Storage management method for stacked boxes and related devices

Abstract

The application provides a warehouse management method for stacked boxes and related devices, applied to a terminal device of a warehouse management system. The method comprises: when detecting a warehousing task, determining a target warehousing instruction according to warehousing information corresponding to the warehousing task, and sending the target warehousing instruction to the warehousing robot, so that the warehousing robot simultaneously places multiple target warehousing stacked boxes on a target storage location; when detecting a delivery task, determining a target delivery instruction according to delivery information corresponding to the delivery task, and sending the target delivery instruction to the warehousing robot, so that the warehousing robot simultaneously takes out multiple target delivery stacked boxes and transports them to a target delivery location. In this way, the specific application of stacked boxes in the field of intelligent warehousing is realized, the boxes can be stably stacked and stored in the warehouse, the vertical space utilization rate of the same location is improved, the warehouse management cost is saved, and the intelligence of the system is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of intelligent warehousing, and particularly relates to a warehousing management method for stacked boxes and related devices. BACKGROUND

[0002] In recent years, the technology of applying robots to the field of intelligent warehousing has become more mature. In the existing intelligent warehousing management system, the robot will usually directly carry the goods box to the designated storage location in the warehouse after receiving the carrying instruction, so as to realize the effect of one goods box corresponding to one storage location. Although this is convenient for partition management, it will lead to low utilization rate of the storage location in the vertical direction. SUMMARY

[0003] The present application provides a warehousing management method for stacked boxes and related devices, so as to unify the warehousing management unit into stacked boxes, improve the utilization rate of the storage location in the vertical direction, and save the warehousing management cost.

[0004] In a first aspect, the present application provides a warehousing management method for stacked boxes, applied to a terminal device of a warehousing management system, wherein the warehousing management system comprises the terminal device and a warehousing robot, the terminal device is in communication connection with the warehousing robot, and the method comprises the following steps:

[0005] When a warehousing task is detected, a target warehousing instruction is determined according to the warehousing information corresponding to the warehousing task, and the target warehousing instruction is sent to the warehousing robot, so that the warehousing robot places a plurality of target warehousing stacked boxes on a target storage location at the same time, wherein the warehousing information comprises the information of the plurality of target warehousing stacked boxes;

[0006] When a storage task is detected, a target storage instruction is determined according to the storage information corresponding to the storage task, and the target storage instruction is sent to the warehousing robot, so that the warehousing robot takes out a plurality of target storage stacked boxes and transports them to a target storage location at the same time, wherein the storage information comprises the information of the plurality of target storage stacked boxes.

[0007] Further, the warehouse robot comprises a first warehouse robot, and the method comprises: determining a target storage instruction according to the storage information corresponding to the storage task, and sending the target storage instruction to the warehouse robot, so that the warehouse robot simultaneously places a plurality of target storage stacked boxes on a target storage location.

[0008] Further, the warehouse robot further comprises a second warehouse robot and a third warehouse robot, and before the determining of the target storage instruction according to the storage information corresponding to the storage task and the sending of the target storage instruction to the warehouse robot, the method further comprises: sending a first stacking instruction to the second warehouse robot, so that the second warehouse robot stacks the plurality of target storage stacked boxes; and sending a transportation instruction to the third warehouse robot, so that the third warehouse robot transports the plurality of target storage stacked boxes stacked together to the conveying line.

[0009] Further, the determining of the target storage instruction of the plurality of target storage stacked boxes when the height and the weight of the plurality of target storage stacked boxes meet the storage condition comprises: determining a target storage location according to the first height and the first weight of the plurality of target storage stacked boxes when the first height and the first weight of the plurality of target storage stacked boxes meet the storage condition; and generating the target storage instruction of the plurality of target storage stacked boxes according to the target storage location.

[0010] Further, the determining of the target storage location according to the first height and the first weight of the plurality of target storage stacked boxes comprises: determining a plurality of reference storage locations according to the first height and the first weight of the plurality of target storage stacked boxes; determining any unfull storage location in the plurality of reference storage locations as the target storage location if there is an unfull storage location in the plurality of reference storage locations, the unfull storage location being a storage location in which one or more stacked boxes already exist; and determining any empty storage location in the plurality of reference storage locations as the target storage location if there is no unfull storage location in the plurality of reference storage locations, the empty storage location being a storage location in which no stacked box exists.

[0011] Further, the determining the plurality of reference storage locations according to the first height and the first weight of the plurality of target storage boxes includes: determining the height and the weight of the storage boxes already stored in each storage location; and determining the plurality of reference storage locations capable of accommodating the plurality of target storage boxes according to the maximum height and the maximum weight capable of being carried by each storage location, the height and the weight of the storage boxes already stored in each storage location, and the first height and the first weight of the plurality of target storage boxes.

[0012] Further, the determining the target storage location according to the first height and the first weight of the plurality of target storage boxes includes: if there is no storage location satisfying the first height and the first weight of the plurality of target storage boxes, sending a splitting instruction to a fourth warehouse robot, the splitting instruction being used for the fourth warehouse robot to split the plurality of target storage boxes stacked together into at least two stacks of target storage boxes; and determining the target storage location of each stack of the target storage boxes according to the height and the weight of each stack of the at least two stacks of target storage boxes.

[0013] Further, after the target delivery instruction is determined according to the delivery information corresponding to the delivery task and is sent to the warehouse robot to make the warehouse robot simultaneously take out and deliver a plurality of target delivery stacked boxes to a target delivery location, the method further includes: when a picking operation for the plurality of target delivery stacked boxes is completed, obtaining a second height and a second weight of the plurality of target delivery stacked boxes after the picking operation is completed; and if the second height is lower than a height threshold value and / or the second weight is lower than a weight threshold value, sending a second stacking instruction to a fifth warehouse robot, the second stacking instruction being used for the fifth warehouse robot to stack at least one empty box to the plurality of target delivery stacked boxes after the picking operation is completed, so that the plurality of target delivery stacked boxes after the picking operation satisfy a storage condition.

