Storage system, warehouse, storage system control methods and storage media

Abstract

This application provides a warehousing system, a warehouse, a warehousing system control method, and a storage medium. The warehousing system provided by this application includes shelves, sorting equipment, and picking / placing equipment. The shelves include a storage layer and a temporary storage layer, with the temporary storage layer located below the storage layer. The storage layer is configured to store multiple material boxes stacked vertically. The sorting equipment includes a sorting conveyor line and a sorting device. The sorting conveyor line is located to the side of the shelves and is connected to them. The sorting device is opposite to the sorting conveyor line. The picking / placing equipment is movable along the length of the shelves and is configured to pick up and place a single material box from the storage layer to the temporary storage layer; or, simultaneously pick up and place multiple material boxes to the sorting conveyor line. A handling device is configured to transport the material boxes in the temporary storage layer to the sorting conveyor line, thereby improving the logistics efficiency of the warehousing system under different operating conditions.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a warehousing system, a warehouse, a warehousing system control method, and a storage medium. Background Technology

[0002] Automated storage systems are widely used in the warehousing and logistics field due to their large storage capacity. With the development of artificial intelligence and automation technology, the automation level of logistics systems is getting higher and higher. Automated warehouses can be connected to external equipment through automated devices to realize the automatic picking and placing of goods.

[0003] In related technologies, to improve storage density, automated warehouses can use buffer racks to stack material boxes, eliminating gaps between stacked boxes and allowing for more boxes to be stored within a limited height. When retrieving or placing a material box, after selecting it, a separate retrieval robot lifts the stacked boxes above it, retrieves the selected box, and then transports it to the next logistics step.

[0004] However, in current warehousing systems where material boxes are stacked, the boxes can only be moved out of the warehouse one by one by handling robots, resulting in low logistics efficiency. Summary of the Invention

[0005] This application provides a warehousing system, a warehouse, a warehousing system control method, and a storage medium to solve the technical problem of low material box outbound efficiency in current warehousing systems where material boxes are stacked.

[0006] In a first aspect, this application provides a warehousing system, which includes:

[0007] The shelving includes a storage layer and a temporary storage layer, with the temporary storage layer located below the storage layer. The storage layer is configured to store multiple material boxes stacked vertically.

[0008] The sorting equipment includes a sorting conveyor line and a sorting device. The sorting conveyor line is located on the side of the shelf and is connected to the shelf to transport material boxes. The sorting device is opposite to the sorting conveyor line and is configured to sort the goods in the material boxes on the sorting conveyor line.

[0009] Picking and placing equipment is installed and moved along the length of the shelf. The picking and placing equipment is configured to pick up and place a single material box from the storage layer to the temporary storage layer; or, simultaneously pick up and place multiple material boxes to the sorting conveyor line.

[0010] Handling equipment is configured to move material boxes from the temporary storage layer to the sorting conveyor line.

[0011] The warehousing system provided in this application embodiment uses picking and placing equipment to retrieve and place material boxes from stacked material boxes on shelves. The picking and placing equipment can retrieve or place one or more material boxes according to specific order task requirements. At the same time, it uses sorting conveyor lines and handling equipment in conjunction with the shelves. When a single material box leaves the warehouse, the handling equipment takes the material box out of the temporary storage layer. When multiple material boxes leave the warehouse, the sorting conveyor line transports the multiple material boxes to the sorting device. Thus, the logistics efficiency of the warehousing system can be improved under different working conditions.

[0012] In some embodiments, the sorting conveyor line has an input port, which is disposed opposite to one end of the shelf along its length; the picking and placing equipment is located on the side of the shelf along its length, and one end of the picking and placing equipment's moving path along the shelf along its length is opposite to the input port.

[0013] With this setup, after the picking and placing equipment retrieves multiple material boxes from the shelf, these boxes can be transported and placed at the input of the sorting conveyor line all at once, saving time for the material boxes to leave the warehouse.

[0014] In some embodiments, the sorting conveyor line may include a first conveyor section, a second conveyor section, and a third conveyor section. The first conveyor section is connected to the shelf and forms an inlet, and the third conveyor section has an outlet that is connected to the shelf. The second conveyor section is connected between the first conveyor section and the third conveyor section. The sorting device is located to the side of the second conveyor section.

