is at least one, and each of the goods not to be retrieved is located on the grasping side of all the goods to be retrieved. All the goods to be retrieved and all the goods not to be retrieved are stacked sequentially into a target column. When there are goods not to be retrieved placed on the surface of the grasping side of the goods to be retrieved, the clamping structure is controlled to first grasp the goods not to be retrieved and temporarily store them in the scheduling area. This includes: when the number of goods not to be retrieved in the target column is less than or equal to the target number, obtaining the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved in the target column, and based on the position of the goods not to be retrieved closest to the surface of the grasping side of the goods to be retrieved, controlling the clamping structure to grasp all the goods not to be retrieved in the target column in a single operation and temporarily store them in the scheduling area; when the number of goods not to be retrieved in the target column is greater than the target number, and the goods not to be retrieved... When the quantity of goods is an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in N steps according to the first target position, where N is equal to the maximum value among integer multiples, and the quantity grabbed each time is the target quantity. The quantity of non-deliverable goods between the non-deliverable goods at the first target position and the non-deliverable goods at the farthest position is an integer multiple of the target quantity minus one. The farthest position is the position of the non-deliverable goods farthest from the surface of the grabbing side of the goods to be retrieved, and N≥2. When the quantity of non-deliverable goods stacked on the target column is greater than the target quantity, and the quantity of non-deliverable goods is not an integer multiple of the target quantity, the non-deliverable goods are grabbed and moved to the scheduling area in M ​​steps according to the second target position. The quantity of non-deliverable goods grabbed in the Mth step is less than the target quantity, and the quantity of non-deliverable goods grabbed in the first M-1 steps is equal to the target quantity. The second target position includes the first target position and the position of the non-deliverable goods in the target column that is closest to the surface of the grabbing side of the goods to be retrieved, and M≥2.

[0135] Optionally, the automated warehouse further includes multiple cargo zones, each of which stores goods with corresponding cargo codes. The method further includes: when no non-deliverable goods are placed on the surface of the grabbing side of the goods to be retrieved, and both the target zone and the non-target zone contain the goods to be retrieved, the clamping structure is controlled to first grab the goods to be retrieved from the non-target zone and move them to the exit of the automated warehouse; if the number of goods to be retrieved in the non-target zone is less than the number of goods to be retrieved, the goods to be retrieved are then grabbed from the target zone and moved to the exit of the automated warehouse.

[0136] Optionally, the automated warehouse further includes multiple cargo zones, each containing cargo with a corresponding cargo code. Based on the location and quantity of the cargo to be retrieved, the clamping structure is controlled to grip the cargo to be retrieved and move it to the exit of the automated warehouse. This includes: when no cargo other than cargo to be retrieved is placed on the surface of the cargo to be retrieved and all cargo to be retrieved is placed in the target zone, the clamping structure is controlled to grip a number of cargo to be retrieved and move them to the exit of the automated warehouse; when no cargo other than cargo is placed on the surface of the cargo to be retrieved and both the target zone and non-target zone contain cargo to be retrieved, the clamping structure is controlled to grip a number of cargo to be retrieved and move them to the exit of the automated warehouse, based at least on the quantity of cargo to be retrieved, the quantity of cargo to be retrieved placed in the target zone, and the quantity of cargo to be retrieved placed in the non-target zone.

[0137] Optionally, there are multiple clamping structures. When no non-retrievable goods are placed on the surface of the grasping side of the goods to be retrieved, and both the target partition and the non-target partition contain goods to be retrieved, the clamping structure is controlled to grasp a number of the goods to be retrieved and move them to the exit of the automated warehouse, based at least on the number of goods to be retrieved, the number of goods to be retrieved placed in the target partition, and the number of goods to be retrieved placed in the non-target partition. This includes: obtaining the position of the target partition and the position of the non-target partition; determining a first distance and a second distance based on the position of the target partition and the position of the non-target partition, wherein the first distance is the distance between the target partition and the exit of the automated warehouse, and the second distance is the distance between the non-target partition and the exit of the automated warehouse; and controlling the clamping structure to grasp a number of the goods to be retrieved and move them to the exit of the automated warehouse based on the first distance, the second distance, the number of goods to be retrieved, the number of goods to be retrieved stacked in the target partition, and the number of goods to be retrieved stacked in the non-target partition.

