Warehouse system and control method, device, electronic equipment and storage medium thereof

Abstract

The application relates to the warehouse technology field and provides a warehouse system, a control method and device thereof, electronic equipment and a storage medium. The warehouse system comprises a first goods shelf, a second goods shelf and a carrying device. The first goods shelf and the second goods shelf are multi-layer goods shelves and are provided with N columns of goods sites. The first goods shelf and the second goods shelf are respectively provided with a first space and a second space, and a lane is arranged between the goods shelves. A first conveying line is arranged in the first space, a second conveying line is arranged in the second space, and a third conveying line for connecting the first conveying line and the second conveying line is further arranged. The carrying device is used for taking out a goods box from the goods shelf and carrying the goods box to the first conveying line. The first conveying line is used for conveying the goods box to a goods box drop position for a picking operation. The third conveying line is used for conveying the goods box output from the goods box drop position to the second conveying line. The carrying device is further used for taking out the goods box from the second conveying line and carrying the goods box to the goods site of the goods shelf. The application improves the taking and placing operation efficiency.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of intelligent warehousing, and in particular to a warehousing system and a control method and device thereof, an electronic device and a storage medium. BACKGROUND

[0002] With the development of science and technology, the application of logistics and warehousing automation is becoming more and more widespread. As a cargo handling device that can perform automated handling operations, the shuttle vehicle and the warehousing robot have been widely applied in intelligent warehousing systems, intelligent logistics systems, intelligent sorting systems and other application scenarios requiring handling devices. In one application scenario, a plurality of racks are arranged in parallel in a workstation integrated with a shuttle vehicle. The racks are provided with horizontal and vertical tracks, and the adjacent two racks have a lane. The shuttle vehicle can move along a preset track in the lane, including moving on the horizontal / vertical tracks of the racks. A delivery end is arranged at the end of the rack or the end of the lane. The shuttle vehicle receives goods (such as a carton) from the delivery end, then walks on the horizontal / vertical tracks according to an order, thereby delivering the goods to a designated location of the rack, or taking the goods from the designated location of the rack, so as to realize the automatic handling operation of the goods.

[0003] In the existing mode, the shuttle vehicle needs to move horizontally and vertically, and often needs to cross the tracks, resulting in low operation efficiency and complex scheduling. In view of this, how to improve the picking and placing operation efficiency of the goods handling device has become a technical problem to be solved. SUMMARY

[0004] In view of the above problems, embodiments of the present application provide a warehousing system and a control method and device thereof, an electronic device and a storage medium, to solve the problem of low picking and placing operation efficiency in the prior art.

[0005] According to a first aspect of the embodiments of the present application, a warehouse system is provided, comprising: a first rack and a second rack, each of the first rack and the second rack being provided with a plurality of rack layers in a vertical direction and a plurality of columns of storage spaces in a first horizontal direction, the first rack having a first space without a rack layer, and the second rack having a second space without a rack layer, the first rack and the second rack being arranged in parallel in a second horizontal direction and having a lane therebetween, wherein the first horizontal direction and the second horizontal direction form an included angle, and N is a positive integer; a first conveying line is arranged in the first space of the first rack and extends to the outside of the first rack along the first horizontal direction, a second conveying line is arranged in the second space of the second rack and extends to the outside of the second rack along the first horizontal direction, and a third conveying line is further arranged outside the first rack and the second rack for connecting the first conveying line and the second conveying line; and a carrying device; wherein the carrying device is configured to carry the to-be-taken-out container from the first rack or the second rack to the first conveying line, the first conveying line is configured to convey the to-be-taken-out container to a container drop-off position for a picking operation, the third conveying line is configured to convey the to-be-stored container output by the container drop-off position to the second conveying line, and the carrying device is further configured to carry the to-be-stored container from the second conveying line to a storage space on the first rack or the second rack.

[0006] According to a second aspect of the embodiments of the present application, a control method of a warehouse system is provided, which is applied to the warehouse system as described above, and the method comprises: determining a storage space of a to-be-taken-out container in a rack in a first carrying task, wherein the first carrying task is to carry the to-be-taken-out container on the first rack or the second rack to a container drop-off position; controlling a carrying device to carry the to-be-taken-out container from the storage space to the first conveying line, so that the first conveying line conveys the to-be-taken-out container to the container drop-off position for a picking operation; and / or determining a target storage space of a to-be-stored container in a second carrying task, wherein the second carrying task is to carry the to-be-stored container of the container drop-off position to the target storage space on the first rack or the second rack; controlling the first conveying line to convey the to-be-stored container of the container drop-off position to the third conveying line, so that the third conveying line conveys the to-be-stored container to the second conveying line; after the second conveying line conveys the to-be-stored container to a position corresponding to a column of the target storage space, controlling the carrying device to carry the to-be-stored container from the second conveying line to the target storage space.

[0007] According to a third aspect of the embodiments of the present application, a control device of a warehouse system is provided, which is applied to the warehouse system as described above, and the device comprises: a first determination module configured to determine a storage location of a to-be-taken-out container in a first type of carrying task, wherein the first type of carrying task is to carry the to-be-taken-out container on the first rack or the second rack to a container drop-off location; a first control module configured to control a first carrying device to take out the to-be-taken-out container from the storage location and carry the to-be-taken-out container to the first conveying line, so that the first conveying line conveys the to-be-taken-out container to the container drop-off location for a picking operation, wherein the first carrying device is a carrying device corresponding to a location column where the storage location is located; and / or a second determination module configured to determine a target location of a to-be-stored container in a second type of carrying task, wherein the second type of carrying task is to carry the to-be-stored container at the container drop-off location to the target location of the first rack or the second rack; a second control module configured to control the first conveying line to convey the to-be-stored container at the container drop-off location to the third conveying line, so that the third conveying line conveys the to-be-stored container to the second conveying line; and a third control module configured to, after the second conveying line conveys the to-be-stored container to a location corresponding to the location column where the target location is located, control a second carrying device to take out the to-be-stored container from the second conveying line and carry the to-be-stored container to the target location, wherein the second carrying device is a carrying device corresponding to the location column where the target location is located.

[0008] According to a fourth aspect of the embodiments of the present application, an electronic device is provided, which comprises a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the operations of the control method of the warehouse system as described above.

[0009] According to a fifth aspect of the embodiments of the present application, a computer readable storage medium is provided, and the storage medium stores at least one executable instruction, and the executable instruction causes an electronic device to perform the operations of the control method of the warehouse system when the electronic device runs.

[0010] According to a sixth aspect of the embodiments of the present application, a computer program product is provided, which comprises a computer program, and the computer program is executed by a processor to implement the operations of the control method of the warehouse system as described above.

[0011] The embodiment of the present application sets two rows of shelves, reserves space in each row of shelves for setting a first conveying line and a second conveying line, sets a third conveying line connecting the first conveying line and the second conveying line outside the shelves, and forms a conveying loop between the shelves, the first conveying line, the box delivery position, the third conveying line, the second conveying line and the shelves. The to-be-taken-out box of the shelf is carried to the first conveying line by the carrying device, is conveyed to the box delivery position by the first conveying line, and is subjected to the picking operation. The to-be-stored box after the picking operation is output to the third conveying line, is carried back to the shelf by the carrying device after passing through the second conveying line, the carrying device only needs to carry the to-be-taken-out box on the shelf to the first conveying line arranged in the shelf or the adjacent shelf, and carries the to-be-stored box from the second conveying line back to the shelf or the adjacent shelf where the second conveying line is arranged, thereby reducing the scheduling complexity and improving the taking and placing operation efficiency.

[0012] The above description is only a summary of the technical scheme of the embodiment of the present application, in order to more clearly understand the technical means of the embodiment of the present application, and can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the embodiment of the present application more obvious and easy to understand, the following specific embodiment of the present application is described. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings are included to provide a further understanding of the embodiments, and are incorporated in and constitute a part of this application. In the drawings:

[0014] Figure 1 A side view structural schematic diagram of a warehouse system provided by the embodiment of the present application is shown in the figure;

[0015] Figure 2 Another side view structural schematic diagram of a warehouse system provided by the embodiment of the present application is shown in the figure;

[0016] Figure 3 A plan view schematic diagram of the conveying line plane of a warehouse system provided by the embodiment of the present application is shown in the figure;

[0017] Figure 4 A side view structural schematic diagram of another warehouse system provided by the embodiment of the present application is shown in the figure;

[0018] Figure 5 A plan view schematic diagram of the conveying line plane of another warehouse system provided by the embodiment of the present application is shown in the figure;

[0019] Figure 6 A plan view schematic diagram of the conveying line plane of another warehouse system provided by the embodiment of the present application is shown in the figure;

[0020] Figure 7 A plan view schematic diagram of the conveying line plane of another warehouse system provided by the embodiment of the present application is shown in the figure;

[0021] Figure 8 A plan view of a conveying line of another warehouse system according to an embodiment of the present application;

[0022] Figure 9 A schematic view of a transmission support of an empty container conveying device or the full container conveying device of a warehouse system according to an embodiment of the present application;

[0023] Figure 10 A flowchart of a control method of a warehouse system according to an embodiment of the present application;

[0024] Figure 11 A flowchart of another control method of a warehouse system according to an embodiment of the present application;

[0025] Figure 12 A schematic view of a control device of a warehouse system according to an embodiment of the present application;

[0026] Figure 13 A schematic view of another control device of a warehouse system according to an embodiment of the present application; and

[0027] Figure 14 A schematic view of an electronic device according to an embodiment of the present application.

[0028] Reference signs are as follows:

[0029] 100, warehouse system;

[0030] 11, first rack; 12, second rack;

[0031] 20, aisle;

[0032] 31, first conveying line; 32, second conveying line; 33, third conveying line; 34, fourth conveying line;

[0033] 40, handling device;

[0034] 50, empty container conveying device;

[0035] 60, full container conveying device; 61, support; 62, roller;

[0036] 71, first transfer mechanism; 72, second transfer mechanism; 73, third transfer mechanism; 74, fourth transfer mechanism;

[0037] 80, work station;

[0038] 200, container;

[0039] R1, first space; R2, second space; P, container drop-off position; X, first horizontal direction; Y, second horizontal direction; Z, vertical direction. Detailed Implementation

[0040] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0041] Warehousing systems typically include racks, workstations, and handling equipment. Racks store cartons, and workstations are used to pick goods from the cartons according to orders. Picking involves placing goods into or removing goods from cartons. Each order has a corresponding carton. The handling equipment, based on the location of the carton on the rack, removes it and transports it to the workstation for picking. After the order is picked, the handling equipment returns the carton to the rack.

[0042] In existing warehousing systems, the handling equipment suffers from low operating efficiency, complex scheduling, and is prone to safety accidents. This application provides a warehousing system that improves the efficiency of picking and placing goods using the handling equipment.