[0014] In a second aspect, an embodiment of the present application provides a warehouse management device for stacked boxes, applied to a terminal device of a warehouse management system, the warehouse management system including the terminal device and a warehouse robot, the terminal device being in communication connection with the warehouse robot, and the device including:

[0015] The storage operation execution unit is configured to, when a storage task is detected, determine a target storage instruction according to storage information corresponding to the storage task, and send the target storage instruction to the warehouse robot, so that the warehouse robot simultaneously places a plurality of target storage stacked boxes on a target storage location, the storage information including information of the plurality of target storage stacked boxes.

[0016] The warehouse-out operation execution unit is configured to, when a warehouse-out task is detected, determine a target warehouse-out instruction according to warehouse-out information corresponding to the warehouse-out task, and send the target warehouse-out instruction to the warehouse robot, so that the warehouse robot simultaneously takes out and transports a plurality of target warehouse-out stacked boxes to a target warehouse-out position, wherein the warehouse-out information comprises information of the plurality of target warehouse-out stacked boxes.

[0017] In a third aspect, an embodiment of the present application provides a terminal device, comprising a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor, and the program comprises instructions for performing the steps in the first aspect of the embodiments of the present application.

[0018] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium having stored thereon a computer program / instructions, which, when executed by a processor, implements the steps in the first aspect of the embodiments of the present application.

[0019] It can be seen that, in the embodiments of the present application, the terminal device can, when a warehouse-in task is detected, determine a target warehouse-in instruction according to warehouse-in information corresponding to the warehouse-in task, and send the target warehouse-in instruction to the warehouse robot, so that the warehouse robot simultaneously places a plurality of target warehouse-in stacked boxes on a target storage location, and when a warehouse-out task is detected, determine a target warehouse-out instruction according to warehouse-out information corresponding to the warehouse-out task, and send the target warehouse-out instruction to the warehouse robot, so that the warehouse robot simultaneously takes out and transports a plurality of target warehouse-out stacked boxes to a target warehouse-out position. In this way, the specific application of stacked boxes in the warehouse field is realized, the warehouse management is more standardized, rationalized and convenient, the cargo boxes can be stably stacked and stored in the warehouse, the vertical space utilization rate of the same storage location is improved, the warehouse management cost is saved, and the intelligence of the system is improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0021] Figure 1 is a structural block diagram of a warehouse management system provided by an embodiment of the present application;

[0022] Figure 2 is a flowchart of a warehouse management method for stacked boxes provided by an embodiment of the present application;

[0023] Figure 3ais a stacking example diagram for a target warehouse-in stacking box provided by an embodiment of the present application;

[0024] Figure 3b is another stacking example diagram for a target warehouse-in stacking box provided by an embodiment of the present application;

[0025] Figure 4a is a functional unit component block diagram of a warehouse management device for a stacking box provided by an embodiment of the present application;

[0026] Figure 4b is another functional unit component block diagram of a warehouse management device for a stacking box provided by an embodiment of the present application;

[0027] Figure 5 is a structural block diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] The terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0030] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor does it necessarily refer to a separate or alternative embodiment. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with each other.

[0031] In the existing warehouse management system, on the one hand, due to the non-uniform size of the boxes, the size of the boxes does not match the size of the storage location in most cases, which may cause the robot to be misaligned when moving the box to the storage location, resulting in warehouse chaos, which is not conducive to management. On the other hand, due to the non-uniform shape and material of the boxes, some boxes made of easily deformable materials may deform under the pressure of the stored goods, making it difficult to stack goods in the same storage location and increasing the risk of collapse. Therefore, a method of one box corresponding to one storage location is generally used. Although this method is convenient for partition management, it may result in low utilization of storage locations in the vertical direction and increase the cost of warehouse management.

[0032] To solve the above problems, the embodiments of the present application provide a warehouse management method for stacked boxes, which is applied to a terminal device of a warehouse management system. In the warehouse management system, the basic storage unit is uniformly stacked boxes, which are made of materials that are not easy to deform. The length and width of stacked boxes of different specifications are the same, and the height is different. They can be stacked and placed two by two and are not easy to fall over. Based on the warehouse management method for stacked boxes provided by the embodiments of the present application, the application of stacked boxes in intelligent warehousing can be realized, making warehouse management more standardized, rationalized, and convenient. The boxes can be stably stacked and stored in the warehouse, improving the utilization of vertical space in the same storage location and saving the cost of warehouse management.

[0033] The system architecture provided by the embodiments of the present application is introduced below.

[0034] Please refer to Figure 1 , Figure 1 is a structural block diagram of a warehouse management system provided by the embodiments of the present application. As shown in Figure 1 , the warehouse management system 10 includes a terminal device 11 and a warehouse robot 12, the terminal device 11 and the warehouse robot 12 are communicatively connected, the terminal device 11 is used to generate a target storage instruction or a target storage instruction according to the storage information or the storage information, and the target storage instruction or the target storage instruction is sent to the warehouse robot 12 through a communication link, the warehouse robot 12 is used to respond to the instruction sent by the terminal device 11, thereby performing storage, storage and other operations on stacked boxes, and realizing warehouse management for stacked boxes. Among them, the terminal device 11 can be a mobile phone terminal, a tablet computer, a personal computer, a server, a notebook computer and other intelligent devices, the warehouse robot 12 can be an intelligent robot with a device for transporting heavy objects, can receive dispatching instructions from the terminal device 11 and perform corresponding tasks, and the device for transporting heavy objects can be a pallet, a mechanical arm, a storage rack, a storage unit and other physical devices.

[0035] A warehouse management method for stacked boxes provided by the embodiments of the present application is introduced below.