[0015] This setup allows for the rapid flow of material boxes from and into the shelves. Outbound material boxes can be directly transported to the sorting device via the sorting conveyor line, while sorted material boxes can be returned to the shelves for storage via the sorting conveyor line.

[0016] In some embodiments, the second conveying section is provided with an inlet and an outlet at both ends, and the conveying equipment can be connected to the inlet or the outlet.

[0017] With this setup, when the handling equipment is transporting a single outbound material box, it can directly transport the material box to the second conveyor section, avoiding occupying the space in the area where the sorting conveyor line connects with the shelves, thereby preventing material box congestion.

[0018] In some embodiments, the sorting conveyor line may include a first conveyor line and a second conveyor line, which are arranged at intervals in a vertical direction; one of the first conveyor line and the second conveyor line is configured to convey a material box from one end of the shelf to the sorting device; the other of the first conveyor line and the second conveyor line is configured to convey a material box from the sorting device to one end of the shelf.

[0019] In some embodiments, the picking and placing equipment may include a frame, a movable gantry, and a picking and placing device. The frame has a slide rail extending along the length of the shelf, and the movable gantry is movably connected to the slide rail. The movable gantry is vertically arranged, and the picking and placing device is connected to the movable gantry and is movable along the height direction of the movable gantry.

[0020] This setup, with its fixed frame and movable gantry that moves along the frame, allows for more precise movement of the picking and placing equipment, reducing the floor space required for the warehousing system and lowering equipment costs.

[0021] In some embodiments, the mobile gantry is provided with at least two picking and placing devices, wherein at least one picking and placing device is configured to lift other material boxes stacked above the target material box, and at least one picking and placing device is configured to pick and place the target material box.

[0022] This setup allows for the rapid retrieval of any material box from a stacked system, without occupying other storage locations on the shelf during the retrieval process.

[0023] In some embodiments, the frame may include at least two uprights and at least two crossbeams, with the uprights located at both ends of the shelf along its length and the crossbeams connecting the uprights at both ends of the shelf along its length; the crossbeams are used to form slide rails.

[0024] This design ensures that the moving path of the gantry can cover all positions along the length of the shelf, and guarantees the smoothness of the gantry's movement.

[0025] In some embodiments, there may be multiple movable gantry frames, which are spaced apart along the extension direction of the slide rail, and the multiple movable gantry frames can move independently along the slide rail.

[0026] This setup allows for simultaneous picking and placing of goods at different locations along the length of the shelf using multiple movable masts, improving logistics efficiency.

[0027] In some embodiments, there may be multiple shelves, which are spaced apart to form a storage area; there are aisles between adjacent shelves, and picking and placing equipment is located in the aisles and configured to pick and place material boxes from the shelves on both sides of the aisles in both directions; sorting equipment may be located outside the storage area.

[0028] With this setup, the picking and placing equipment can perform picking and placing operations on two shelves simultaneously, eliminating the need for multiple picking and placing devices in a single aisle. This increases storage density while reducing the cost of the warehousing system.

[0029] In some embodiments, a moving channel is provided below the temporary storage layer, in which the handling equipment can move; the handling equipment can enter the moving channel from any position around the shelf.

[0030] This setup shortens the path of the handling equipment when moving it into and out of the shelving area, thus improving the handling efficiency of the equipment.

[0031] Secondly, this application provides a warehouse, which includes an inbound area, a storage area, an operating area and an outbound area, and the warehouse is equipped with the warehousing system described in the above technical solution;

[0032] The shelving of the warehousing system is set in the storage area, and the sorting equipment of the warehousing system is set in the operation area;

[0033] Goods in the inbound area are transported to the shelves in the storage area by the handling equipment of the warehousing system; goods on the shelves are transported to the sorting equipment in the work area by the picking and placing equipment or handling equipment of the warehousing system; goods sorted by the sorting equipment in the work area are transported to the outbound area by the handling equipment.

[0034] Thirdly, this application provides a warehouse system control method, which is used for a controller of the warehouse system, and the method includes:

[0035] Receive order information and determine the quantity of the target material boxes based on the order information;

[0036] If the target material box is a single item, a first picking instruction is sent to the picking and placing equipment so that the picking and placing equipment picks up and places the target material box to the temporary storage layer of the shelf.

[0037] If there are multiple target material boxes, a second picking instruction is sent to the picking and placing equipment so that the picking and placing equipment can pick up multiple target material boxes and move them to the sorting conveyor line at once.