[0043] Figure 1 This is a side view of the warehousing system provided in an embodiment of this application. Figure 2 This is a schematic diagram of another side view of the warehousing system provided in an embodiment of this application. Figure 3 This is a top view of the plane containing the conveyor line of the warehousing system provided in an embodiment of this application. Figures 1 to 3 As shown, the warehousing system 100 includes a first shelf 11, a second shelf 12, a first conveyor line 31, a second conveyor line 32, a third conveyor line 33, and a handling device 40. The first shelf 11 and the second shelf 12 can be collectively referred to as shelves, and the first conveyor line 31, the second conveyor line 32, and the third conveyor line 33 can be collectively referred to as conveyor lines.

[0044] For ease of explanation, the embodiments of this application define a first horizontal direction X, a second horizontal direction Y, and a vertical direction Z, wherein the first horizontal direction X is the same as the length direction of the shelf, the second horizontal direction Y is the same as the depth (i.e., width) direction of the shelf, and the vertical direction Z is the same as the height direction of the shelf.

[0045] Each of the first shelf 11 and the second shelf 12 has multiple shelf layers along the vertical direction Z and one or more rows of storage locations along the first horizontal direction X. The first shelf 11 has a first space R1 without shelf layers, and the second shelf 12 has a second space R2 without shelf layers. The first shelf 11 and the second shelf 12 are arranged parallel to each other along the second horizontal direction Y, and an aisle 20 is formed between them. An angle is formed between the first horizontal direction X and the second horizontal direction Y. This embodiment of the application uses a 90-degree angle between the first horizontal direction X and the second horizontal direction Y as an example, meaning the first horizontal direction X and the second horizontal direction Y are perpendicular.

[0046] The shelf is used to place 200 boxes. This application embodiment does not limit the number of columns or layers of the shelf. Figures 1 to 3 The first shelf 11 and the second shelf 12 shown are both three-column, five-layer shelves. The figures are merely examples; in other embodiments, the shelves can have any number of columns and layers. Furthermore, Figures 1 to 3 Only two rows of shelves are shown (i.e., the first shelf 11 and the second shelf 12), but the number of rows of shelves can also be other numbers. Figure 4 This is a side view of another warehousing system provided in an embodiment of this application. Figure 4 The image shows three rows of shelves. If... Figures 1 to 4 The shelving shown is defined as a modular shelving unit. The storage system 100 may include multiple modular shelving units, each of which can be set up independently or connected by a conveyor line. The number of columns, layers, and rows of the shelving units can be set according to the space of the storage system 100 and the required storage capacity of the boxes.

[0047] The handling device 40 is responsible for transferring boxes between the racks and the conveyor line. The handling device 40 is a handling robot and / or stacker crane capable of moving in the aisle 20, wherein the handling robot may be a multi-layer box robot, a telescopic lifting multi-layer box robot, a lifting robot, etc.; or, the handling device 40 is a handling robot, set on the first rack 11 and / or the second rack 12 and capable of moving on the racks on which it is set, which may be a rail-climbing robot, which can move on the transverse and / or longitudinal tracks set on the racks.

[0048] Let N be the number of rows of storage locations set along the first horizontal direction X of the shelving, where N is a positive integer. When N=1, only one row of storage locations is set up, and correspondingly, only one handling device 40 can be set up. This one handling device 40 performs pick-up and drop-off operations on the two shelves on both sides of the aisle 20. Alternatively, two handling devices 40 can be set up to perform pick-up and drop-off operations on the two shelves on both sides of the aisle 20 respectively. Of course, more handling devices 40 can also be set up, and this application does not limit this.

[0049] When N > 1, with multiple rows of storage locations, only one handling device 40 needs to be set up to handle the loading and unloading operations of the multiple rows of storage locations on both sides of the aisle 20. The handling device 40 only moves within the aisle 20 to pick up and place the boxes, resulting in low cost and simple scheduling. Alternatively, multiple handling devices 40 can be set up, for example, N handling devices 40, which are set up one-to-one with the N rows of storage locations along the first horizontal direction X in the aisle 20 (e.g., Figure 3 As shown, there are 3 rows of storage locations, and 3 handling devices 40 are set accordingly. Each handling device 40 only moves in its corresponding row of storage locations to pick up and put down goods. Compared with the existing method, which involves multiple shuttle cars that need to move laterally and longitudinally, often requiring cross-track operations and complex scheduling, by setting up handling devices 40 that correspond one-to-one with the rows of storage locations, the handling devices 40 do not need to cross the rack tracks. They only need to pick up and put down boxes in their corresponding rows of storage locations, which simplifies scheduling and increases safety.

[0050] When N>1, M handling devices 40 can also be set (M is a positive integer, 1<M<N or M>N). In this case, the handling devices 40 and the storage positions do not necessarily correspond one-to-one. Multiple handling devices 40 can perform pick-up and drop-off operations on a certain storage position, or one handling device 40 can perform pick-up and drop-off operations on multiple storage positions.

[0051] A first conveyor line 31 is disposed within a first space R1 of the first shelf 11, and extends along a first horizontal direction X to the outside of the first shelf 11. A second conveyor line 32 is disposed within a second space R2 of the second shelf 12, and extends along a first horizontal direction X to the outside of the second shelf 12. A third conveyor line 33 is disposed outside the first shelf 11 and the second shelf 12, and connects the first conveyor line 31 and the second conveyor line 32.

[0052] The height of the first space R1 needs to be sufficient to accommodate the first conveyor line 31 and to allow for the placement of a cargo box on the first conveyor line 31; that is, the height of the first space R1 is greater than the sum of the height of the first conveyor line 31 and the height of the cargo box. The height of the second space R2 needs to be sufficient to accommodate the second conveyor line 32 and to allow for the placement of a cargo box on the second conveyor line 32; that is, the height of the second space R2 is greater than the sum of the height of the second conveyor line 32 and the height of the cargo box.

[0053] In this embodiment, the first conveyor line 31, the second conveyor line 32, and the third conveyor line 33 can be independently set conveyor lines or different parts of a complete conveyor line. Each conveyor line can be a roller conveyor line, a belt conveyor line, or a chain conveyor line, etc. Each conveyor line has one or more conveying positions. Each conveyor line can be a complete conveyor line, with the entire moving mechanism of the conveyor line moving or rotating. When it is necessary to stop conveying (for example, when a box arrives at the corresponding conveying position and the handling device 40 needs to remove the box from the conveyor line), the entire conveyor line can be controlled to stop moving. Alternatively, a blocking device can be set at the position corresponding to each conveying position on the conveyor line. When a box that needs to be conveyed to that conveying position arrives, the blocking device blocks the box, and the blocking is released after the handling device 40 removes the box. In this way, the entire conveyor line does not need to stop moving and does not affect the conveying of boxes at other positions on the conveyor line. Each conveyor line can also be composed of multiple conveyor sections, each conveyor section corresponding to a conveying position on the conveyor line. Each conveyor section can stop conveying independently when the box corresponding to that section arrives, without affecting the conveying of other conveyor sections.

[0054] The handling device 40 is used to remove the boxes to be picked up from the first shelf 11 or the second shelf 12 and transport them to the first conveyor line 31. The first conveyor line 31 is used to transport the boxes to be picked up to the box placement position P for picking operations. The third conveyor line 33 is used to transport the boxes to be stored output from the box placement position P to the second conveyor line 32. The handling device 40 is also used to remove the boxes to be stored from the second conveyor line 32 and transport them to the storage position on the first shelf 11 or the second shelf 12.

[0055] like Figure 3 As shown, the cargo box placement position P is located on the first conveyor line 31. A workstation 80 is set up near the cargo box placement position P. Workers perform picking operations on the cargo boxes at the cargo box placement position P based on the cargo transport of the workstation 80. For example, they may place goods received by the workstation 80 into the cargo box at the cargo box placement position P, or remove goods from the cargo box at the cargo box placement position P and place them into the cargo box at the workstation 80. Those skilled in the art should understand that the cargo box placement position P can also be an independent device, located adjacent to the output end of the first conveyor line 31. The first conveyor line 31 only needs to be able to transport the cargo boxes to the cargo box placement position P. For example, there may be a height difference between the cargo box placement position P and the first conveyor line 31, so that the cargo boxes can fall from the first conveyor line 31 to the cargo box placement position P.

[0056] Preferably, when the cargo box placement position P is located on the first conveyor line 31 and a workstation 80 is set up near the cargo box placement position P in the storage system 100, the difference between the height of the first conveyor line 31 and the height of the workstation 80 is less than or equal to a height difference threshold. That is, the plane of the first conveyor line 31 is roughly flush with the plane of the workstation 80, so as to facilitate the workers to perform cargo picking operations on the cargo boxes at the cargo box placement position P of the first conveyor line 31 at a suitable working height. The height position of the first conveyor line 31 on the first shelf 11 is roughly at the middle layer of the shelf, or slightly below the middle layer. The height position of the second conveyor line 32 on the second shelf 12 is similar to that of the first conveyor line 31. If the cargo boxes are picked by a robotic arm, it is not limited to the difference between the height of the first conveyor line 31 and the height of the workstation 80 being less than or equal to the height difference threshold, as long as the height of the first conveyor line 31 is within the working stroke range of the robotic arm.

[0057] This embodiment of the application sets up two opposing rows of shelves, with reserved space in each row for a first conveyor line 31 and a second conveyor line 32. A third conveyor line 33 is set on the outside of the shelves to connect the first conveyor line 31 and the second conveyor line 32. A conveying loop is formed between the shelves, the first conveyor line 31, the box placement position P, the third conveyor line 33, the second conveyor line 32, and the shelves. The handling device 40 moves the boxes to be retrieved from the shelves to the first conveyor line 31, and then from the first conveyor line 31 to the box placement position P for picking. After the picking operation is completed, the boxes to be stored are output to the third conveyor line 33, and after passing through the second conveyor line 32, they are moved back to the shelves by the handling device 40. The handling device 40 only needs to move the boxes to be retrieved from the shelves to the first conveyor line 31 in the shelf or an adjacent shelf, and move the boxes to be stored from the second conveyor line 32 back to the shelf where the second conveyor line 32 is located or an adjacent shelf, which reduces the scheduling complexity and improves the efficiency of picking and placing goods.