[0036] Referring to Figure 2 , Figure 2 is a flowchart of a warehouse management method for stacked boxes provided by an embodiment of the present application. The method is applied to a terminal device 11 as shown in Figure 1 , and as shown in Figure 2 , the method comprises:

[0037] Step 201: When a warehousing task is detected, a target warehousing instruction is determined according to warehousing information corresponding to the warehousing task, and the target warehousing instruction is sent to the warehousing robot, so that the warehousing robot places multiple target warehousing stacked boxes on a target storage location at the same time.

[0038] Among them, the warehousing information includes information of the multiple target warehousing stacked boxes. Specifically, the information of the multiple target warehousing stacked boxes can be the size and quantity of the warehousing stacked boxes to be stored in this warehousing task.

[0039] Among them, the multiple target warehousing stacked boxes are multiple warehousing stacked boxes that need to be stored in the same location, that is, multiple warehousing stacked boxes stacked together. That is, the robot can take multiple target warehousing stacked boxes as a whole to achieve one-time handling.

[0040] Among them, the types of materials in the multiple warehousing stacked boxes stacked together can be the same or different, which is not limited here.

[0041] In one possible example, the warehousing robot includes a first warehousing robot. The target warehousing instruction is determined according to the warehousing information corresponding to the warehousing task, and the target warehousing instruction is sent to the warehousing robot, so that the warehousing robot places multiple target warehousing stacked boxes on a target storage location at the same time. It includes: obtaining the first height and first weight of the multiple target warehousing stacked boxes detected by the conveying line; when the first height and first weight of the multiple target warehousing stacked boxes meet the warehousing condition, the target warehousing instruction of the multiple target warehousing stacked boxes is generated, and the target warehousing instruction is sent to the first warehousing robot, so that the first warehousing robot transports the multiple target warehousing stacked boxes from the conveying line to the target storage location at the same time.

[0042] The first storage robot can be a robot with carrying, transporting and bin storage capabilities, and has strong cargo carrying capacity. The height measuring device and the weight measuring device are installed on the conveying line to measure the height and weight of the stacked boxes. The storage conditions can be a unified height range and weight range preset for all storage locations in the warehouse. In the storage process, the height and weight of the stacked target storage stacked boxes are detected by the conveying line. When the height and weight meet the storage conditions, a target storage instruction is generated and sent to the first storage robot. The first storage robot responds to the target storage instruction and transports the multiple target storage stacked boxes from the conveying line to the target storage location to complete the storage process. Alternatively, the task of stacking multiple target storage stacked boxes can also be completed by a worker.

[0043] The height range and the weight range can be understood as the height range and the weight range of the stacked boxes that the first storage robot can carry, and the height range and the weight range of the stacked boxes that the storage location can store. For example, if the height and the weight are lower than the height range or the weight range, the forks of the first storage robot cannot obtain the multiple target stacked boxes. If the height and the weight are higher than the height range or the weight range, the first storage robot and the storage location cannot store the multiple target stacked boxes.

[0044] It can be seen that in the example, the terminal device can obtain the first height and the first weight of the multiple target storage stacked boxes detected by the conveying line. When the first height and the first weight meet the storage conditions, a target storage instruction is generated and sent to the first storage robot, so that the first storage robot transports the multiple target storage stacked boxes to the target storage location to complete the storage operation, realizes the specific application of the stacked boxes in the storage process in the intelligent storage field, and saves the storage management cost.

[0045] In one possible example, the storage robot further includes a second storage robot and a third storage robot. Before the target storage instruction is determined according to the storage information corresponding to the storage task and sent to the storage robot, the method further includes: sending a first stacking instruction to the second storage robot to make the second storage robot stack the multiple target storage stacked boxes; and sending a transportation instruction to the third storage robot to make the third storage robot carry the multiple target storage stacked boxes stacked together to the conveying line.

[0046] The first warehouse robot, the second warehouse robot, and the third warehouse robot can be the same robot or different robots, and the second warehouse robot can be a robot with a stacking function and can execute a stacking instruction transmitted by the terminal device for the stacked boxes, and the third warehouse robot can be a robot with only a carrying function or a robot with a specific carrying and storage function.

[0047] For example, the height range required by the storage condition is [50, 350] (unit: millimeter), and the weight range is [10, 50] (unit: kilogram). Please refer to Figure 3a , Figure 3a is a stacking example diagram provided by the embodiment of the present application for the target storage stacked box, wherein, for the convenience of understanding and description, the fixed cover of the stacked box for stabilizing the stacking shape is omitted in the diagram, such as Figure 3aAs shown, the specifications indicated by the current storage task in the area 30 are target storage stacking boxes with a size of 600*400*50 (representing a stacking box with a length of 600 mm, a width of 400 mm, and a height of 50 mm), and there are 5 of them. At this time, the terminal device controls the second warehouse robot to stack the above-mentioned 5 target storage stacking boxes into the state in the first area 31, that is, to stack the above-mentioned 5 target storage stacking boxes into one whole, to obtain the above-mentioned multiple target storage stacking boxes 311, and then controls the third warehouse robot to transport the multiple target storage stacking boxes 311 to the conveying line, and through the conveying line measurement, the first height h of the multiple target storage stacking boxes 311 is 250 mm, and the first weight is 40 kg. Since the first height and the first weight are both within the height range and the weight range required by the storage condition, the terminal device or the conveying line determines that the multiple target storage stacking boxes 311 meet the storage condition.