[0138] Optionally, there are multiple clamping structures. Based on the first distance, the second distance, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, the clamping structures are controlled to grab the quantity of goods to be retrieved and place them at the exit of the automated warehouse. This includes: obtaining the position of each clamping structure; calculating a first time based on the first distance and the position of each clamping structure, wherein the first time is the time when one or more clamping structures grab one item from the target area on average. The time to reach the exit of the automated warehouse; the second time is calculated based on the second distance and the position of each of the clamping structures, the second time being the average time for one or more of the clamping structures to grab one of the goods to be retrieved from the non-target area to the exit of the automated warehouse; based on the first time, the second time, the number of goods to be retrieved, the number of goods to be retrieved stacked in the target area, and the number of goods to be retrieved stacked in the non-target area, the clamping structures are controlled to grab the number of goods to be retrieved to the exit of the automated warehouse.

[0139] Optionally, based on the first time, the second time, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, controlling the clamping structure to grab the quantity of goods to be retrieved to the exit of the automated warehouse includes at least one of the following: when the quantity of goods to be retrieved stacked in the target area is greater than or equal to the quantity of goods to be retrieved and the first time is less than the second time, controlling the clamping structure to grab the quantity of goods to be retrieved from the target area to the exit of the automated warehouse; when the quantity of goods to be retrieved stacked in the non-target area is greater than or equal to the quantity of goods to be retrieved and the second time is less than the first time, controlling the clamping structure to grab the quantity of goods to be retrieved from the non-target area to the exit of the automated warehouse.

[0140] Optionally, the aforementioned automated warehouse includes a scheduling area, which is an area for temporarily storing the aforementioned goods. The method further includes: determining, based on a first type of pointer variable, that no non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved, wherein the first type of pointer variable indicates that no non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved; and determining, based on a second type of pointer variable, that non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved, wherein the second type of pointer variable indicates that non-retrievable goods are placed on the surface of the side to be grasped of the aforementioned goods to be retrieved.

[0141] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0142] Step S201: Obtain a shipping order, which includes the goods code of the goods to be picked up and the quantity of the goods to be picked up.

[0143] Step S202: Based on the cargo chain algorithm, determine the location of the cargo to be retrieved according to the cargo code of the cargo to be retrieved. The cargo chain algorithm is used to represent the relationship between the cargo code of each cargo in the automated warehouse and the location of each cargo in the automated warehouse.

[0144] Step S203: Based on the location of the goods to be retrieved and the quantity of the goods to be retrieved, control the clamping structure to grab the goods to be retrieved and place them at the exit of the automated warehouse.

[0145] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0146] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0147] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0148] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0149] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0150] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0151] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0152] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0153] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0154] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0155] 1) The retrieval method based on an automated warehouse (AS / RS) of this application is applied to the controller of a warehouse retrieval system. The warehouse retrieval system also includes at least one clamping structure and an AS / RS, which contains multiple goods. The clamping structure and the controller are communicatively connected. The method includes: obtaining a shipping order, which includes the goods code and quantity of the goods to be retrieved; determining the location of the goods to be retrieved based on a goods linked list algorithm, whereby the goods linked list algorithm represents the relationship between the goods code of each goods in the AS / RS and the location of each goods in the AS / RS; and controlling the clamping structure to grab the goods to be retrieved and move them to the exit of the AS / RS based on the location and quantity of the goods to be retrieved. This method utilizes an algorithm to retrieve mixed-stacked goods to the exit in the shortest possible time. Using a clamping structure instead of a trolley saves the space required for trolley operation on the ground, thus solving the problem of low efficiency in existing AS / RS-based retrieval methods.

[0156] 2) The controller of this application includes an acquisition unit, a determination unit, and a gripping unit. The acquisition unit acquires a shipping order, which includes the cargo code and quantity of the goods to be retrieved. The determination unit determines the location of the goods to be retrieved based on a cargo chain algorithm, using the cargo code to represent the relationship between the cargo code and the location of each cargo in the automated warehouse. The gripping unit controls a clamping structure to grip the goods to be retrieved and move them to the exit of the automated warehouse based on the location and quantity of the goods to be retrieved. This device uses an algorithm to retrieve mixed-stacked goods to the exit in the shortest time. Using a clamping structure instead of a trolley saves space that would otherwise be occupied by the trolley on the ground, thus solving the problem of low efficiency in existing automated warehouse retrieval methods.