[0038] The warehousing system control method provided in this application embodiment can select different outbound methods and outbound paths after retrieving the material boxes using the picking and placing equipment according to the quantity of material boxes corresponding to a specific order, thereby improving the outbound efficiency of material boxes under different working conditions.

[0039] In some embodiments, the picking and placing device acquires multiple target material boxes, specifically including:

[0040] Determine whether multiple target material boxes are stacked consecutively;

[0041] If multiple target material boxes are stacked consecutively, the picking and placing equipment is controlled to move to the position corresponding to the target material box, lift the other material boxes above the target material box, and remove all target material boxes at once.

[0042] If the multiple target material boxes are not stacked consecutively, the picking and placing equipment is controlled to move sequentially to the positions corresponding to the multiple target material boxes, and lift the other material boxes above the target material boxes respectively, so as to take out the multiple target material boxes in sequence.

[0043] In some embodiments, after sending a first picking instruction to the picking and placing device to pick up and place the target material box to the temporary storage layer of the shelf, the method further includes:

[0044] Send a handling instruction to the handling equipment so that the handling equipment can move the target material box from the temporary storage layer to the sorting conveyor line.

[0045] Fourthly, this application provides a storage medium that stores computer-executable instructions, which, when executed, are used to implement the warehousing system control method described above.

[0046] This application provides a warehousing system, a warehouse, a warehousing system control method, and a storage medium. The warehousing system includes shelves, sorting equipment, and picking / placing equipment. The shelves include a storage layer and a temporary storage layer, with the temporary storage layer located below the storage layer. The storage layer is configured to store multiple material boxes stacked vertically. The sorting equipment includes a sorting conveyor line and a sorting device. The sorting conveyor line is located to the side of the shelves and connects to them, conveying material boxes. The sorting device is opposite the sorting conveyor line and configured to sort goods from the material boxes on the sorting conveyor line. The picking / placing equipment is movable along the length of the shelves and is configured to pick up and place a single material box from the storage layer to the temporary storage layer; or, simultaneously pick up and place multiple material boxes to the sorting conveyor line. A handling device is configured to transport material boxes from the temporary storage layer to the sorting conveyor line, thereby improving the logistics efficiency of the warehousing system under different operating conditions.

[0047] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the warehousing system, warehouse, warehousing system control method, and storage medium provided by this application, other technical features contained in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A schematic diagram of the structure of the warehousing system provided in the embodiments of this application. Figure 1 ;

[0050] Figure 2 A top view of the warehousing system provided in the embodiments of this application;

[0051] Figure 3 A schematic diagram of the structure of the warehousing system provided in the embodiments of this application. Figure 2 ;

[0052] Figure 4 A schematic diagram of the structure of the warehousing system provided in the embodiments of this application. Figure 3 ;

[0053] Figure 5 A schematic diagram of the structure of the warehousing system provided in the embodiments of this application. Figure 4 ;

[0054] Figure 6 This is a schematic diagram illustrating the steps of the warehousing system control method provided in the embodiments of this application;

[0055] Figure 7 A flowchart of a warehousing system control method provided in an embodiment of this application.

[0056] Explanation of reference numerals in the attached figures:

[0057] 100 - Shelf; 101 - Storage layer; 102 - Temporary storage layer; 103 - Movement aisle;

[0058] 200 - Sorting equipment; 210 - Sorting conveyor line; 211 - First conveyor section; 212 - Second conveyor section; 213 - Third conveyor section; 214 - Inlet; 215 - Outlet; 216 - Flow inlet; 217 - Flow outlet; 218 - First conveyor line; 219 - Second conveyor line; 220 - Sorting device;

[0059] 300 - Picking and placing equipment; 310 - Frame; 311 - Column; 312 - Crossbeam; 313 - Slide rail; 320 - Mobile gantry; 330 - Picking and placing device;

[0060] 400 - Handling equipment. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0062] First, those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0063] Secondly, it should be noted that in the description of this application, the terms "upper", "lower", "left", "right", "front", "back", "inner", "outer", etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0064] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0065] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0066] Automated storage systems (AS / RS) are widely used in warehousing and logistics due to their large storage capacity. AS / RS typically consist of multiple racks, and robots for picking and placing goods can move between these racks. Currently, to increase storage density, AS / RS can stack material boxes using buffer racks, eliminating gaps between stacked boxes. This allows for the storage of more boxes within a limited vertical space. When picking up or placing a box, a robot selects it, lifts the stacked boxes above it, and then removes the selected box. The robot then transports the box along a pre-set path to a sorting station for sorting. The sorted goods are then packaged and shipped out of the warehouse.