[0048] Please refer to Figure 3b , Figure 3b is another stacking example of the target storage stacking box provided by the embodiment of the present application. In order to facilitate understanding and description, the fixed cover of the stacking box for stabilizing the stacking shape is omitted in the figure, such as Figure 3b As shown, the specifications indicated by the current storage task in the area 3b are target storage stacking boxes with a size of 600*400*50, and there are 10 of them. At this time, the terminal device controls the second warehouse robot to stack the above-mentioned 10 target stacking boxes into the state in the first area 31, that is, to stack the above-mentioned 10 target storage stacking boxes into one whole, to obtain the above-mentioned multiple target storage stacking boxes 311, and then controls the third warehouse robot to transport the multiple target storage stacking boxes 311 to the conveying line, and through the conveying line measurement, the height h1 of the multiple target storage stacking boxes 311 is 500 mm, and the weight is 80 kg. Since the height and the weight do not meet the height range and the weight range required by the storage condition, the terminal device or the conveying line determines that the multiple target storage stacking boxes 311 do not meet the storage condition. At this time, the terminal device controls the fourth warehouse robot to split the multiple target storage stacking boxes 311 into the state in the second area 32, that is, to split the multiple target storage stacking boxes 311 into the first target box 321 and the second target box 322. Through the conveying line measurement, the height h2 of the first target box 321 is 250 mm, and the weight is 40 kg. The height h3 of the second target box 322 is 250 mm, and the weight is 40 kg. It is determined that the first target box 321 and the second target box 322 both meet the storage condition. It should be noted that the above-mentioned splitting method is only one of a plurality of splitting methods. In specific applications, the terminal device can also control the fourth warehouse robot to split the multiple target storage stacking boxes by other splitting methods, such as splitting into a third target box, a fourth target box, and a fifth target box, etc.

[0049] It can be seen that in this example, the terminal device can control the second warehouse robot to stack multiple target warehouse-in boxes, and control the third warehouse robot to transport the multiple target warehouse-in boxes stacked together to the conveying line for height and weight detection, thereby realizing automatic stacking and transportation of the warehouse-in boxes before storage, and improving the intelligence of the system and the efficiency of warehouse management.

[0050] In one possible example, when the height and weight of the multiple target warehouse-in stacked boxes meet the warehouse-in condition, the target warehouse-in instruction of the multiple target warehouse-in stacked boxes is generated, including: when the first height and the first weight of the multiple target warehouse-in stacked boxes meet the warehouse-in condition, determining the target storage location according to the first height and the first weight of the multiple target warehouse-in stacked boxes; and generating the target warehouse-in instruction of the multiple target warehouse-in stacked boxes according to the target storage location.

[0051] The warehouse-in condition can be a unified height range and weight range preset for all storage locations in the warehouse, which is used to measure whether the multiple target warehouse-in stacked boxes are allowed to be warehoused. In one case of this example, when the multiple target warehouse-in stacked boxes are allowed to be warehoused, due to the differences in the actual height range and the actual weight range that can be carried by different storage locations, the multiple target warehouse-in stacked boxes need to be allocated with appropriate target storage locations, and then the warehouse-in process is completed. For example, the first height of the multiple target warehouse-in stacked boxes is 250 mm, and the first weight is 40 kg, which meets the warehouse-in condition, but there are a first location and a second location in the warehouse, wherein the first location can carry a height range of [50, 100] (unit: mm) and a weight range of [10, 20] (unit: kg), and the second location can carry a height range of [50, 300] (unit: mm) and a weight range of [10, 45] (unit: kg). The first location cannot accommodate the multiple target warehouse-in stacked boxes, but the second location can accommodate the multiple target warehouse-in stacked boxes. At this time, the terminal device can determine the second location as the target storage location.

[0052] In another case, the height range and the weight range that can be carried by all storage locations in the warehouse are the same, and then the first height and the first weight of the current multiple target warehouse-in stacked boxes are used to find the location, which can be to first determine the empty location, or to first determine the location where one or more stacked boxes are stored. When the determined location is the location where one or more stacked boxes are stored, the total height and the total weight of the location will not exceed the height range and the weight range when the multiple target warehouse-in stacked boxes are stacked on the one or more stacked boxes already stored.

[0053] It can be seen that in the example, when the terminal device detects that the first height and the first weight of the plurality of target storage stacked boxes meet the storage condition, the target storage location can be determined according to the first height and the first weight, so that the plurality of target storage stacked boxes can be allocated to appropriate storage locations, the accuracy of the storage operation is ensured, and the intelligence of the system is improved.

[0054] In a possible example, the target storage location is determined according to the first height and the first weight of the plurality of target storage stacked boxes, including: determining a plurality of reference locations according to the first height and the first weight of the plurality of target storage stacked boxes; if there is an unfull location in the plurality of reference locations, any unfull location in the plurality of reference locations is determined as the target storage location, the unfull location refers to a storage location where one or more stacked boxes already exist; if there is no unfull location in the plurality of reference locations, any empty location in the plurality of reference locations is determined as the target storage location, the empty location refers to a storage location where no stacked box exists.

[0055] In the example, when there is an unfull location in the reference location, the terminal device will preferentially allocate the unfull location to store the plurality of target storage stacked boxes, so as to maximize the vertical space utilization of the same location and save the warehouse management cost.

[0056] It can be seen that in the example, when the terminal device allocates the target storage stacked box to the storage location, the unfull location meeting the condition is preferentially allocated, so as to maximize the vertical space utilization of the same location and save the warehouse management cost.

[0057] In a possible example, the plurality of reference locations are determined according to the first height and the first weight of the plurality of target storage stacked boxes, including: determining the height and weight of the stacked boxes already stored in each location; determining the plurality of reference locations that can accommodate the plurality of target storage stacked boxes according to the maximum height and the maximum weight that each location can carry, the height and weight of the stacked boxes already stored in each location, and the first height and the first weight of the plurality of target storage stacked boxes.

[0058] Specifically, the height range and the weight range that the remaining accommodation space of each location can carry can be obtained by subtracting the height and weight of the stacked boxes already stored in each location from the maximum height and the maximum weight that each location can carry, and when the height range that the remaining accommodation space of each location can carry contains the first height and the weight range that the remaining accommodation space of each location can carry contains the first weight, the location is determined as the reference location.

[0059] It can be seen that in the example, the terminal device first calculates the height range and weight range that can be carried by the remaining storage space of each storage location, and then compares the first height and the first weight to accurately determine the reference storage location to be allocated, thereby improving the accuracy of the warehousing operation and the intelligence of the system, and saving the cost of warehouse management.