[0058] The following describes the standard operating procedure of the warehousing system 100 according to an embodiment of this application. Please continue reading. Figure 3 In the diagram, both the first shelf 11 and the second shelf 12 are three-row, five-tier shelves. The first conveyor line 31 is the outbound conveyor line, including positions ①, ②, ③, and ⑤, where position ⑤ is the cargo box placement position P. The second conveyor line 32 is the return conveyor line, including positions ⑧, ⑩, ... Position and Position 6. The third conveyor line 33 is also a return conveyor line, including position 6. The handling device 40 is a rail-climbing robot (hereinafter referred to as a trolley), including trolley 1, trolley 2 and trolley 3, which correspond to the three rows of the first shelf 11 and the second shelf 12, respectively. The routine operation process of this warehousing system 100 is as follows:

[0059] Step 1: The trolley 2 takes the A box (order corresponding box) from the corresponding column of the goods shelf and places it on the No. 2 position of the outbound conveying line;

[0060] Step 2: The A box is conveyed to the No. 5 position of the outbound conveying line (②-③-⑤, which means that the box is conveyed to the No. 5 position from the No. 2 position and the No. 3 position of the conveying line in sequence, and the similar expressions below are the same); the worker puts the selected goods into the A box;

[0061] Step 3: The A box is conveyed from the No. 5 position to the No. 13 position of the inbound conveying line (⑥-⑧-⑩); it can also be conveyed to the No. 12 position or the No. 11 position (⑥-⑧-⑩-

[0062] Step 4: The trolley 1 carries the A box to the corresponding column of the goods shelf.

[0063] In the warehouse system 100, the boxes to be carried are usually sorted by the order box sorting system, that is, the order of carrying the boxes is determined according to the order sequence, and the order box refers to the box corresponding to each order. In the embodiment of the present application, the boxes of adjacent orders need to be conveyed to the box placing position P in sequence through the first conveying line 31, so the order of the boxes on the first conveying line 31 is determined according to the order sequence. In the warehouse system 100 shown in Figure 3 , the order of four orders (herein, four orders are taken as an example, and the actual number can be determined according to the need) is determined in advance, wherein the first box is placed at the No. 5 position, the second box is placed at the No. 3 position, the third box is placed at the No. 2 position, and the fourth box is placed at the No. 1 position.

[0064] Suppose A / B / C are different orders, respectively corresponding to A box / B box / C box, and the order sequence is A-B-C-A, A is a repeated order, and after the A box is conveyed to the No. 5 position for picking operation, it does not need to be placed back to the goods shelf, because the A box needs to be picked again.

[0065] If there is a repeated order in the plurality of orders determined in advance, the carrying device 40 is further configured to take the box conveyed from the second conveying line 32 to the third conveying line 33 from the second conveying line 32 and carry it to the first conveying line 31. The first conveying line 31 is configured to convey the box located thereon to the box placing position P for picking operation. Hereinafter, this processing mode is referred to as mode one. For example, the order sequence is A-B-C-A; as shown in Figure 3 , after the A box is placed at the No. 5 position, it is conveyed through the conveying line 5-6-7-9-10-trolley 1-conveying line 3; after the B box is placed at the No. 5 position, it is conveyed through the conveying line 5-6-7-9 / ​​​​-Trolley 1 / 2 / 3- returns to the shelf; after box C is placed at position ⑤, it travels via conveyor line ⑤-⑥-⑧-⑩ / -Trolleys 1 / 2 / 3- return to the shelf; Cargo box A is put back into service via conveyor lines ③-⑤.

[0066] Figure 5 A top view of the plane containing the conveyor line of another warehousing system 100 provided in this application embodiment, as shown below. Figure 5 As shown, in some embodiments, a fourth conveyor line 34 for connecting the first conveyor line 31 and the second conveyor line 32 is also provided outside the first shelf 11 and the second shelf 12. Figure 5 The fourth conveyor line 34 shown is a return conveyor line, which includes position ⑦, connecting positions ④ and ⑨ respectively. Figure 5 In the warehousing system 100 shown, the order of cartons on the first conveyor line 31 is determined according to the order sequence. The order of five orders (five are used here as an example, but can be adjusted as needed) needs to be predetermined. The first carton is placed at position ⑤, the second at position ④, the third at position ③, the fourth at position ②, and the fifth at position ①. The carton at position ⑦ can be inserted before any carton after the second carton at position ②.

[0067] When the warehousing system 100 also includes a fourth conveyor line 34, the situation of duplicate orders can be handled as follows: The fourth conveyor line 34 is used to transport the boxes transported from the third conveyor line 33 to the second conveyor line 32 back to the first conveyor line 31. The first conveyor line 31 is used to transport the boxes located thereon to the box placement position P for picking. This method can achieve the return of duplicate boxes to the box placement position P using only conveyor lines, without the need for handling equipment 40. This processing method will be referred to as Method Two below. For example, the order sequence is ABCA; Figure 5 As shown, after container A is placed at position ⑤, it travels via conveyor lines ⑤-⑥-⑧-⑨-⑦-④; after container B is placed at position ⑤, it travels via conveyor lines ⑤-⑥-⑧-⑩. -Trolley 1 / 2 / 3- returns to the shelf; after box C is placed at position ⑤, it travels via conveyor line ⑤-⑥-⑧-⑩ / -Carts 1 / 2 / 3 return to the shelf; Cart A is re-placing itself via conveyor lines ④-⑤. For example, if the order sequence is ABCDA, then... Figure 5 As shown, after container A is placed at position ⑤, it travels along conveyor lines ⑤-⑥-⑧-⑨-⑦ to become the third container; after container B is placed at position ⑤, it travels along conveyor lines ⑤-⑥-⑧-⑨-⑩... -Trolley 1 / 2 / 3- returns to the shelf; after box C is placed at position ⑤, it travels via conveyor line ⑤-⑥-⑧-⑨-⑩ / -Trolley 1 / 2 / 3- returns to the shelf. At this time, box D enters position ⑤, and box A becomes the second box via conveyor lines ⑦-④. After box D is placed at position ⑤, it travels via conveyor lines ⑤-⑥-⑧-⑨-⑩. -Trolleys 1 / 2 / 3- return to the shelf; Cargo box A is put back into service via conveyor lines 4-5.

[0068] When duplicate orders exist among multiple pre-determined orders, either Method 1 or Method 2 can be selected to return the duplicate containers to container placement location P. If multiple duplicate containers exist, Method 1 and Method 2 can be combined as needed. If there are two containers to be returned (i.e., duplicate containers), select Method 1 for one container and Method 2 for the other. Similarly, if there are three containers to be returned, select Method 1 for two and Method 2 for the third.

[0069] The following example illustrates the combined use of Method 1 and Method 2 when multiple duplicate shipping containers exist. For instance, the order sequence is ABCBA; Figure 5 As shown, after container A is placed at position ⑤, it travels via conveyor lines ⑤-⑥-⑧-⑨-⑩-cart 1-conveyor line ③ to become the third container; after container B is placed at position ⑤, it travels via conveyor lines ⑤-⑥-⑧-⑨-⑦-④ to become the second container; after container C is placed at position ⑤, it travels via conveyor lines ⑤-⑥-⑧-⑩... -Cart 1 / 2 / 3- returns to the shelf; Cargo box B is put back into the conveyor belt via conveyor belts ④-⑤; Cargo box A is put back into the conveyor belt via conveyor belts ③-④-⑤.

[0070] The following example illustrates the use of Method 2 when multiple duplicate cartons exist. The order order is ABCAB; for example... Figure 5 As shown, after container A is placed at position ⑤, it travels along conveyor lines ⑤-⑥-⑧-⑨-⑦ to become the third container; after container B is placed at position ⑤, it travels along conveyor lines ⑤-⑥-⑧-⑨-⑦ to become the third container; at this time, container A travels along conveyor line ⑦-④ to become the second container; after container C is placed at position ⑤, it travels along conveyor lines ⑤-⑥-⑧-⑩... -Trolley 1 / 2 / 3- returns to the shelf; Cargo box A is put back into the conveyor belt via conveyor belt ④-⑤; Cargo box B is put back into the conveyor belt via conveyor belt ⑦-④-⑤.

[0071] In some embodiments, one or more of the multiple handling devices 40 can be used as buffer positions for cargo boxes to temporarily store them. The cargo boxes temporarily stored on the handling device 40 are released when they need to be moved to the first conveyor line 31 according to the order sequence. For example, the order sequence is A (on trolley 3) - B (on trolley 2) - C (on trolley 1) - DE; trolleys 2 and 1 act as buffers and do not place the cargo boxes placed on them on the conveyor line. Trolley 3 places cargo box A on conveyor line ①, and it travels through conveyor lines ②-③-④-⑤ to reach position ⑤; trolley 1 acts as a buffer and does not place the cargo boxes placed on it on the conveyor line. Trolley 2 places cargo box A on conveyor line ②, and it travels through conveyor lines ③-④-⑤ to reach position ⑤; trolley 1 places cargo box C on conveyor line ③, and it travels through conveyor lines ④-⑤ to reach position ⑤.

[0072] Even if the cargo handling sequence is determined based on the order order, errors in the cargo handling sequence may still occur, such as prematurely releasing a cargo box to the first conveyor line 31. If the cargo handling sequence is incorrect, the order order needs to be adjusted in conjunction with the fourth conveyor line 34. Assume A / B / C / D / E are different orders, corresponding to cargo boxes A / B / C / D / E respectively. The order order is A (on cart 3) - B (on cart 2) - C (on cart 1) - DE. Cargo boxes on carts 1 and 2 must not be released before those on cart 3 to ensure the correct cargo handling sequence; that is, carts 1 and 2 need to act as buffers. If cargo boxes on carts 1 and / or 2 are released prematurely, an error in the cargo handling sequence is confirmed.

[0073] To address the issue of incorrect cargo handling sequence, in some embodiments, a fourth conveyor line 34 is provided outside the first shelf 11 and the second shelf 12 to connect the first conveyor line 31 and the second conveyor line 32. The fourth conveyor line 34 also receives cargo boxes conveyed by the first conveyor line 31 and conveys them to the second conveyor line 32. The handling device 40 further removes the cargo boxes conveyed by the fourth conveyor line 34 from the second conveyor line 32 and transports them to the first conveyor line 31. This processing method is referred to as Method Three below. For example, if the order sequence is A (on trolley 3) - B (on trolley 2) - C (on trolley 1) - DE, and if the cargo box on trolley 2 is released prematurely, trolley 2 will place cargo box B at position ② on conveyor line, then control cargo box B to proceed via conveyor lines ③-④-⑦-⑨-⑩- Return to trolley 2; after cargo box A passes position ②, cargo box B passes through trolley 2 - conveyor line ② - ③ - ④ - ⑤.

[0074] In some embodiments, a temporary storage position can also be provided on the fourth conveying line 34. The temporary storage position can be achieved by providing a blocking device on the fourth conveying line 34. When a carton needs to be temporarily stored at the position, the carton is stopped at the position by the blocking device, and the blocking is released when the carton can be continuously conveyed. Of course, the temporary storage position can also be achieved by controlling the movement of the fourth conveying line 34. For example, when a carton needs to be temporarily stored at the position, the fourth conveying line 34 is controlled to stop conveying, for example, the motor of the fourth conveying line 34 is controlled to stop working, and the fourth conveying line 34 is controlled to continue working when the carton can be continuously conveyed. The fourth conveying line 34 is also used to receive the carton conveyed by the first conveying line 31 and temporarily store the carton at the temporary storage position. The processing mode is referred to as mode four hereinafter. For example, the No. 7 position is a temporary storage position, and the order sequence is A (on the trolley 3)-B (on the trolley 2)-C (on the trolley 1)-D-E. If the carton on the trolley 1 is released in advance, the trolley 1 places the C carton on the conveying line No. 3 position, and controls the C carton to pass through the conveying lines No. 3-No. 4-No. 7-No. 8-No. 9-No. 10, and stop at the No. 7 position. After the A carton and the B carton are sequentially placed on the No. 5 position and leave the No. 5 position, the C carton passes through the conveying lines No. 7-No. 4, and becomes the second carton.