[0067] However, current warehousing systems for stacked material boxes require robots that need to lift the stacked boxes, pick up, place, and transport the target box. This results in large robots that are bulky and heavy, occupying significant space in the warehousing system's movement aisles during transport. This not only increases costs but also easily causes system congestion. Furthermore, robots can only handle material boxes one by one, leading to numerous round trips and low logistics efficiency.

[0068] To address the aforementioned issues, this application provides a warehousing system, a warehouse, a warehousing system control method, and a storage medium. In this warehousing system, picking and placing equipment is used to retrieve and place material boxes. By setting up a sorting conveyor line connected to shelves, and by setting up a temporary storage layer on the shelves connected to handling equipment, the picking and placing equipment can adopt different material box outbound paths and methods according to the number of material boxes that need to be retrieved. A single material box can be retrieved from the temporary storage layer and retrieved by handling equipment, while multiple material boxes can be centrally transported out by the sorting conveyor line. This adapts to the high-efficiency logistics needs under different operating conditions, maximizing the logistics efficiency of the warehousing system.

[0069] To facilitate understanding, the application scenarios applicable to the embodiments of this application will be described below.

[0070] The warehousing system provided in this application can be applied to the inbound and outbound processes of manufacturing plants or inventory products, the inbound and outbound processes of retail products, and the inbound and outbound sorting of express delivery in e-commerce logistics. The products involved in transportation and inbound / outbound can be industrial parts, electronic accessories or products, pharmaceuticals, clothing and accessories, food, books, etc. The material box referred to in this application can be a storage container for the products listed above. The specific structure of the material box can be a box structure with a capacity or a pallet structure, etc. This application does not specifically limit this.

[0071] Figure 1 A schematic diagram of the structure of the warehousing system provided in the embodiments of this application. Figure 1 , Figure 2A top view of the warehousing system provided in an embodiment of this application.

[0072] Please refer to Figure 1 and Figure 2 This application provides a warehousing system, which includes a rack 100, sorting equipment 200, picking and placing equipment 300, and handling equipment 400. The rack 100 includes a storage layer 101 and a temporary storage layer 102, with the temporary storage layer 102 located below the storage layer 101. The storage layer 101 is configured to store multiple material boxes stacked vertically, with no storage gaps between the stacked material boxes, thereby increasing storage density.

[0073] Multiple material boxes stacking refers to multiple material boxes being stacked sequentially from bottom to top. When taking or placing a material box on the top layer of the stack, the material box can be taken or placed directly. However, when taking or placing a material box located in the middle or lower layers, it is necessary to lift the other material boxes above it before taking or placing the target material box.

[0074] The sorting equipment 200 includes a sorting conveyor line 210 and a sorting device 220. The sorting conveyor line 210 is located on the side of the shelf 100 and is connected to the shelf 100 to transport material boxes. The sorting device 220 is opposite to the sorting conveyor line 210 and is configured to sort the goods in the material boxes on the sorting conveyor line 210.

[0075] Understandably, the picking and placing equipment 300 is arranged to move along the length of the shelf 100. The picking and placing equipment 300 is configured to pick up and place a single material box from the storage layer 101 to the temporary storage layer 102, or to pick up and place multiple material boxes simultaneously onto the sorting conveyor line 210. A single material box that needs to be shipped out of the temporary storage layer 102 can be transported to the sorting conveyor line 210 by the handling equipment 400, while multiple material boxes that need to be shipped out simultaneously can be directly picked up and placed onto the sorting conveyor line 210 by the picking and placing equipment 300.

[0076] It should be noted that the handling equipment 400 occupies less space and is more flexible in movement. The handling equipment 400 is more efficient at transporting a single material box than the picking and placing equipment 300 is at transporting a single material box to the sorting conveyor line 210. Furthermore, the picking and placing equipment 300 can transport multiple material boxes at once. When multiple material boxes need to be shipped out simultaneously, the picking and placing equipment 300 is more efficient at transporting multiple material boxes to the sorting conveyor line 210 simultaneously than the handling equipment 400 is at retrieving and transporting material boxes one by one from the temporary storage layer 102. Therefore, this embodiment of the application adopts different material box transportation methods according to the needs of different order conditions, thereby improving the logistics efficiency of the warehousing equipment.