[0060] In one possible example, the determining the target storage location according to the first height and the first weight of the plurality of target in-warehouse stacked boxes includes: if there is no storage location that meets the first height and the first weight of the plurality of target in-warehouse stacked boxes, sending a splitting instruction to the fourth warehouse robot, the splitting instruction being used for the fourth warehouse robot to split the plurality of target in-warehouse stacked boxes stacked together into at least two stacks of target boxes; and determining the target storage location for each stack of the at least two stacks of target boxes according to the height and the weight of each stack of the at least two stacks of target boxes.

[0061] The splitting manner in which the fourth warehouse robot splits the plurality of target in-warehouse stacked boxes stacked together into at least two stacks of target boxes can be various, for example, can be splitting according to the number of stacked boxes, can be splitting according to the weight of stacked boxes, etc., which is not limited here.

[0062] The fourth warehouse robot can be a robot developed for the function of unstacking, and can execute the splitting instruction for the plurality of stacked boxes stacked together transmitted by the terminal device. Specifically, the determining the target storage location for each stack of the at least two stacks of target boxes according to the height and the weight of each stack of the at least two stacks of target boxes includes: for each stack of the at least two stacks of target boxes, performing the following operations: determining whether there is a storage location that can accommodate the target box currently processed according to the height and the weight of the target box currently processed; if yes, determining the storage location that can accommodate the target box currently processed as the target storage location corresponding to the target box currently processed; if no, sending a splitting instruction again to the fourth warehouse robot to make the fourth warehouse robot split the target box that does not have a corresponding storage location into at least two stacks of boxes again; and determining the corresponding target storage location according to the height and the weight of each stack of boxes; and repeating the above steps until all target boxes in the at least two stacks of target boxes are processed.

[0063] It can be seen that in the example, when there is no storage location in the warehouse that can accommodate the plurality of target in-warehouse stacked boxes stacked together, the terminal device can send a splitting instruction to the third warehouse robot to make the third warehouse robot split the plurality of target in-warehouse stacked boxes into at least two stacks of target boxes, and then allocate a storage location for each target box, thereby improving the intelligence of the system, improving the utilization rate of each storage location in the vertical space, and saving the cost of warehouse management.

[0064] In step 202, when the warehouse-out task is detected, a target warehouse-out instruction is determined according to warehouse-out information corresponding to the warehouse-out task, and the target warehouse-out instruction is sent to the warehouse robot, so that the warehouse robot takes out and transports a plurality of target warehouse-out stacked boxes to a target warehouse-out position at the same time.

[0065] The warehouse-out information includes information of the plurality of target warehouse-out stacked boxes, and the information of the plurality of target warehouse-out stacked boxes can be the storage positions of the plurality of target warehouse-out stacked boxes.

[0066] The plurality of target warehouse-out stacked boxes can be all stacked boxes on one storage location, or can be part of the stacked boxes on one storage location, which is not limited herein.

[0067] In one possible example, after the step of detecting the warehouse-out task, determining the target warehouse-out instruction according to the warehouse-out information corresponding to the warehouse-out task, and sending the target warehouse-out instruction to the warehouse robot so that the warehouse robot takes out and transports the plurality of target warehouse-out stacked boxes to the target warehouse-out position at the same time, the method further includes: when the picking operation for the plurality of target warehouse-out stacked boxes is completed, obtaining a second height and a second weight of the plurality of target warehouse-out stacked boxes after the picking operation is completed; if the second height is lower than a height threshold value, and / or the second weight is lower than a weight threshold value, a second stacking instruction is sent to a fifth warehouse robot, the second stacking instruction being used to make the fifth warehouse robot stack at least one empty box to the plurality of target warehouse-out stacked boxes after the picking operation is completed, so that the plurality of target warehouse-out stacked boxes after the picking operation is completed meet the warehouse-in condition.

[0068] The picking operation can be specifically that a worker starts picking the multiple target outbound stacked boxes from the top stacked box according to the demand quantity corresponding to the outbound task, and takes down the stacked box (empty box) every time the goods in the stacked box are picked out, and starts picking the goods in the next stacked box until the quantity / weight of the picked goods reaches the demand quantity corresponding to the outbound task. At this time, if the second height of the remaining target outbound stacked box is lower than the height threshold, and / or the second weight is lower than the weight threshold, it indicates that the remaining target outbound stacked box does not meet the storage condition, and at this time the fifth warehouse robot is used to stack the empty box on the above-mentioned remaining target outbound stacked box, so that the target outbound stacked box after picking meets the storage condition, and realizes the storage. The height threshold can be specifically the minimum value of the height range required by the storage condition, and the weight threshold can be specifically the minimum value of the weight range required by the storage condition. Taking the height range [50, 350] (unit: millimeter) and the weight range [10, 50] (unit: kilogram) as an example, if the second height is lower than 50 millimeters, and / or the second weight is lower than 10 kilograms, it is determined that the storage condition is not met. The fifth warehouse robot can be a robot developed focusing on the stacking function, which can execute the stacking instruction for the stacked box transmitted by the terminal device. The fifth warehouse robot can be the same as or different from the first warehouse robot, the second warehouse robot, the third warehouse robot, and the fourth warehouse robot, and is not limited herein. The at least one empty box stacked on the multiple target outbound stacked boxes after picking can be the empty box taken down in the current picking operation, or can be an empty box obtained through other channels, and is not limited herein.

[0069] It can be seen that in the present example, after the picking operation in the outbound process is completed, the terminal device can control the fifth warehouse robot to stack an empty box when the multiple target outbound stacked boxes after picking do not meet the storage condition, so as to meet the storage condition, thereby completing the storage process of the stacked box, realizing the automated application of the stacked box in the outbound process, and improving the intelligence of the system.