[0075] When the carton conveying sequence is wrong, the above-mentioned mode three or mode four can be selected to adjust the carton conveying sequence, so that the carton is placed on the carton placing position P in the correct sequence. If the conveying sequences of multiple cartons are wrong, mode three and mode four can also be combined for use according to the actual situation. For example, the conveying sequences of two cartons are wrong, one of the cartons is selected for mode three, and the other carton is selected for mode four. For another example, the conveying sequences of three cartons are wrong, two of the cartons are selected for mode three, and the other carton is selected for mode four.

[0076] The combined use of mode three and mode four is exemplarily described below. The order sequence is A (on the trolley 3)-B (on the trolley 2)-C (on the trolley 1)-D-E. If the cartons on the trolley 1 and the trolley 2 are released in advance, the trolley 1 places the C carton on the conveying line No. 3 position, and controls the C carton to pass through the conveying lines No. 4-No. 7-No. 8-No. 9-No. 10, and return to the trolley 1. The trolley 2 places the B carton on the conveying line No. 2 position, and controls the B carton to pass through the conveying lines No. 3-No. 4-No. 7. The trolley 3 places the A carton on the conveying line No. 1 position, and controls the A carton to pass through the conveying lines No. 2-No. 3-No. 4-No. 5 to reach the No. 5 position. Then, the B carton passes through the conveying lines No. 7-No. 4, and becomes the second carton. The trolley 1 places the C carton on the No. 3 position, and the C carton becomes the third carton.

[0077] In some cases, there is no empty box on the shelf, but the current order needs an empty box. In this case, the fourth conveying line 34 can be used for empty box replenishment. In some embodiments, the warehouse system 100 comprises a fourth conveying line 34; the second conveying line 32 is used to receive empty boxes and convey the empty boxes to the fourth conveying line 34; the fourth conveying line 34 is used to convey the empty boxes to the first conveying line 31; the first conveying line 31 is used to convey the empty boxes to the box delivery position P for picking operation. For example, the empty box is placed at the 9th position of the second conveying line 32, and is conveyed through the conveying lines 9-10-4-5 to reach the box delivery position P5 for picking operation, for example, putting goods into the empty box, and then through the conveying lines 5-6-7-10 - The trolley 1 / 2 / 3 returns to the shelf. That is, the conveying line 9-10-4 is an empty box conveying line, which is arranged not to conflict with the return conveying line 5-6-7, so as to ensure the normal operation of the return conveying line 5-6-7.

[0078] The empty box can be placed at the 9th position by an operator so that the second conveying line 32 receives the empty box, or the empty box can be conveyed to the 9th position by an automatic device. Figure 6 Another plan view of the conveying lines of the warehouse system 100 according to the embodiments of the present application is shown in FIG. 6. Figure 6 An empty box conveying device 50 is arranged outside the conveying position of the second conveying line 32 for receiving the empty box, the empty box conveying device 50 is connected to the second conveying line 32, and the empty box is conveyed to the second conveying line 32 through the empty box conveying device 50.

[0079] Figure 5 And Figure 6 In the embodiments shown in FIGS. 5 and 6, the fourth conveying line 34 and the third conveying line 33 are arranged in parallel and adjacent along the first horizontal direction X, and the fourth conveying line 34 is located between the aisle 20 and the third conveying line 33. That is, the 10th position is connected to the 4th position, and the 9th position is connected to the 5th position. In this way, the fourth conveying line 34 can convey the box to the 4th position of the first conveying line 31 to become the second box, or receive the box output from the 4th position, so as to meet the adjustment requirement of the box conveying sequence when there is a repeated order or the box conveying sequence is wrong.

[0080] In some cases, after the box is subjected to the picking operation at the 5th position, the box is full of goods and becomes a full box. In this case, the box can be packed and shipped without returning to the shelf. Figure 7 Another plan view of the conveying lines of the warehouse system 100 according to the embodiments of the present application is shown in FIG. 6. In some embodiments, as shown in FIG. 6, the conveying lines of the warehouse system 100 are arranged in the form of a grid. Figure 7As shown, a full box conveying device 60 is arranged outside the second conveying line 32, the full box conveying device 60 is connected with the second conveying line 32, and the second conveying line 32 is also used to convey the full box containers conveyed by the third conveying line 33 to the full box conveying device 60. For example, the full box conveying device 60 is connected with the 7th position of the second conveying line 32, and the 7th position is a full box branch, when the A container flows to the 7th position, the full box container after picking flows to the right full box conveying device 60 (which can also be referred to as a full box outflow line) for buffering, and then an operator takes out the full box container; the container that is not picked is conveyed to the 10th position through the return conveying line 6-7-8 according to the needs , and then is carried back to the shelf by the trolley 1 / trolley 2 / trolley 3.

[0081] The arrangement direction of the empty box conveying device 50 and the full box conveying device 60 can be determined according to the internal space and layout of the warehouse system 100. Figure 6 and Figure 7 In the embodiment shown, the empty box conveying device 50 and the full box conveying device 60 are arranged along the first horizontal direction X. Figure 8 Another plan view of the conveying line of the warehouse system 100 provided by the embodiment of the present application is shown in FIG. 6. Figure 8 As shown, the empty box conveying device 50 and the full box conveying device 60 can be arranged along the second horizontal direction Y.

[0082] In some embodiments, the empty box conveying device 50 or the full box conveying device 60 described above is a shelf device, the shelf device includes a support and a transmission type support arranged on the support, the transmission type support is used to place a container, and the transmission type support can move relative to the support to drive the container to move from a current conveying position to a next conveying position. The transmission type support has high conveying efficiency while achieving conveying operation. Figure 9 A structure diagram of the transmission type support of the empty box conveying device or the full box conveying device in the warehouse system provided by the embodiment of the present application is shown in FIG. 7. Figure 9 As shown, the transmission type support arranged on the support 61 is a roller 62. Of course, the transmission type support can also be a transmission belt or any other structure that can achieve container transmission. In addition, the shelf device can also be a conveying line.

[0083] As described above, during the conveying process of the container on the conveying line, the container can need to be conveyed from the first conveying line 31 to the third conveying line 33 or the fourth conveying line 34, or can need to be conveyed from the second conveying line 32 to the fourth conveying line 34 or the full box conveying device 60, and the conveying between the conveying lines can be achieved by a transfer mechanism. Please continue to refer to Figure 3 , Figure 5 , Figure 6 , Figure 7 and Figure 8In some embodiments, the warehouse system 100 further comprises a first transfer mechanism 71 for transferring the containers on the first conveying line 31 to the third conveying line 33, and a second transfer mechanism 72 for transferring the containers on the second conveying line 32 to the full container conveying device 60. In this way, the reversing of the conveying direction of the No. 5 and No. 7 positions can be achieved. In some embodiments, the warehouse system 100 further comprises a third transfer mechanism 73 for transferring the containers on the second conveying line 32 to the fourth conveying line 34, and a fourth transfer mechanism 74 for transferring the containers on the first conveying line 31 to the fourth conveying line 34.

[0084] The above-mentioned transfer mechanism can be a movable push rod or a baffle arranged on the conveying line. For example, a push rod is arranged at a conveying position of the conveying line which is to be connected with another conveying line and needs to transfer containers, the moving direction of the push rod is towards the other conveying line (generally perpendicular to the conveying direction of the conveying line where the push rod is arranged), and the push rod pushes the containers from the current conveying line to the other conveying line during the movement from one side of the conveying position to the other side.

[0085] In addition, as for the conveying direction of the fourth conveying line 34, the conveying direction of the containers through the conveying line No. 4-No. 8-No. 10 is opposite to the conveying direction of the containers through the conveying line No. 10-No. 8-No. 4. The conveying direction of the fourth conveying line 34 implementing No. 10-No. 8-No. 4 can be set as the default conveying direction thereof. For example, by default, the motor of the fourth conveying line 34 is in normal transmission, implementing No. 10-No. 8-No. 4 transmission. However, when the container handling sequence is wrong, the containers need to be conveyed through the conveying line No. 4-No. 8-No. 10-No. 12 / No. 12-No. 10-No. 8 / No. 8-No. 10-No. 4. - Trolley 1 / Trolley 2 / Trolley 3, at this time, the controller needs to reverse the motor to implement the conveying line No. 4-No. 8-No. 10 transmission.

[0086] The control method of the above-mentioned warehouse system will be described below. The embodiments of the present application provide a control method of a warehouse system, which is applied to the above-mentioned warehouse system 100, and can be executed by a computer or a server in the warehouse system for installing a control system. The computer or the server can be installed in the warehouse system, or can be arranged in the cloud, and can include one or more processors, which can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, which are not limited herein. The one or more processors can be the same type of processor, such as one or more CPUs; or can be different types of processors, such as one or more CPUs and one or more ASICs, which are not limited herein.

[0087] Figure 10A flowchart of a control method of a warehouse system provided by an embodiment of the present application is shown in FIG. 1, which includes the following steps: Figure 10

[0088] Step 110: determining a storage location of the to-be-taken-out case in the rack in the first type of carrying task, wherein the first type of carrying task is to carry the to-be-taken-out case on the first rack or the second rack to the case drop-off location.

[0089] Since the rack usually includes multiple layers and multiple columns of storage locations for placing cases, the to-be-taken-out case can be found through the storage location information. For example, if the storage location information of the to-be-taken-out case is the 3rd layer and the 4th column of a certain rack, the to-be-taken-out case located at the 3rd layer and the 4th column of the rack can be found according to the information. Therefore, in this step, the first type of carrying task includes the storage location information of the to-be-taken-out case in the rack, for example, the first type of carrying task includes the storage location information of the to-be-taken-out case on which layer and in which column of which rack.

[0090] Step 120: controlling the carrying device to take out the to-be-taken-out case from the storage location and carry it to the first conveying line, so that the first conveying line conveys the to-be-taken-out case to the case drop-off location for picking operation.

[0091] The carrying device can plan a path according to the first type of carrying task, and move to the taking and placing location of the storage location in the aisle according to the planned path to take out the case. When each column of storage locations of the rack is provided with a carrying device, step 120 can control the carrying device corresponding to the column of storage locations where the storage location is located to perform the case taking operation.