[0077] Furthermore, in the warehousing system provided in this application embodiment, the picking and placing equipment 300 can sequentially process orders, selecting to transport the goods to the temporary storage layer 102 or the sorting conveyor line 210 based on the quantity of material boxes corresponding to the order. Alternatively, the picking and placing equipment 300 can process multiple orders simultaneously. In this case, if there are orders for a single material box and orders for multiple material boxes at the same time, while the sorting conveyor line 210 outputs multiple material boxes, the handling equipment 400 can simultaneously process the single material box order.

[0078] Furthermore, when issuing a single material box, on one hand, the picking and placing equipment 300 can retrieve the material box to the temporary storage layer 102, and the handling equipment 400 can then transport the material box from the temporary storage layer 102 to the sorting conveyor line 210; on the other hand, the picking and placing equipment 300 can directly transport the single target material box to the sorting conveyor line 210. The specific method for issuing a single material box can be selected based on the specific working status of the handling equipment 400 and the picking and placing equipment 300, using currently idle equipment for the issuance operation.

[0079] For example, the storage layer 101 of the shelf 100 has multiple storage columns, each of which can stack multiple material boxes. When the picking and placing equipment 300 needs to retrieve multiple material boxes in a single order, the multiple material boxes can be stacked together, i.e., located in the same storage column and arranged sequentially from top to bottom; or, the multiple material boxes can be located in multiple different storage columns.

[0080] When multiple material boxes of a target order are located in the same storage column and stacked together, the picking and placing equipment 300 can take out all the material boxes corresponding to the target order in one picking and placing operation, and transport all the material boxes corresponding to the target order to the sorting conveyor line 210 at one time. Compared with the existing technology where robots transport material boxes back and forth one by one, the number of round trips is reduced and the logistics efficiency is improved.

[0081] When multiple material boxes for a target order are located in multiple different storage columns, the picking and placing equipment 300 can pick up multiple material boxes in a preset order. For example, it can pick up the first material box first. When picking up subsequent material boxes, the previously picked material boxes can be stacked on top of the material box that needs to be picked up now. Then, the stacked material boxes that need to be picked up are lifted together until all material boxes are picked up. All material boxes corresponding to the target order are then transported to the sorting conveyor line 210 at once. Compared with the existing technology where robots transport material boxes back and forth sequentially, this reduces the number of round trips and improves logistics efficiency.

[0082] The following provides a detailed description of the specific method of docking the sorting conveyor line 210 with the shelf 100, as well as the specific structure of the sorting conveyor line 210.

[0083] Please continue to refer to Figure 1 and Figure 2 In some embodiments, the sorting conveyor 210 has an inlet 214, which is disposed opposite to one end of the shelf 100 along its length. The picking and placing device 300 is located to the side of the shelf 100 along its length, and one end of the picking and placing device 300 along its moving path along the length of the shelf 100 is opposite to the inlet 214.

[0084] Understandably, after the picking and placing equipment 300 takes out multiple material boxes from the shelf 100, the multiple material boxes can be transported and placed at the input port 214 of the sorting conveyor line 210 at one time, saving the time of material box outbound.

[0085] After the picking and placing equipment 300 transports multiple stacked material boxes to the input port 214 of the sorting conveyor line 210, the picking and placing equipment 300 can separate the multiple stacked material boxes into a layout that is arranged along the conveying direction of the sorting conveyor line 210. In this process, the sorting conveyor line 210 can be used to convey the material boxes from bottom to top in sequence, and the picking and placing equipment 300 only needs to lift and put down the corresponding material boxes.

[0086] Alternatively, the input port 214 of the sorting conveyor line 210 can be equipped with a splitting mechanism. After the picking and placing equipment 300 transports multiple stacked material boxes to the input port 214 of the sorting conveyor line 210, the picking and placing equipment 300 can then proceed to execute the next order task. The multiple stacked material boxes placed at the input port 214 can be split by the splitting mechanism into an arrangement along the conveying direction of the sorting conveyor line 210.