[0070] In other possible examples, the determining the target storage bin according to the first height and the first weight of the plurality of target inbound stacked boxes includes: determining a plurality of reference bins according to the first height and the first weight of the plurality of target inbound stacked boxes; and determining a target reference bin as the target storage bin if the target reference bin exists in the plurality of reference bins, wherein the target reference bin has one or more reference stacked boxes that store the same type of goods as the plurality of target inbound stacked boxes. In this possible example, the terminal device prioritizes the allocation of the target storage bin according to the type of goods stored when allocating the target storage bin for the target inbound stacked boxes, and stores the stacked boxes of the same type of goods together, which is more convenient for warehouse management and improves the intelligence of the system.

[0071] As can be seen, in this example, the terminal device can determine a target inbound instruction according to inbound information corresponding to an inbound task when detecting the inbound task, and send the target inbound instruction to the warehousing robot, so that the warehousing robot places a plurality of target inbound stacked boxes on a target storage bin at the same time, and determine a target outbound instruction according to outbound information corresponding to an outbound task when detecting the outbound task, and send the target outbound instruction to the warehousing robot, so that the warehousing robot takes out a plurality of target outbound stacked boxes and transports them to a target outbound position at the same time. In this way, the application of stacked boxes in the warehousing field is realized, making the warehousing management more standardized, reasonable, and convenient, and enabling the stacked boxes to be stably stacked and stored in the warehouse, improving the vertical space utilization rate of the same storage bin, saving warehousing management costs, and improving the intelligence of the system.

[0072] Consistent with the above-described embodiments, please refer to Figure 4a , Figure 4a is a functional unit composition block diagram of a warehousing management device for stacked boxes provided by the embodiments of the present application, which is applied to a terminal device 11 as shown in Figure 1 The warehousing management device 40 for stacked boxes includes: an inbound operation execution unit 401 configured to determine a target inbound instruction according to inbound information corresponding to an inbound task when detecting the inbound task, and send the target inbound instruction to the warehousing robot, so that the warehousing robot places a plurality of target inbound stacked boxes on a target storage bin at the same time, wherein the inbound information includes information of the plurality of target inbound stacked boxes; and an outbound operation execution unit 402 configured to determine a target outbound instruction according to outbound information corresponding to an outbound task when detecting the outbound task, and send the target outbound instruction to the warehousing robot, so that the warehousing robot takes out a plurality of target outbound stacked boxes and transports them to a target outbound position at the same time, wherein the outbound information includes information of the plurality of target outbound stacked boxes.

[0073] In a possible example, the warehouse robot includes a first warehouse robot, and the warehouse operation execution unit 401 is specifically configured to: acquire a first height and a first weight of the multiple target inbound stacked cases detected by the conveying line; and generate the target inbound instruction of the multiple target inbound stacked cases and send the target inbound instruction to the first warehouse robot, so that the first warehouse robot simultaneously transports the multiple target inbound stacked cases from the conveying line to the target storage location, when the first height and the first weight of the multiple target inbound stacked cases satisfy an inbound condition.

[0074] In a possible example, the warehouse robot further includes a second warehouse robot and a third warehouse robot, and before the warehouse management apparatus 40 determines the target inbound instruction according to the inbound information corresponding to the inbound task and sends the target inbound instruction to the warehouse robot, the warehouse management apparatus 40 is further configured to: send a first stacking instruction to the second warehouse robot, so that the second warehouse robot stacks the multiple target inbound stacked cases; and send a transportation instruction to the third warehouse robot, so that the third warehouse robot transports the multiple target inbound stacked cases stacked together to the conveying line.

[0075] In a possible example, when the height and the weight of the multiple target inbound stacked cases satisfy the inbound condition, the warehouse operation execution unit 401 is specifically configured to: determine the target storage location according to the first height and the first weight of the multiple target inbound stacked cases, when the first height and the first weight of the multiple target inbound stacked cases satisfy the inbound condition; and generate the target inbound instruction of the multiple target inbound stacked cases according to the target storage location.

[0076] In a possible example, when the height and the weight of the multiple target inbound stacked cases satisfy the inbound condition, the warehouse operation execution unit 401 is specifically configured to: determine the target storage location according to the first height and the first weight of the multiple target inbound stacked cases, when the first height and the first weight of the multiple target inbound stacked cases satisfy the inbound condition; and generate the target inbound instruction of the multiple target inbound stacked cases according to the target storage location.

[0077] In one possible example, regarding the determination of multiple reference storage locations based on the first height and first weight of the multiple target inbound stacked boxes, the inbound operation execution unit 401 is specifically configured to: determine the height and weight of the stacked boxes already stored in each storage location; and determine the multiple reference storage locations capable of accommodating the multiple target inbound stacked boxes based on the maximum height and maximum weight that each storage location can bear, the height and weight of the stacked boxes already stored in each storage location, and the first height and first weight of the multiple target inbound stacked boxes.

[0078] In one possible example, regarding the determination of the target storage location based on the first height and first weight of the plurality of target storage stacked boxes, the storage operation execution unit 401 is specifically configured to: if there is no storage location that satisfies the first height and first weight of the plurality of target storage stacked boxes, send a splitting instruction to the fourth storage robot, the splitting instruction being used by the fourth storage robot to split the plurality of target storage stacked boxes stacked together into at least two stacks of target boxes; and determine the target storage location for each stack of target boxes based on the height and weight of each stack of target boxes in the at least two stacks of target boxes.

[0079] In one possible example, when an outbound task is detected, after determining the target outbound instruction based on the outbound information corresponding to the outbound task and sending the target outbound instruction to the warehouse robot so that the warehouse robot can simultaneously retrieve and transport multiple target outbound stacked boxes to the target outbound location, the warehouse management device 40 for the stacked boxes is further configured to: when the picking operation for the multiple target outbound stacked boxes is completed, obtain the second height and second weight of the multiple target outbound stacked boxes after picking; if the second height is lower than a height threshold and / or the second weight is lower than a weight threshold, send a second stacking instruction to the fifth warehouse robot, the second stacking instruction being used to cause the fifth warehouse robot to stack at least one empty box onto the multiple target outbound stacked boxes after picking, so that the multiple target outbound stacked boxes after picking meet the warehousing conditions.