[0092] For example, the to-be-taken-out case in the first type of carrying task is case A, which is stored in the first rack, and the column of storage locations where it is located corresponds to trolley 1. First, control trolley 1 to take out case A from the first rack and place it on the first conveying line No. 3, and complete the drop-off through the conveying lines 3-4-5.

[0093] In the above manner, the to-be-taken-out case of the rack can be carried to the first conveying line, conveyed to the case drop-off location by the first conveying line, and subjected to picking operation. The carrying device only needs to carry the to-be-taken-out case on the rack to the first conveying line provided in the rack or the adjacent rack, which reduces the scheduling complexity and improves the efficiency of taking and placing operations.

[0094] The present application also provides a control method of a warehouse system, Figure 11 A flowchart of another control method of a warehouse system provided by an embodiment of the present application is shown in FIG. 2, which includes the following steps: Figure 11

[0095] ​​Step 210: determining a target storage location of the to-be-stored container in the second type of carrying task, wherein the second type of carrying task is to carry the to-be-stored container in the container drop-off location to the target storage location of the first rack or the second rack.

[0096] Similar to the aforementioned storage location, the second type of carrying task also includes the storage location information of the target storage location of the to-be-stored container in the rack.

[0097] Step 220: controlling the first conveying line to convey the to-be-stored container in the container drop-off location to the third conveying line, so that the third conveying line conveys the to-be-stored container to the second conveying line.

[0098] Step 230: after the second conveying line conveys the to-be-stored container to a position corresponding to the storage location column of the target storage location, controlling the carrying device to take the to-be-stored container from the second conveying line and carry it to the target storage location.

[0099] When each storage location column of the rack is correspondingly provided with a carrying device, step 230 can control the carrying device corresponding to the storage location column of the storage location to perform the container taking operation.

[0100] For example, the to-be-stored container in the second type of carrying task is container A, the target storage location is the first rack, and the corresponding trolley 1 is the storage location column. Container A is conveyed through the conveying line ⑤-⑥-⑧-⑨-⑩-trolley 1, and then returned to the rack.

[0101] In the above manner, the to-be-stored container after the picking operation is output to the third conveying line, conveyed through the second conveying line, and then carried back to the rack by the carrying device. The carrying device only needs to carry the to-be-stored container from the second conveying line to the rack or the adjacent rack where the second conveying line is located, thereby reducing the scheduling complexity and improving the efficiency of the container taking and storing operation.

[0102] In some embodiments, the control method of the warehouse system can include Figure 10 and Figure 11 The steps of the embodiment shown above, the to-be-taken container of the rack is carried to the first conveying line by the carrying device, conveyed to the container drop-off location by the first conveying line, and subjected to the picking operation. The to-be-stored container after the picking operation is output to the third conveying line, conveyed through the second conveying line, and then carried back to the rack by the carrying device. The carrying device only needs to carry the to-be-taken container of the rack to the first conveying line arranged in the rack or the adjacent rack, and carry the to-be-stored container from the second conveying line to the rack or the adjacent rack where the second conveying line is located, thereby reducing the scheduling complexity and improving the efficiency of the container taking and storing operation.

[0103] In some embodiments, step 120 includes:

[0104] Step 121: control the whole or part of the carrying device to move in the vertical direction to the shelf layer where the storage location is located, and take out the to-be-taken-out box from the storage location.

[0105] After the carrying device reaches the location column where the storage location is located, if the carrying device is a rail climbing robot, the whole rail climbing robot moves to the shelf layer where the storage location is located; if the carrying device is a multi-layer box robot, a telescopic lifting multi-layer box robot, a lifting robot, etc., it can move to the shelf layer where the storage location is located in part, for example, only the taking and placing device of the robot moves to the shelf layer height where the storage location is located.

[0106] Step 122: control the whole or part of the carrying device to move in the vertical direction to the height of the first conveying line, and place the to-be-taken-out box on the first conveying line.

[0107] Similar to step 121, when moving to the height of the first conveying line, the carrying device can move as a whole or in part.

[0108] When each location column of the shelf is correspondingly provided with a carrying device, before step 121, the carrying device corresponding to the location column where the storage location is located can be determined as the carrying device for performing the first type of carrying task. Then, steps 121 and 122 control the carrying device to work accordingly. In the above manner, the carrying device can move to the appropriate height for work to smoothly and efficiently complete the taking and placing of the box.

[0109] In some embodiments, the step 230 of controlling the carrying device to take out the to-be-stored box from the second conveying line and carry it to the target location includes:

[0110] Step 231: control the whole or part of the carrying device to move in the vertical direction to the height of the second conveying line, and take out the to-be-stored box from the second conveying line.

[0111] Step 232: control the whole or part of the carrying device to move in the vertical direction to the shelf layer where the target location is located, and store the to-be-stored box in the target location.

[0112] When each location column of the shelf is correspondingly provided with a carrying device, before step 231, the carrying device corresponding to the location column where the target location is located can be determined as the carrying device for performing the second type of carrying task. Then, steps 231 and 232 control the carrying device to work accordingly. In the above manner, the carrying device can move to the appropriate height for work to smoothly and efficiently complete the taking and placing of the box.

[0113] As described above, in the warehouse system, the to-be-transported totes are usually sorted by the order box sorting system, that is, the tote transport order is determined according to the order sequence, for example, the order of 4 / 5 orders is determined in advance. When handling the transport of the totes of the pre-determined multiple orders from the shelves to the tote drop-off position, the totes are placed in the corresponding positions of the first conveying line according to the tote transport order. In some embodiments, the number of transport devices is multiple, and the method further comprises:

[0114] Step 310: determining, according to the execution sequence of the adjacent multiple first-type transport tasks, a placement sequence of the to-be-taken-out totes loaded on the transport device for executing the first-type transport task on the first conveying line, wherein the placement sequence is the same as the execution sequence.

[0115] Step 320: controlling the transport device to place the to-be-taken-out totes loaded on the transport device on the first conveying line according to the placement sequence.

[0116] For example, the order sequence is A (on trolley 3)-B (on trolley 2)-C (on trolley 1)-D-E; trolley 2 and trolley 1 are used as buffers, and after taking the totes from the shelves, the totes are not placed on the first conveying line, trolley 3 places the A tote on the conveying line No. 1, and then goes through the conveying lines ②-③-④-⑤ to reach the tote drop-off position; trolley 1 is used as a buffer and does not place the totes on the first conveying line, trolley 2 places the B tote on the conveying line No. 2, and then goes through the conveying lines ③-④-⑤ to reach the tote drop-off position; trolley 1 places the C tote on the conveying line No. 3, and then goes through the conveying lines ④-⑤ to reach the tote drop-off position.

[0117] In the above manner, the totes can be conveyed according to the order sequence, so that the totes reach the tote drop-off position according to the order sequence.

[0118] When there are repeated orders in the pre-determined multiple orders, in some embodiments, the method further comprises:

[0119] Step 410: receiving first group of tote information, wherein the first group of tote information is used to indicate multiple totes to be transported.

[0120] Step 420: processing step: determining whether the same goods box is included in the plurality of goods boxes to be transported indicated by the first group of goods box information, if so, determining the same goods box as the target goods box; controlling the first conveying line to convey the target goods box completing the picking operation to the third conveying line, the third conveying line conveying the target goods box to the second conveying line, the handling device taking out the target goods box from the second conveying line and transporting it to the first conveying line; and / or, when the warehouse system further comprises a fourth conveying line, controlling the first conveying line to convey the target goods box at the goods box drop-off position to the third conveying line, the third conveying line conveying the target goods box to the second conveying line, controlling the second conveying line to convey the target goods box to the fourth conveying line, so that the fourth conveying line conveys the target goods box back to the first conveying line.

[0121] In the above manner, the repeated goods box is returned to the goods box drop-off position, meeting the order processing demand.

[0122] When there are repeated orders in the predetermined plurality of orders and the number of repeated goods boxes is multiple, the fourth conveying line can be used to control the goods box with an earlier order sequence to return to the first conveying line before the goods box with a later order sequence, and then reach the goods box drop-off position according to the order sequence. In some embodiments, the warehouse system further comprises a fourth conveying line, and the first conveying line has N first conveying positions, a second conveying position and a third conveying position in sequence along the conveying direction of the first conveying line, wherein the N first conveying positions are conveying positions located in the first space, the second conveying position is a conveying position connected with the fourth conveying line, and the third conveying position is the goods box drop-off position. For example Figure 6 and Figure 7 As shown in FIGS. 1-3, the first conveying position is ①-③, the second conveying position is ④, and the third conveying position is ⑤.

[0123] The target goods box includes a first goods box and a second goods box; the first group of goods box information is further used to indicate a goods box handling sequence for handling the plurality of goods boxes to the goods box drop-off position, and in the goods box handling sequence, the first goods box is located before the second goods box; the warehouse system further comprises a fourth conveying line; and step 420 comprises:

[0124] controlling the first conveying line to convey the first goods box at the goods box drop-off position to the third conveying line, the third conveying line conveying the first goods box to the second conveying line, controlling the second conveying line to convey the first goods box to the fourth conveying line, so that the fourth conveying line conveys the first goods box back to the second conveying position of the first conveying line, and controlling the first conveying line to convey the second goods box to the third conveying line, the third conveying line conveying the second goods box to the second conveying line, the handling device taking out the second goods box from the second conveying line, and transporting the second goods box to the first conveying position of the first conveying line after the first goods box is conveyed back to the second conveying position of the first conveying line. In the above manner, the repeated goods box with an earlier order sequence is conveyed through the fourth conveying line (⑤-⑥-⑧-⑨-⑦-④) before the repeated goods box with a later order sequence is conveyed through the handling robot (⑤-⑥-⑧-⑨-⑩ / - the trolley 1 / trolley 2 / trolley 3) returns to the first conveying line, and then to the box delivery position.

[0125] In some embodiments, the repeated boxes of the orders in sequence can also be returned to the first conveying line, and then to the box delivery position, in sequence via the fourth conveying line. Step 420 comprises:

[0126] controlling the first conveying line to convey the first box of the box delivery position to the third conveying line, the third conveying line to convey the first box to the second conveying line, the second conveying line to convey the first box to the fourth conveying line, so that the fourth conveying line conveys the first box back to the second conveying position of the first conveying line, and controlling the first conveying line to convey the second box of the box delivery position to the third conveying line, the third conveying line to convey the second box to the second conveying line, and controlling the second conveying line to convey the second box to the fourth conveying line after the first box is conveyed from the second conveying position to the box delivery position, so that the fourth conveying line conveys the second box back to the second conveying position of the first conveying line.

[0127] In case of error in the box carrying sequence, the carrying sequence of the boxes can be adjusted by the fourth conveying line and / or the carrying device, so that the boxes are delivered to the box delivery position in order of the orders. In some embodiments, the warehouse system further comprises a fourth conveying line, and the method further comprises:

[0128] Step 510: receiving a second set of box information, wherein the second set of box information is used to indicate a plurality of boxes to be carried and a box carrying sequence of carrying the plurality of boxes to a box delivery position; the plurality of boxes to be carried comprises a third box and a fourth box; in the box carrying sequence, the third box is located before the fourth box;

[0129] Step 520: determining whether the fourth box is placed on the first conveying line before the third box.