[0087] In some embodiments, the sorting conveyor line 210 may include a first conveyor section 211, a second conveyor section 212, and a third conveyor section 213. The first conveyor section 211 docks with the shelf 100 and forms an inlet 214. The third conveyor section 213 has an outlet 215, which docks with the shelf 100. The second conveyor section 212 is connected between the first conveyor section 211 and the third conveyor section 213. The sorting device 220 is located to the side of the second conveyor section 212.

[0088] It is understandable that the sorting conveyor line 210 can be in a "U" shape at the end of the shelf 100. After the material box flows in from the inlet 214, it is first transported along the first conveyor section 211, and then enters the second conveyor section 212 from the first conveyor section 211. In the second conveyor section 212, the sorting device 220 completes the sorting operation. After sorting, the material box can enter the third conveyor section 213 from the second conveyor section 212. The material box is transported along the third conveyor section 213 to the outlet 215. The material box can be put into storage through the picking and placing equipment 300 on the other side of the shelf 100, so that the material box can be quickly flowed in and out of the shelf 100. The material box that is out of storage can be directly transported to the sorting device 220 through the sorting conveyor line 210, and the material box that has been sorted can be sent back to the shelf 100 for storage through the sorting conveyor line 210.

[0089] For example, the first conveying section 211, the second conveying section 212, and the third conveying section 213 can employ similar or identical conveying structures. For instance, the first conveying section 211 may include a support frame and conveyor rollers mounted on the support frame. The conveyor rollers may include a drive roller and a driven roller, driven by a motor to rotate actively, thereby enabling the material box to move on the first conveying section 211. As another example, the first conveying section 211 may include a support frame and a conveyor belt mounted on the support frame. The structures of the second conveying section 212 and the third conveying section 213 will not be described in detail here.

[0090] In some embodiments, the second conveying section 212 is provided with an inlet 216 and an outlet 217 at both ends, and the handling equipment 400 can dock with the inlet 216 or the outlet 217. When the handling equipment 400 is transporting a single outbound material box, it can directly transport the material box to the second conveying section 212, avoiding occupying the space of the area on the sorting conveyor line 210 that docks with the shelf 100, thereby preventing material box congestion.

[0091] It is understandable that the second conveyor section 212 can be equipped with a conveyor line for conveying order boxes. The conveyor line for conveying order boxes can be arranged vertically above and below the second conveyor section 212. The sorting device 220 can sort the goods in the material boxes on the second conveyor section 212 into the order boxes.

[0092] For example, after the goods in the material box are sorted, if there are no goods left in the material box, the material box can be transferred to the output port 215 through the third conveyor section 213, and the picking and placing equipment 300 will put it back into the warehouse; if there are no goods left in the material box, the handling equipment 400 can take the empty material box from the outlet 217 of the second conveyor section 212 and transport it to the storage area of ​​the empty material box.

[0093] Figure 5 A schematic diagram of the structure of the warehousing system provided in the embodiments of this application. Figure 4 .

[0094] Please refer to Figure 5 In some embodiments, the sorting conveyor line 210 may include a first conveyor line 218 and a second conveyor line 219, which are arranged at intervals in a vertical direction; one of the first conveyor line 218 and the second conveyor line 219 is configured to convey a material box from one end of the shelf 100 to the sorting device 220; the other of the first conveyor line 218 and the second conveyor line 219 is configured to convey a material box from the sorting device 220 to one end of the shelf 100.

[0095] It is understood that the first conveyor line 218 and the second conveyor line 219 have opposite conveying directions. Both the first conveyor line 218 and the second conveyor line 219 extend horizontally. By arranging the first conveyor line 218 and the second conveyor line 219 vertically, the longitudinal space can be fully utilized, the area occupied by the sorting conveyor line 210 can be reduced, and the space utilization rate can be improved.

[0096] It should be noted that the sorting device 220 can be equipped with a button to stop the sorting conveyor line 210 during idle sorting processes. The sorting device 220 can also be equipped with a detection mechanism to detect whether the sorting operation of the current material box is complete. Furthermore, the sorting device 220 can employ either automated robotic sorting or manual sorting; this embodiment does not specifically limit the method.

[0097] The following is a detailed description of the specific structure of the picking and placing equipment 300.