[0080] It is understood that since the method embodiments and the device embodiments are different presentations of the same technical concept, the content of the method embodiment section in this application should be adapted to the device embodiment section in a synchronous manner, and will not be repeated here.

[0081] When using integrated units, such as Figure 4b As shown, Figure 4b This is a functional unit block diagram of another storage management device for stacked boxes provided in this application embodiment. Figure 4bThe storage management device 40 for stackable boxes includes a processing module 42 and a communication module 41. The processing module 42 controls and manages the operations of the storage management device for stackable boxes, for example, executing the steps of the inbound operation execution unit 401 and the outbound operation execution unit 402, and / or executing other processes of the technology described herein. The communication module 41 supports interaction between the storage management device for stackable boxes and other devices. Figure 4b As shown, the storage management device for stacked boxes may further include a storage module 43, which is used to store program code and data for the storage management device for stacked boxes.

[0082] The processing module 42 can be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 41 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 43 can be a memory.

[0083] All relevant content in each scenario involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here. The above-mentioned warehouse management device 40 for stacked boxes can all perform the above-mentioned... Figure 2 The diagram illustrates a warehouse management method for stacked boxes.

[0084] The above-described embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the above-described embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired or wireless means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. containing one or more available medium collections. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium can be a solid state disk.

[0085] Figure 5 is a structural block diagram of a terminal device provided by an embodiment of the present application. As shown in Figure 5 the terminal device can include one or more of the following components: a processor 501, a memory 502 coupled to the processor 501, wherein the memory 502 can store one or more computer programs, and the one or more computer programs can be configured to be executed by the one or more processors 501 to implement the method described in the above embodiments.

[0086] The processor 501 can include one or more processing cores. The processor 501 connects various parts within the terminal device through various interfaces and lines, executes various functions of the terminal device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 502, and calling data stored in the memory 502. Optionally, the processor 501 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 501 can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU is mainly used to process operating systems, user interfaces, and application programs; the GPU is used to render and draw display content; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 501, but be realized by a separate communication chip.

[0087] The memory 502 can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory 502 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 502 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area can also store data created by the terminal device in use, etc.

[0088] It can be understood that the terminal device can include more or fewer structural elements than those in the above structural block diagram, which is not limited herein.

[0089] The embodiments of the present application also provide a computer storage medium, wherein a computer program / instructions are stored on the computer storage medium, and the computer program / instructions are executed by a processor to implement part or all steps of any method described in the above method embodiments.

[0090] The embodiment of the present application further provides a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any method described in the above method embodiments.

[0091] It should be understood that the size of the sequence number of the above processes does not mean the order of execution in various embodiments of the present application. The execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0092] In several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the above-described device embodiments are only schematic; for example, the division of the units is only a logical function division, and actual implementation can have another division manner; for example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0093] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0094] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically included separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware, or in the form of hardware plus software functional unit.

[0095] The integrated unit in the form of software function unit can be stored in a computer readable storage medium. The software function unit is stored in a storage medium, and includes instructions for enabling a computer device (which can be a personal computer, a terminal device, or a network device, etc.) to execute part of steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DRAM) and the like.

[0096] Although the present application has been disclosed in the above, the present application is not limited to the above. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present application, and various modifications can be made, including combinations of different functions and implementation steps, including software and hardware implementation, which are all within the protection scope of the present application.

Claims

1. A warehouse management method for stacked boxes, characterized by, A terminal device applied to a warehouse management system, the warehouse management system comprising the terminal device and warehouse robots, the terminal device being in communication connection with the warehouse robots, the stacked boxes being made of a material that is not easy to deform, the length and width of stacked boxes of different specifications being the same, and the height being different, the stacked boxes comprising a fixed cover for stabilizing the stacked shape, the warehouse robots comprising a first warehouse robot and a fourth warehouse robot, the method comprising: When a storage task is detected, the first height and the first weight of a plurality of target storage stacked boxes detected by a conveying line are acquired; when the first height and the first weight of the plurality of target storage stacked boxes do not satisfy a storage condition, a splitting instruction is generated according to alarm information sent by the conveying line and is sent to the fourth warehouse robot, so that the fourth warehouse robot splits a plurality of target stacked boxes stacked together into at least two target stacked boxes, and re-detects the height and the weight of the at least two target stacked boxes until the height and the weight of each target stacked box satisfy the storage condition; when the first height and the first weight of the plurality of target storage stacked boxes satisfy the storage condition, a target storage instruction of the plurality of target storage stacked boxes is generated, and the target storage instruction is sent to the first warehouse robot, so that the first warehouse robot simultaneously transports the plurality of target storage stacked boxes from the conveying line to a target storage location; When a storage task is detected, the first height and the first weight of a plurality of target storage stacked boxes detected by a conveying line are acquired; when the first height and the first weight of the plurality of target storage stacked boxes do not satisfy a storage condition, a splitting instruction is generated according to alarm information sent by the conveying line and is sent to the fourth warehouse robot, so that the fourth warehouse robot splits a plurality of target stacked boxes stacked together into at least two target stacked boxes, and re-detects the height and the weight of the at least two target stacked boxes until the height and the weight of each target stacked box satisfy the storage condition; when the first height and the first weight of the plurality of target storage stacked boxes satisfy the storage condition, a target storage instruction of the plurality of target storage stacked boxes is generated, and the target storage instruction is sent to the first warehouse robot, so that the first warehouse robot simultaneously transports the plurality of target storage stacked boxes from the conveying line to a target storage location; 2. The method of claim 1, wherein, The warehouse robots further comprise a second warehouse robot and a third warehouse robot, and before the first height and the first weight of the plurality of target storage stacked boxes detected by the conveying line are acquired, the method further comprises: sending a first stacking instruction to the second warehouse robot, so that the second warehouse robot stacks the plurality of target storage stacked boxes; sending a transportation instruction to the third warehouse robot, so that the third warehouse robot transports the plurality of target storage stacked boxes stacked together to the conveying line.