[0130] Step 530: if the fourth box is placed on the first conveying line before the third box: controlling the first conveying line to convey the fourth box to the fourth conveying line, controlling the fourth conveying line to convey the fourth box to the second conveying line, and controlling the carrying device to take the fourth box from the second conveying line and carry it to the first conveying line; and / or, controlling the first conveying line to convey the fourth box to the fourth conveying line, controlling the fourth conveying line to temporarily store the fourth box in its temporary storage position, and controlling the fourth conveying line to convey the fourth box to the first conveying line after the third box reaches the box delivery position. When it is necessary to replenish empty boxes, empty box replenishment can be performed by the fourth conveying line of the warehouse system. The method further comprises:

[0131] Step 610: receiving an empty box replenishment task.

[0132] Step 620: control the second conveying line to convey the received empty container to the fourth conveying line, so that the fourth conveying line conveys the empty container to the first conveying line, and the first conveying line conveys the empty container to the container deposit position for the picking operation. When the container output at the No. 5 position is a full container, the warehouse system further comprises a full container conveying device, and the method further comprises:

[0133] Step 710: if the container conveyed by the third conveying line to the second conveying line is a full container, control the second conveying line to convey the full container to the full container conveying device.

[0134] In order to realize the conveying of the container between different conveying lines, it is also necessary to control the container transfer mechanism to transfer the container.

[0135] In step 710, the control of the second conveying line to convey the full container to the full container conveying device comprises: controlling the second transfer mechanism of the second conveying line to transfer the full container from the second conveying line to the full container conveying device.

[0136] In this way, the reversing of the container conveying at the No. 7 position is realized.

[0137] In step 220, the control of the first conveying line to convey the to-be-stored container at the container deposit position to the third conveying line, so that the third conveying line conveys the to-be-stored container to the second conveying line, comprises: controlling the first transfer mechanism of the first conveying line to transfer the to-be-stored container at the container deposit position from the first conveying line to the third conveying line.

[0138] In this way, the reversing of the container conveying at the No. 5 position is realized.

[0139] In step 420, the control of the second conveying line to convey the target container to the fourth conveying line, so that the fourth conveying line conveys the target container back to the first conveying line, comprises: controlling the third transfer mechanism of the second conveying line to transfer the target container to the fourth conveying line, so that the fourth conveying line conveys the target container back to the first conveying line; and / or

[0140] In step 420, the control of the second conveying line to convey the first container to the fourth conveying line, so that the fourth conveying line conveys the first container back to the second conveying position of the first conveying line, comprises: controlling the third transfer mechanism of the second conveying line to transfer the first container to the fourth conveying line, so that the fourth conveying line conveys the first container back to the first conveying line; and / or

[0141] In step 420, the control of the second conveying line to convey the second container to the fourth conveying line, so that the fourth conveying line conveys the second container back to the second conveying position of the first conveying line, comprises:

[0142] Controlling the third transfer mechanism of the second conveying line to transfer the second container to the fourth conveying line, so that the fourth conveying line conveys the second container back to the first conveying line.

[0143] In this way, the reversing of the box conveying at the No. 9 position is realized.

[0144] The step 530 controls the first conveying line to convey the fourth box to the fourth conveying line, including:

[0145] The fourth transfer mechanism of the first conveying line is controlled to transfer the fourth box from the first conveying line to the fourth conveying line.

[0146] In this way, the reversing of the box conveying at the No. 4 position is realized.

[0147] If the number of the carrying devices is N and N is greater than 1, and the box needs to return to the first conveying line from the second conveying line after being picked at the No. 5 position or due to the error of the carrying sequence of the box, the box needs to stop at one of the positions corresponding to the carrying devices on the second conveying line, so as to be carried back to the first conveying line by the corresponding carrying device. The following describes some ways of determining the stopping position of the box.

[0148] In some embodiments, if the box flowing through the conveying line No. 10 is hit by a new order, for example, the case of the repeated order in the predetermined multiple orders mentioned above, the box hit by the new order needs to be picked and put again, then according to the order sequence in the future, the backflow box is preferentially backflowed to the position of the idle carrying device corresponding to the goods location column on the second conveying line, and is carried to the first conveying line by the idle carrying device to be conveyed to the box putting position.

[0149] The step 420 controls the carrying device to take out the target box from the second conveying line and carry it to the first conveying line, including:

[0150] Step 421: determine the hit carrying device, wherein the hit carrying device is used to carry other boxes that need to be carried after the repeated appearance of the target box.

[0151] Step 422: select a carrying device other than the hit carrying device from the N carrying devices as a target carrying device.

[0152] Step 423: control the target carrying device to take out the target box from the second conveying line and carry it to the first conveying line.

[0153] For example, there are three carriers, namely, trolley 1, trolley 2 and trolley 3, and the order sequence is A-D-E-A-B, where A is a repeated order and the A box is the target box. The future order sequence needs to be determined, i.e., the order sequence after the A box is determined as a repeated box, for example, the future order sequence is A (backflow box 1, i.e., the A box)-B (on the column shelf where the trolley 1 is located)-C (on the column shelf where the trolley 2 is located)-D (backflow box 2, i.e., the D box)-E (backflow box 3, i.e., the E box), and the other boxes that need to be carried after the target box is repeated are the B box and the C box. Based on this, the hit carriers are determined to be the trolley 1 and the trolley 2, where the trolley 1 is used to carry the B box and the trolley 2 is used to carry the C box. The carriers other than the trolley 1 and the trolley 2 are selected as target carriers from the five carriers, and the trolley 3 is selected as the target carrier. The backflow box 1 flows to the conveying line 1 via the trolley 3. Accordingly, the backflow positions of the backflow box 2 and the backflow box 3 are also determined according to the newly input order sequence in the above manner.

[0154] In the above manner, the backflow box is preferentially backflowed to the position of the column of the idle carrier on the second conveying line, so that the idle carrier can timely take out the box, avoid occupying the carrier needed for the next other box, and improve the operation efficiency.

[0155] In some cases, if there is no idle carrier, the backflow box is preferentially backflowed to the carrier that is last needed to be used, and step 422 includes:

[0156] Step 4221: Determine whether the hit carriers include all N carriers.

[0157] Step 4222: If the hit carriers include all N carriers, the carrier that is last executed or last hit among the N carriers is selected as the target carrier.

[0158] In some embodiments, if the box flowing through the second conveying line is not hit by the predicted order, i.e., it is not the target box, the placement position of the box on the second conveying line preferentially guarantees that the boxes on the column shelf corresponding to the carrier are evenly distributed. In some embodiments, step 210 includes:

[0159] Step 211a: Determine the column with the least number of currently placed boxes from the columns of the first shelf and the second shelf.

[0160] Step 212a: Select a column as a target column from the column with the least number of currently placed boxes.

[0161] The to-be-stored bins include a fifth bin and a sixth bin, the fifth bin leaves the bin drop position earlier than the sixth bin. If the fifth bin and the sixth bin transported back to the second conveying line from the bin drop position are not hit by the predicted order, that is, they are not the aforementioned target bins, the fifth bin and the sixth bin are preferentially guaranteed to be evenly distributed on the racks corresponding to the storage locations of the second conveying line, and the fifth bin (that is, the one transported back to the second conveying line first) is transported to a relatively downstream position of the second conveying line compared to the sixth bin (that is, the one transported back to the second conveying line later), so as to not cause congestion to the second conveying line, so that the conveying line remains unblocked. In some embodiments, step 210 includes:

[0162] Step 211b: determining the first storage location column and the second storage location column with the least number of currently placed bins from the storage location columns of the first rack and the second rack, wherein the first storage location column is located downstream of the second storage location column in the direction of transporting the to-be-stored bins along the second conveying line.

[0163] Step 212b: selecting a storage location from the first storage location column as the target storage location of the fifth bin on the rack.

[0164] Step 213b: selecting a storage location from the second storage location column as the target storage location of the sixth bin on the rack.

[0165] In some embodiments, the bins transported back to the second conveying line from the bin drop position can also be preferentially flowed to the most downstream position, ensuring the overall unblocking of the conveying line. Step 210 includes:

[0166] Step 211c: in the direction of transporting the to-be-stored bins along the second conveying line, when the to-be-stored bin reaches the conveying position i on the second conveying line, if the conveying position i+1 downstream of it is empty, the to-be-stored bin moves to the conveying position i+1 until the conveying position downstream of it is not empty or the most downstream conveying position is reached, and the storage location column corresponding to the conveying position where it is currently located is selected as the target storage location column.

[0167] Step 212c: selecting a storage location from the target storage location column as the target storage location.

[0168] In the above manner, when the container is returned from the container drop-off position to the second conveying line, the container is preferentially returned to the most downstream conveying position on the second conveying line, and containers after the container can be conveyed downstream of the second conveying line in turn, and each container is moved to the most downstream conveying position that can be moved, so that there is no empty position between the containers on the second conveying line. When there is an empty conveying position downstream, but there is also a non-empty conveying position (on which other containers are placed) before the empty conveying position, the container cannot reach the empty conveying position downstream due to being blocked by the other containers on the non-empty conveying position, and the container can be returned to the empty conveying position that is relatively located most downstream. In the above manner, the conveying line is kept overall unblocked, and the conveying efficiency is improved.

[0169] For example Figure 6 and Figure 7 As shown in FIG. 3, the column of the goods location corresponding to the trolley 3 in the second conveying line is the column of the goods location located most downstream. By determining the target goods location as the column of the goods location located most downstream, the container is conveyed to the most downstream position on the second conveying line, so as to ensure that the conveying line is overall unblocked.

[0170] Figure 12 A structural schematic diagram of a control device of a warehouse system provided in an embodiment of the present application is provided. The device 1200 is applied to the warehouse system of any of the foregoing embodiments. As shown in FIG. 12, the device 1200 includes a first determination module 1201 and a first control module 1202. Figure 12

[0171] The first determination module 1201 is configured to determine a storage goods location of a to-be-taken-out container in the goods shelf in a first type of carrying task, wherein the first type of carrying task is to carry the to-be-taken-out container on the first goods shelf or the second goods shelf to the container drop-off position.

[0172] The first control module 1202 is configured to control a first carrying device to take out the to-be-taken-out container from the storage goods location and carry the to-be-taken-out container to the first conveying line, so that the first conveying line conveys the to-be-taken-out container to the container drop-off position for a picking operation, wherein the first carrying device is a carrying device corresponding to the column of the goods location where the storage goods location is located.