[0157] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for retrieving goods based on an automated warehouse, characterized in that, A controller is used in a warehouse retrieval system, the warehouse retrieval system further including at least one clamping structure and an automated warehouse, the automated warehouse including multiple goods, the clamping structure and the controller being communicatively connected, the method further including: Obtain a shipping order, which includes the item code of the goods to be picked up and the quantity of the goods to be picked up; Based on the cargo chaining algorithm, the location of the cargo to be retrieved is determined according to the cargo code of the cargo to be retrieved. The cargo chaining algorithm is used to represent the relationship between the cargo code of each cargo in the automated warehouse and the location of each cargo in the automated warehouse. Based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grab the goods to be retrieved and place them at the exit of the automated warehouse. The automated warehouse includes a dispatch area, which is a temporary storage area for the goods. Based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grip the goods and move them to the exit of the automated warehouse. This includes: The clamping structure can grasp a target number of goods each time. There is at least one item to be retrieved and at least one item not to be retrieved. Each item not to be retrieved is located on the grasping side of all the items to be retrieved. All the items to be retrieved and all the items not to be retrieved are stacked in sequence to form a target column. If the number of items not to be retrieved in the target column is less than or equal to the target number, the position of the item not to be retrieved that is closest to the grasping side of the item to be retrieved in the target column is obtained. Based on the position of the item not to be retrieved that is closest to the grasping side of the item to be retrieved, the clamping structure is controlled to grasp all the items not to be retrieved in the target column in a single operation and temporarily store them in the scheduling area. If the number of non-pickup goods in the target column is greater than the target quantity, and the number of non-pickup goods is an integer multiple of the target quantity, the non-pickup goods are grabbed and moved to the scheduling area in N steps according to the first target position, where N is equal to the maximum value among integer multiples, and the number grabbed each time is the target quantity. The number of non-pickup goods between the non-pickup goods at the first target position and the non-pickup goods at the farthest position is an integer multiple of the target quantity minus one. The farthest position is the position of the non-pickup goods farthest from the surface of the pickup side of the pickup goods, where N≥2. If the number of non-pickup goods stacked on the target column is greater than the target quantity, and the number of non-pickup goods is not an integer multiple of the target quantity, the non-pickup goods are grabbed and moved to the scheduling area in M ​​steps according to the second target position. The number of non-pickup goods grabbed in the Mth step is less than the target quantity, and the number of non-pickup goods grabbed in the first M-1 steps is equal to the target quantity. The second target position includes the first target position and the position of the non-pickup goods in the target column that is closest to the grabbing side of the pickup goods. M≥2. After temporarily storing the non-retrievable goods in the scheduling area, the clamping structure is controlled to grab the goods to be retrieved and move them to the exit of the automated warehouse according to the location and quantity of the goods to be retrieved.

2. The picking method according to claim 1, characterized in that, The automated warehouse also includes multiple cargo zones, each containing goods with a corresponding cargo code. The method further includes: If no goods to be retrieved are placed on the surface of the side to be grabbed of the goods to be retrieved, and the goods to be retrieved are placed in both the target zone and the non-target zone, the clamping structure is controlled to first grab the goods to be retrieved from the non-target zone and move them to the exit of the automated warehouse. If the number of goods to be retrieved in the non-target zone is less than the number of goods to be retrieved, then the goods to be retrieved are grabbed from the target zone and moved to the exit of the automated warehouse.

3. The picking method according to claim 1, characterized in that, The automated warehouse also includes multiple cargo zones, each containing goods with a corresponding cargo code. Based on the location and quantity of the goods to be retrieved, the clamping structure is controlled to grip the goods and move them to the exit of the automated warehouse, including: When no non-retrievable goods are placed on the surface of the grabbing side of the goods to be retrieved and all the goods to be retrieved are placed in the target area, the clamping structure is controlled to grab the number of goods to be retrieved to the exit of the automated warehouse. When no goods to be retrieved are placed on the surface of the side to be grabbed of the goods to be retrieved, and the goods to be retrieved are placed in both the target partition and the non-target partition, the clamping structure is controlled to grab the number of goods to be retrieved to the exit of the automated warehouse, based at least on the number of goods to be retrieved, the number of goods to be retrieved placed in the target partition, and the number of goods to be retrieved placed in the non-target partition.