3. The method of claim 1, wherein, The generation of the target storage instruction of the plurality of target storage stacked boxes when the first height and the first weight of the plurality of target storage stacked boxes satisfy the storage condition comprises: determining the target storage location according to the first height and the first weight of the plurality of target storage stacked boxes when the first height and the first weight of the plurality of target storage stacked boxes satisfy the storage condition; generating the target storage instruction of the plurality of target storage stacked boxes according to the target storage location.

4. The method of claim 3, wherein, The determination of the target storage location according to the first height and the first weight of the plurality of target storage stacked boxes comprises: determining a plurality of reference storage locations according to the first height and the first weight of the plurality of target storage stacked boxes; If there is an unfull storage location in the plurality of reference storage locations, any unfull storage location in the plurality of reference storage locations is determined as the target storage location, the unfull storage location refers to a storage location where one or more stacked boxes exist; If there is no unfull storage location in the plurality of reference storage locations, any empty storage location in the plurality of reference storage locations is determined as the target storage location, the empty storage location refers to a storage location where no stacked box exists.

5. The method of claim 4, wherein, The determining the plurality of reference storage locations according to the first height and the first weight of the plurality of target storage boxes includes: Determining the height and the weight of the stacked box stored in each storage location; According to the maximum height and the maximum weight that each storage location can bear, the height and the weight of the stacked box stored in each storage location, and the first height and the first weight of the plurality of target storage boxes, the plurality of reference storage locations that can accommodate the plurality of target storage boxes are determined.

6. The method of claim 3, wherein, The determining the target storage location according to the first height and the first weight of the plurality of target storage boxes includes: If there is no storage location that meets the first height and the first weight of the plurality of target storage boxes, a splitting instruction is sent to a fourth warehouse robot, the splitting instruction is used for the fourth warehouse robot to split the plurality of target storage boxes stacked together into at least two stacks of target boxes; According to the height and the weight of each stack of target boxes in the at least two stacks of target boxes, the target storage location of each stack of target boxes is determined.

7. The method of claim 1, wherein, After detecting the storage-out task, the target storage-out instruction is determined according to the storage-out information corresponding to the storage-out task, and the target storage-out instruction is sent to the warehouse robot, so that the warehouse robot simultaneously takes out and transports a plurality of target storage-out stacked boxes to a target storage-out location, and after the picking operation for the plurality of target storage-out stacked boxes is completed, the second height and the second weight of the plurality of target storage-out stacked boxes after the picking operation is completed are obtained; If the second height is lower than a height threshold value and / or the second weight is lower than a weight threshold value, a second stacking instruction is sent to a fifth warehouse robot, the second stacking instruction is used to make the fifth warehouse robot stack at least one empty box to the plurality of target storage-out stacked boxes after the picking operation is completed, so that the plurality of target storage-out stacked boxes after the picking operation is completed meet the storage-in condition. A terminal device applied to a warehouse management system, the warehouse management system includes the terminal device and a warehouse robot, the terminal device is in communication connection with the warehouse robot, the stacked box is made of a material that is not easy to deform, the length and the width of stacked boxes of different specifications are the same, and the height is different, the stacked box includes a fixed cover for stabilizing the stacking shape, the warehouse robot includes a first warehouse robot and a fourth warehouse robot, and the device includes:

8. A warehouse management device for stacked boxes, characterized by, ​ The warehousing operation execution unit is configured to, when a warehousing task is detected, acquire the first height and the first weight of the multiple target warehousing stacked boxes detected by the conveying line; when the first height and the first weight of the multiple target warehousing stacked boxes do not satisfy a warehousing condition, generate a splitting instruction according to the alarm information sent by the conveying line and send the splitting instruction to the fourth warehousing robot, so that the fourth warehousing robot splits the multiple target warehousing stacked boxes stacked together into at least two stacks of target boxes, and re-detects the height and the weight of the at least two stacks of target boxes until the height and the weight of each stack of target boxes satisfy the warehousing condition; when the first height and the first weight of the multiple target warehousing stacked boxes satisfy the warehousing condition, generate a target warehousing instruction of the multiple target warehousing stacked boxes, and send the target warehousing instruction to the first warehousing robot, so that the first warehousing robot simultaneously transports the multiple target warehousing stacked boxes from the conveying line to target storage locations; The warehousing operation execution unit is configured to, when a warehousing task is detected, acquire the first height and the first weight of the multiple target warehousing stacked boxes detected by the conveying line; when the first height and the first weight of the multiple target warehousing stacked boxes do not satisfy a warehousing condition, generate a splitting instruction according to the alarm information sent by the conveying line and send the splitting instruction to the fourth warehousing robot, so that the fourth warehousing robot splits the multiple target warehousing stacked boxes stacked together into at least two stacks of target boxes, and re-detects the height and the weight of the at least two stacks of target boxes until the height and the weight of each stack of target boxes satisfy the warehousing condition; when the first height and the first weight of the multiple target warehousing stacked boxes satisfy the warehousing condition, generate a target warehousing instruction of the multiple target warehousing stacked boxes, and send the target warehousing instruction to the first warehousing robot, so that the first warehousing robot simultaneously transports the multiple target warehousing stacked boxes from the conveying line to target storage locations; 9. A terminal device, comprising: The computer program / instructions, when executed by a processor, implement the steps of the method of any one of claims 1-7.

10. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, The computer program / instructions, when executed by a processor, implement the steps of the method of any one of claims 1-7.

Images