[0173] Figure 13 A structural schematic diagram of another control device of a warehouse system provided in an embodiment of the present application is provided. The device 1300 is applied to the warehouse system of any of the foregoing embodiments. As shown in FIG. 13, the device 1300 includes a second determination module 1301, a second control module 1302, and a third control module 1303. Figure 13

[0174] The second determination module 1301 is configured to determine a target goods location of a to-be-stored container in the goods shelf in a second type of carrying task, wherein the second type of carrying task is to carry the to-be-stored container at the container drop-off position to the target goods location of the first goods shelf or the second goods shelf. ​​

[0175] The second control module 1302 is configured to control the first conveying line to convey the to-be-stored container in the container deposit position to the third conveying line, so that the third conveying line conveys the to-be-stored container to the second conveying line.

[0176] The third control module 1303 is configured to control the second carrying device to carry the to-be-stored container from the second conveying line to the target container position after the second conveying line conveys the to-be-stored container to a position corresponding to the container column where the target container position is located, wherein the second carrying device is a carrying device corresponding to the container column where the target container position is located.

[0177] The control device of the warehouse system provided in the embodiment is also used to execute the technical solutions of the control method of the warehouse system in the foregoing method embodiments, and has similar implementation principles and technical effects, which will not be described herein again.

[0178] Figure 14 The structure schematic diagram of the electronic device provided in the embodiment is not limited to the specific implementation of the electronic device in the specific embodiments of the present application. As shown in the structure schematic diagram of the electronic device, the electronic device can include a processor 302, a communications interface 304, a memory 306, and a communications bus 308. Figure 14

[0179] The processor 302, the communications interface 304, and the memory 306 can communicate with each other through the communications bus 308. The communications interface 304 is configured to communicate with network elements such as clients or other servers. The processor 302 is configured to execute the program 310, and specifically can execute the related steps in the control method of the warehouse system.

[0180] Specifically, the program 310 can include program code including computer operation instructions.

[0181] The processor 302 can be a CPU, or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the electronic device can be the same type of processors, such as one or more CPUs; or can be different types of processors, such as one or more CPUs and one or more ASICs.

[0182] The memory 306 is configured to store the program 310. The memory 306 can include a high-speed RAM memory, and can also include a non-volatile memory such as at least one disk memory. ​

[0183] The embodiment of the present application provides a computer readable storage medium, at least one executable instruction is stored in the storage medium, and the executable instruction is used to make an electronic device execute the operation of the control method of the warehouse system in the above embodiment when the electronic device runs.

[0184] The embodiment of the present application provides a computer program product, comprising a computer program, and the computer program is used to realize the operation of the control method of the warehouse system in the above embodiment when the computer program is executed by a processor.

[0185] The embodiment of the present application provides a computer program, and the computer program can be called by a processor to make an electronic device execute the control method of the warehouse system in the above method embodiment.

[0186] The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems can be used with these teachings, with or without accompanying software. In fact, the software claimed herein may

[0187] In the specification provided herein, a large number of specific details are explained. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not shown in detail in order not to obscure the understanding of the specification.

[0188] Similarly, it should be appreciated that, in the description of the exemplary embodiments of the present application above, various features of the embodiments of the present application are sometimes grouped together in a single embodiment, figure, or description of a related aspect. This manner of disclosure should not be interpreted as reflecting an intention that the claimed application requires more features than are explicitly recited in each claim.

[0189] Those skilled in the art will appreciate that modules in the apparatuses in the embodiments can be adapted and placed in one or more apparatuses other than the embodiments. Modules or units or components in the embodiments can be combined into one module or unit or component, and can be divided into multiple sub-modules or sub-units or sub-components. All the features disclosed in this specification (including the claims, abstract, and drawings) can be combined in any combination, except where such features are mutually exclusive. Unless explicitly stated otherwise, each feature disclosed in this specification (including the claims, abstract, and drawings) can be replaced by alternative features that serve the same, equivalent or similar purpose.

[0190] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps other than those listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unit claim, several devices can be listed with a comma. Such listing does not imply that the devices must be in the same physical unit. Use of the word 'about' does not limit the claim to the exact value. Use of the word 'at least' does not exclude the individual options within the scope of the claim. The application can be implemented by means of both hardware and software, and any combination thereof. One or more of the disclosed embodiments can be implemented as a computer program product, i.e., a computer program tangibly embodied in a machine-readable storage medium for execution by, or to control the operation of, a data processing apparatus, and / or a computer program product. The program can be implemented in a high level procedural or object oriented programming and / or scripting language, or multiple languages. The program can be implemented according to the process flow of the disclosed embodiments. The program can be implemented in a computer program product tangibly embodied in a machine-readable storage medium for execution by, or to control the operation of, a data processing apparatus, and / or a computer program product. The program can be implemented according to the process flow of the disclosed embodiments. The program can be implemented in a computer program product tangibly embodied in a machine-readable storage medium for execution by, or to control the operation of, a data processing apparatus, and / or a computer program product.

Claims

1. A warehousing system characterized by, The application relates to a storage and picking system. The first and second shelves are arranged in parallel along a second horizontal direction and have a lane between them, wherein the included angle between the first and second horizontal directions is 90 degrees, and N is a positive integer. The first shelf is provided with a first conveying line in the first space, and the first conveying line extends to the outside of the first shelf along the first horizontal direction; the second shelf is provided with a second conveying line in the second space, and the second conveying line extends to the outside of the second shelf along the first horizontal direction; and a third conveying line is further arranged outside the first and second shelves for connecting the first and second conveying lines. The conveying device is used for taking out a to-be-taken-out box from the first or second shelf and conveying the to-be-taken-out box to the first conveying line, the first conveying line is used for conveying the to-be-taken-out box to a box drop position for a picking operation, the third conveying line is used for conveying a to-be-stored box output by the box drop position to the second conveying line, and the conveying device is further used for taking out the to-be-stored box from the second conveying line and conveying the to-be-stored box to a storage position on the first or second shelf. The conveying device is further used for taking out a box conveyed by the third conveying line to the second conveying line from the second conveying line and conveying the box to the first conveying line; and / or a fourth conveying line is further arranged outside the first and second shelves for connecting the first and second conveying lines, and the fourth conveying line is used for conveying a box conveyed by the third conveying line to the second conveying line back to the first conveying line.

2. The warehousing system according to claim 1, characterized in that, The first conveying line is used for conveying a box located thereon to a box drop position for a picking operation. A fourth conveying line is further arranged outside the first and second shelves for connecting the first and second conveying lines.

3. The warehousing system according to claim 1, characterized in that, The second conveying line is used for receiving an empty box and conveying the empty box to the fourth conveying line. The fourth conveying line is used for conveying the empty box to the first conveying line. The first conveying line is used for conveying the empty box to a box drop position for a picking operation. An empty box conveying device is arranged outside a conveying position of the second conveying line for receiving the empty box, the empty box conveying device is connected to the second conveying line, and the empty box is conveyed to the second conveying line through the empty box conveying device.

4. The warehousing system according to claim 3, characterized in that, ​ 5. The warehousing system according to claim 2, characterized in that, When the fourth conveying line is further arranged outside the first and second racks for connecting the first and second conveying lines, the fourth conveying line is further used for receiving the carton conveyed by the first conveying line and conveying the carton to the second conveying line, and the handling device is further used for taking out the carton conveyed by the fourth conveying line to the second conveying line from the second conveying line and carrying the carton to the first conveying line; and / or, the fourth conveying line is provided with a carton temporary storage position, and the fourth conveying line is further used for receiving the carton conveyed by the first conveying line and temporarily storing the carton in the carton temporary storage position.

6. The warehousing system according to any one of claims 2 to 5, characterized in that, When the fourth conveying line is further arranged outside the first and second racks for connecting the first and second conveying lines, the fourth conveying line and the third conveying line are arranged in parallel and adjacent along the first horizontal direction, and the fourth conveying line is located between the aisle and the third conveying line.

7. The warehousing system according to claim 4, characterized in that, The full carton conveying device is arranged outside the second conveying line and is connected to the second conveying line, and the second conveying line is further used for conveying the full carton conveyed by the third conveying line to the full carton conveying device.

8. The warehousing system according to claim 7, characterized in that, The empty carton conveying device or the full carton conveying device is a rack device, which comprises a support and a transmission support arranged on the support, and the transmission support is used for placing a carton, and the transmission support is movable relative to the support to drive the carton to move from a current conveying position to a next conveying position.

9. The warehousing system according to claim 7 or 8, characterized in that, The warehouse system further comprises a first transfer mechanism and a second transfer mechanism, the first transfer mechanism is used for transferring the carton on the first conveying line to the third conveying line, and the second transfer mechanism is used for transferring the carton on the second conveying line to the full carton conveying device.

10. The warehousing system of claim 5, wherein, The warehouse system further comprises a third transfer mechanism and a fourth transfer mechanism, the third transfer mechanism is used for transferring the carton on the second conveying line to the fourth conveying line, and the fourth transfer mechanism is used for transferring the carton on the first conveying line to the fourth conveying line.

11. The warehousing system of claim 1, wherein, The warehouse system further comprises a work station, and the carton drop position is located on the first conveying line, and the height difference between the height of the first conveying line and the height of the work station is less than or equal to a height difference threshold.

12. The warehousing system of claim 1, wherein, The handling device is a handling robot and / or a stacker capable of moving in the aisle; or, The handling device is a handling robot arranged on the first rack and / or the second rack and capable of moving on the rack on which it is arranged; or, The number of handling devices is N, and the handling devices are arranged in the aisle in one-to-one correspondence with the N rows of storage locations along the first horizontal direction.

13. A control method of a warehouse system, characterized by, The method is applied to the warehouse system in any one of claims 1-12, and the method comprises: determining the storage location of the to-be-taken-out carton on the rack in a first handling task, wherein the first handling task is to carry the to-be-taken-out carton on the first rack or the second rack to a carton drop position; controlling the conveying device to take out the to-be-taken-out case from the storage location and convey the to-be-taken-out case to the first conveying line, so that the first conveying line conveys the to-be-taken-out case to the case drop-off location for a picking operation; and / or, determining a target location of a to-be-stored case in the second type of conveying task on the goods shelf, wherein the second type of conveying task is to convey the to-be-stored case at the case drop-off location to a target location of the first goods shelf or the second goods shelf; controlling the first conveying line to convey the to-be-stored case at the case drop-off location to the third conveying line, so that the third conveying line conveys the to-be-stored case to the second conveying line; after the second conveying line conveys the to-be-stored case to a position corresponding to the location column where the target location is located, controlling the conveying device to take out the to-be-stored case from the second conveying line and convey the to-be-stored case to the target location.

14. The method of claim 13, wherein, The control of the conveying device to take out the to-be-taken-out case from the storage location and convey the to-be-taken-out case to the first conveying line comprises: controlling the whole or part of the conveying device to move in the vertical direction to the goods shelf layer where the storage location is located, to take out the to-be-taken-out case from the storage location; controlling the whole or part of the conveying device to move in the vertical direction to the height of the first conveying line, to place the to-be-taken-out case on the first conveying line.