[0098] Please continue to refer to Figure 1 and Figure 2 In some embodiments, the picking and placing equipment 300 may include a frame 310, a movable gantry 320, and a picking and placing device 330. The frame 310 has a slide rail 313 extending along the length of the shelf 100, and the movable gantry 320 is movably connected to the slide rail 313. The movable gantry 320 is vertically arranged, and the picking and placing device 330 is connected to the movable gantry 320 and can move along the height direction of the movable gantry 320.

[0099] Understandably, the length of frame 310 can match the length of shelf 100, while the height of frame 310 matches the upper limit of the height of the material boxes that can be stacked on shelf 100. The fixed frame 310 and the movable mast 320 that moves on frame 310 allow for more precise movement of the picking and placing equipment 300, reducing the floor space occupied by the warehousing system and lowering equipment costs.

[0100] For example, the frame 310 can be made of metals or alloys such as iron or aluminum. For instance, the frame 310 can be made of aluminum profiles, which can improve structural strength and ease of installation while reducing costs.

[0101] In some embodiments, the mobile gantry 320 may be provided with at least two picking and placing devices 330, wherein at least one picking and placing device 330 is configured to lift other material boxes stacked above the target material box, and at least one picking and placing device 330 is configured to pick and place the target material box, thereby enabling the rapid outbound of any material box among the stacked material boxes, and without occupying other storage locations on the shelf 100 during the process of picking up the material box.

[0102] It is understandable that when two picking and placing devices 330 are installed on each mobile gantry 320, the two picking and placing devices 330 are arranged at intervals in the vertical direction, and the two picking and placing devices 330 can move independently along the height direction of the mobile gantry 320. That is, two sets of independent drive and transmission systems can be installed on the mobile gantry 320 to drive the two picking and placing devices 330 to move respectively.

[0103] During the retrieval process, when the target material box is located in the middle of a stacked row of material boxes, the other material boxes above the target material box can be lifted by the upper retrieval and placement device 330, and then the target material box can be taken out by the lower retrieval and placement device 330. After that, the upper retrieval and placement device 330 will put the lifted material box down and stack it together with the material box below the target material box.

[0104] Furthermore, if the target material box is located on the top layer of a stacked row of material boxes, only either of the two pick-and-place devices 330 needs to pick up the material.

[0105] For example, the loading and unloading device 330 may include a fixed arm and a telescopic arm, the telescopic arm being able to extend relative to the fixed arm, and the telescopic arm being able to cooperate with the side walls of the material box to lift the material box.

[0106] It should be noted that the transmission and drive structure for the telescopic arm to extend and retract relative to the fixed arm, as well as the transmission and drive structure for the up-and-down movement of the loading and unloading device 330 relative to the moving gantry 320, can all be driven by a motor, or by a chain, belt, gear rack, wire rope, or other transmission structure. This application does not specifically limit the specific transmission structure in this regard.

[0107] In some embodiments, the frame 310 may include at least two columns 311 and at least two crossbeams 312. The columns 311 are disposed at both ends of the shelf 100 in the length direction, and the crossbeams 312 are connected between the columns 311 at both ends of the shelf 100 in the length direction. Among them, the crossbeams 312 are used to form the slide rails 313. The area through which the moving path of the moving gantry 320 passes can cover each position in the length direction of the shelf 100 and ensure the smoothness of the moving process of the moving gantry 320.

[0108] Exemplarily, there may be two columns 311, and the two columns 311 are respectively disposed at both ends of the side of the shelf 100. There may be two crossbeams 312, and the two crossbeams 312 are connected between the two columns 311, and the two crossbeams 312 are respectively connected to the bottom and top of the column 311, so that the moving gantry 320 forms a "square" structure.

[0109] In addition, more columns 311 and crossbeams 312 may be provided. For example, three columns 311 and three crossbeams 312 may be provided, so that the moving gantry 320 forms a "grid" structure. The embodiments of the present application do not make specific limitations thereto.

[0110] It should be noted that the driving method and transmission structure of the moving gantry 320 moving along the slide rails 313 on the crossbeams 312 may adopt motor drive and transmission structures such as chains, belts, gear racks, and steel wire ropes. In addition, the moving gantry 320 and the slide rails 313 may be配合 by rollers, that is, the moving gantry 320 may roll along the slide rails 313 by setting rollers to reduce the friction force when moving along the slide rails 313.

[0111] Figure 3 Structural schematic of the warehousing system provided by the embodiments of the present application Figure 2 .