4. The picking method according to claim 3, characterized in that, The clamping structure has multiple components. When no non-retrievable goods are placed on the surface of the side to be gripped of the goods to be retrieved, and both the target and non-target zones contain goods to be retrieved, the clamping structure is controlled to grip a specified number of goods to be retrieved and move them to the exit of the automated warehouse, based at least on the quantity of goods to be retrieved, the quantity of goods to be retrieved in the target zone, and the quantity of goods to be retrieved in the non-target zone. This includes: Obtain the location of the target partition and the location of the non-target partition; Based on the location of the target partition and the location of the non-target partition, a first distance and a second distance are determined, wherein the first distance is the distance between the target partition and the exit of the automated warehouse, and the second distance is the distance between the non-target partition and the exit of the automated warehouse; Based on the first distance, the second distance, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target zone, and the quantity of goods to be retrieved stacked in the non-target zone, the clamping structure is controlled to grab the quantity of goods to be retrieved and place them at the exit of the automated warehouse.

5. The picking method according to claim 4, characterized in that, The clamping structure comprises multiple components. Based on the first distance, the second distance, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, the clamping structure is controlled to grip the quantity of goods to be retrieved and place them at the exit of the automated warehouse. This includes: Obtain the position of each of the clamping structures; Based on the first distance and the position of each clamping structure, a first time is calculated. The first time is the average time it takes for one or more clamping structures to grab a piece of goods to be retrieved from the target partition to the exit of the automated warehouse. Based on the second distance and the position of each of the clamping structures, a second time is calculated. The second time is the average time it takes for one or more of the clamping structures to grab a piece of goods to be retrieved from the non-target zone to the exit of the automated warehouse. Based on the first time, the second time, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, the clamping structure is controlled to grab the quantity of goods to be retrieved and place them at the exit of the automated warehouse.

6. The picking method according to claim 5, characterized in that, Based on the first time, the second time, the quantity of goods to be retrieved, the quantity of goods to be retrieved stacked in the target area, and the quantity of goods to be retrieved stacked in the non-target area, the clamping structure is controlled to grab the quantity of goods to be retrieved and place them at the exit of the automated warehouse, including at least one of the following: If the number of goods to be retrieved stacked in the target partition is greater than or equal to the number of goods to be retrieved and the first time is less than the second time, the clamping structure is controlled to grab the number of goods to be retrieved from the target partition and move them to the exit of the automated warehouse. If the number of goods to be retrieved stacked in the non-target partition is greater than or equal to the number of goods to be retrieved and the second time is less than the first time, the clamping structure is controlled to grab the number of goods to be retrieved from the non-target partition and move them to the exit of the automated warehouse.

7. The picking method according to any one of claims 1 to 6, characterized in that, The automated warehouse includes a dispatch area, which is a temporary storage area for the goods. The method further includes: The first type of pointer variable determines that there is no non-retrievable item placed on the surface of the side to be grasped of the item to be retrieved. The first type of pointer variable indicates that there is no non-retrievable item placed on the surface of the side to be grasped of the item to be retrieved. The second type of pointer variable determines that the non-retrievable goods are placed on the surface of the side to be grasped of the goods to be retrieved. The second type of pointer variable indicates that the non-retrievable goods are placed on the surface of the side to be grasped of the goods to be retrieved.

8. A controller, characterized in that, The controller is used to execute the retrieval method based on an automated warehouse as described in any one of claims 1 to 7, and the controller further includes: An acquisition unit is used to acquire a shipping order, wherein the shipping order includes the cargo code of the goods to be picked up and the quantity of the goods to be picked up; The determining unit is used to determine the location of the goods to be retrieved based on the goods code of the goods to be retrieved according to the goods list algorithm. The goods list algorithm is used to represent the relationship between the goods code of each goods in the automated warehouse and the location of each goods in the automated warehouse. The gripping unit is used to control the clamping structure to grip the goods to be retrieved and move them to the exit of the automated warehouse according to the location and quantity of the goods to be retrieved.

Images