15. The method of claim 13, wherein, The control of the conveying device to take out the to-be-stored case from the second conveying line and convey the to-be-stored case to the target location comprises: controlling the whole or part of the conveying device to move in the vertical direction to the height of the second conveying line, to take out the to-be-stored case from the second conveying line; controlling the whole or part of the conveying device to move in the vertical direction to the goods shelf layer where the target location is located, to store the to-be-stored case in the target location.

16. The method according to any one of claims 13 to 15, wherein the number of handling devices is plural, characterized in that, The method further comprises: determining, according to the execution sequence of the plurality of first type of conveying tasks adjacent to each other, a placement sequence of the to-be-taken-out case loaded on the conveying device to be placed on the first conveying line by the conveying device performing the first type of conveying task, wherein the placement sequence is the same as the execution sequence; controlling the conveying device to place the to-be-taken-out case loaded on the conveying device on the first conveying line according to the placement sequence.

17. The method of claim 13, wherein, The method further comprises: receiving a first group of case information, wherein the first group of case information is used to indicate a plurality of cases to be conveyed; The processing step includes: determining whether the plurality of to-be-transported containers indicated by the first group of container information includes a same container, and if so, determining the same container as a target container; controlling the first conveying line to convey the target container on which the order-picking operation is completed to the third conveying line, controlling the third conveying line to convey the target container to the second conveying line, and controlling the transporting device to take the target container from the second conveying line and transport it to the first conveying line; and / or, when the warehouse system further includes a fourth conveying line, controlling the first conveying line to convey the target container at the container drop-off position to the third conveying line, controlling the third conveying line to convey the target container to the second conveying line, and controlling the second conveying line to convey the target container to the fourth conveying line, so that the fourth conveying line conveys the target container back to the first conveying line.

18. The method of claim 17, wherein, When the warehouse system further includes a fourth conveying line, the first conveying line has, in sequence along its conveying direction, N first conveying positions, a second conveying position, and a third conveying position, wherein the N first conveying positions are conveying positions located in the first space, the second conveying position is a conveying position connected with the fourth conveying line, and the third conveying position is the container drop-off position; The target container includes a first container and a second container; the first group of container information is further used to indicate a transport sequence of transporting the plurality of containers to the container drop-off position, and in the transport sequence, the first container is located before the second container; the warehouse system further includes a fourth conveying line; and the processing step includes: controlling the first conveying line to convey the first container at the container drop-off position to the third conveying line, controlling the third conveying line to convey the first container to the second conveying line, controlling the second conveying line to convey the first container to the fourth conveying line, so that the fourth conveying line conveys the first container back to the second conveying position of the first conveying line, and controlling the first conveying line to convey the second container to the third conveying line, controlling the third conveying line to convey the second container to the second conveying line, and controlling the transporting device to take the second container from the second conveying line and transport it to the first conveying position of the first conveying line after the first container is conveyed back to the second conveying position of the first conveying line.

19. The method of claim 17, wherein, When the warehouse system further includes a fourth conveying line, the first conveying line has, in sequence along its conveying direction, N first conveying positions, a second conveying position, and a third conveying position, wherein the N first conveying positions are conveying positions located in the first space, the second conveying position is a conveying position connected with the fourth conveying line, and the third conveying position is the container drop-off position; The target container includes a first container and a second container; the first group of container information is further used to indicate a transport sequence of transporting the plurality of containers to the container drop-off position, and in the transport sequence, the first container is located before the second container; the warehouse system further includes a fourth conveying line; and the processing step includes: controlling the first conveying line to convey the first bin at the bin drop-off position to the third conveying line, the third conveying line to convey the first bin to the second conveying line, and the second conveying line to convey the first bin to the fourth conveying line so as to cause the fourth conveying line to convey the first bin back to the second conveying position of the first conveying line, and controlling the first conveying line to convey the second bin at the bin drop-off position to the third conveying line, the third conveying line to convey the second bin to the second conveying line, and the second conveying line to convey the second bin to the fourth conveying line so as to cause the fourth conveying line to convey the second bin back to the second conveying position of the first conveying line after the first bin is conveyed from the second conveying position to the bin drop-off position.

20. The method of claim 13, wherein, When the warehouse system further comprises a fourth conveying line, the method further comprises: receiving an empty bin replenishment task; controlling the second conveying line to convey the received empty bin to the fourth conveying line so as to cause the fourth conveying line to convey the empty bin to the first conveying line, and the first conveying line to convey the empty bin to the bin drop-off position for a picking operation.

21. The method of claim 13, wherein, When the warehouse system further comprises a fourth conveying line, the method further comprises: receiving a second set of bin information, wherein the second set of bin information is used to indicate a plurality of bins to be moved and a moving sequence of moving the plurality of bins to the bin drop-off position; the plurality of bins to be moved comprises a third bin and a fourth bin; in the moving sequence, the third bin is located before the fourth bin; determining whether the fourth bin is placed on the first conveying line before the third bin; if the fourth bin is placed on the first conveying line before the third bin: controlling the first conveying line to convey the fourth bin to the fourth conveying line, controlling the fourth conveying line to convey the fourth bin to the second conveying line, and controlling the moving device to move the fourth bin from the second conveying line to the first conveying line; and / or, controlling the first conveying line to convey the fourth bin to the fourth conveying line, and controlling the fourth conveying line to temporarily store the fourth bin at a bin temporary storage position thereof, and controlling the fourth conveying line to convey the fourth bin to the first conveying line after the third bin reaches the bin drop-off position.

22. The method of claim 13, wherein, When the warehouse system further comprises a full bin conveying device, the method further comprises: if the bin conveyed by the third conveying line to the second conveying line is a full bin, controlling the second conveying line to convey the full bin to the full bin conveying device.

23. The method of claim 22, wherein, The control of the second conveying line to convey the full bin to the full bin conveying device comprises: controlling a second transfer mechanism of the second conveying line to transfer the full bin from the second conveying line to the full bin conveying device.

24. The method of claim 13, wherein, The control of the first conveying line to convey the to-be-stored container to the third conveying line, so that the third conveying line conveys the to-be-stored container to the second conveying line, comprises: The control of the first conveying line to convey the to-be-stored container to the third conveying line, so that the third conveying line conveys the to-be-stored container to the second conveying line, comprises:

25. The method of any one of claims 18-19, wherein: The control of the second conveying line to convey the target container to the fourth conveying line, so that the fourth conveying line conveys the target container back to the first conveying line, comprises: The control of the second conveying line to convey the first container to the fourth conveying line, so that the fourth conveying line conveys the first container back to the second conveying position of the first conveying line, comprises: The control of the second conveying line to convey the second container to the fourth conveying line, so that the fourth conveying line conveys the second container back to the second conveying position of the first conveying line, comprises: The control of the second conveying line to convey the second container to the fourth conveying line, so that the fourth conveying line conveys the second container back to the second conveying position of the first conveying line, comprises:

26. The method of claim 21, wherein, The control of the first conveying line to convey the fourth container to the fourth conveying line, comprises: The control of the first conveying line to convey the fourth container to the fourth conveying line, comprises:

27. The method of any one of claims 17-19, wherein the number of handling devices is N, and wherein, The control of the carrying device to take out the target container from the second conveying line and carry it to the first conveying line, comprises: Determining a hit carrying device, wherein the hit carrying device is used to carry other containers that need to be carried after the target container repeatedly appears; Selecting a carrying device other than the hit carrying device from N carrying devices as a target carrying device; Controlling the target carrying device to take out the target container from the second conveying line and carry it to the first conveying line.

28. The method of claim 27, wherein, The selection of a carrying device other than the hit carrying device from N carrying devices as a target carrying device, comprises: Determining whether the hit carrying device includes all of the N carrying devices; If the hit carrying device includes all of the N carrying devices, taking the carrying device that last performs a carrying task or the last hit carrying device among the N carrying devices as the target carrying device.

29. The method of claim 13, wherein, The determination of the target storage location of the to-be-stored container in the second type of carrying task, comprises: Determining a storage location column with the least number of containers from the storage location columns of the first storage rack and the second storage rack; select a location from the location column with the least number of currently placed boxes as the target location.

30. The method of claim 13, wherein, The to-be-stored boxes include a fifth box and a sixth box, the fifth box leaves the box drop-off position earlier than the sixth box; the determining of the target locations of the to-be-stored boxes on the shelves in the second type of carrying task includes: determining a first location column and a second location column with the least number of currently placed boxes from the location columns of the first shelf and the second shelf, wherein, along the direction in which the second conveying line conveys the to-be-stored boxes, the first location column is located downstream of the second location column; selecting a location from the first location column as the target location of the fifth box on the shelf; selecting a location from the second location column as the target location of the sixth box on the shelf.

31. The method of claim 13, wherein, The determining of the target locations of the to-be-stored boxes on the shelves in the second type of carrying task includes: along the direction in which the second conveying line conveys the to-be-stored boxes, when the to-be-stored box reaches conveying position i on the second conveying line, if the conveying position i+1 downstream of the to-be-stored box is empty, the to-be-stored box moves to the conveying position i+1 until the conveying position downstream of the to-be-stored box is not empty or the most downstream conveying position has been reached, then the location column corresponding to the conveying position where the to-be-stored box is currently located is taken as the target location column; selecting a location from the target location column as the target location.

32. A control device for a warehousing system, characterized in that The device is applied to the warehouse system in any one of claims 1-12, and the device comprises: a first determining module configured to determine a storage location of a to-be-taken-out box on a shelf in a first type of carrying task, wherein the first type of carrying task is to carry the to-be-taken-out box on the first shelf or the second shelf to a box drop-off position; a first control module configured to control a first carrying device to take out the to-be-taken-out box from the storage location and carry the to-be-taken-out box to the first conveying line, so that the first conveying line conveys the to-be-taken-out box to the box drop-off position for a picking operation, wherein the first carrying device is a carrying device corresponding to a location column where the storage location is located; and / or a second determining module configured to determine a target location of a to-be-stored box on a shelf in a second type of carrying task, wherein the second type of carrying task is to carry the to-be-stored box at the box drop-off position to the target location of the first shelf or the second shelf; a second control module configured to control the first conveying line to convey the to-be-stored box at the box drop-off position to the third conveying line, so that the third conveying line conveys the to-be-stored box to the second conveying line; a third control module configured to, after the second conveying line conveys the to-be-stored box to a position corresponding to a location column where the target location is located, control a second carrying device to take out the to-be-stored box from the second conveying line and carry the to-be-stored box to the target location, wherein the second carrying device is a carrying device corresponding to the location column where the target location is located.

33. An electronic device, comprising: comprise: at least one processor and a memory; the memory stores computer execution instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the control method of the warehouse system as claimed in any one of claims 13-31.

34. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the control method of the warehouse system as claimed in any one of claims 13-31 is implemented.

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