[0112] Please refer to Figure 3 , and in combination with Figure 1 and Figure 2 In some embodiments, there may be multiple moving gantries 320. The multiple moving gantries 320 are arranged at intervals along the extension direction of the slide rails 313, and the multiple moving gantries 320 can move independently along the slide rails 313. In this way, picking and placing operations can be carried out simultaneously at different positions in the length direction of the shelf 100 by the multiple moving gantries 320, improving the logistics efficiency.

[0113] It can be understood that when the warehousing system is operating, there may be multiple different orders in the order library at the same time, and the heat demand for the goods in the material boxes on the shelf 100 may be different. The higher the heat demand for outbound, the more material boxes need to be taken out during a single outbound process. When the heat demand for outbound is low, only the corresponding single material box needs to be taken out during a single outbound process.

[0114] For example, two movable masts 320 can be installed on each frame 310, and the two movable masts 320 can work together. For instance, a preset threshold for the heat demand of goods corresponding to an order can be established. When the heat demand is below this threshold, only a single material box needs to be dispatched, while when the heat demand exceeds the threshold, two or more material boxes need to be dispatched. The two movable masts 320 can handle the picking operations for different areas along the length of the shelf 100.

[0115] Figure 4 A schematic diagram of the structure of the warehousing system provided in the embodiments of this application. Figure 3 .

[0116] Please refer to Figure 4 and combined Figure 3 In order to improve the exit efficiency of the material box and avoid path interference between multiple mobile masts 320 during their movement along the frame 310, sorting conveyor lines 210 can be set at both ends of the shelf 100 for docking. Thus, multiple mobile masts 320 can select the sorting conveyor line 210 at the closer end to the specific picking position on the shelf 100 to output the material box.

[0117] In some embodiments, there may be multiple shelves 100, which are spaced apart to form a storage area; there are aisles between adjacent shelves 100, and picking and placing equipment 300 is disposed in the aisles, and the picking and placing equipment 300 is configured to pick and place material boxes bidirectionally from the shelves 100 on both sides of the aisle. Sorting equipment 200 may be disposed outside the storage area.

[0118] Understandably, the picking and placing equipment 300 can perform picking and placing operations on two shelves 100 simultaneously, eliminating the need to install multiple picking and placing equipment 300 in a single aisle, thereby increasing storage density while reducing the cost of the storage system.

[0119] The following is a detailed description of the handling equipment's operation of picking up and placing individual material boxes.

[0120] In some embodiments, a moving channel 103 is provided below the temporary storage layer 102, in which the handling device 400 can move. The handling device 400 can enter the moving channel 103 from any position around the shelf 100, thereby shortening the path of the handling device 400 when moving into and out of the area where the shelf 100 is located, and improving the handling efficiency of the handling device 400.

[0121] It is understandable that the temporary storage layer 102 can have multiple storage locations, and these multiple storage locations correspond to the positions of the stacked material boxes above them. However, when the picking and placing equipment 300 is issuing a single material box, it can place the material box according to the availability of the storage locations in the current temporary storage layer 102. It can be placed in the temporary storage layer 102 storage location directly below the stacked position of the target material box, or it can be placed in a temporary storage layer 102 storage location in another position.

[0122] For example, the handling equipment 400 may include a movable base and a lifting mechanism. The movable base can move freely along the ground, and the lifting mechanism is disposed on the movable base. The lifting mechanism is used to lift the material box in the temporary storage layer 102 and remove the material box from the temporary storage layer 102 by moving the movable base. The lifting mechanism may include a motor and a motor-driven lifting plate. The motor and the lifting plate can be transmitted through a telescopic rod or a linkage structure. The specific structure of the lifting mechanism is not limited in the embodiments of this application.

[0123] This application provides a warehouse, which includes an inbound area, a storage area, a work area, and an outbound area. The warehouse is equipped with the warehousing system described in the above-mentioned technical solution. The warehouse system's shelves are located in the storage area, and the warehousing system's sorting equipment is located in the work area.

[0124] Understandably, goods in the receiving area can be transported to the shelves in the storage area by the handling equipment of the warehousing system. For example, the handling equipment can move a box containing goods to a temporary storage layer on the shelf, and then the picking and placing equipment can pick up and place the box into an empty storage layer.

[0125] When outbound shipment is required, goods on the shelves are transported to the sorting equipment in the work area via the picking and placing equipment or the handling equipment of the warehousing system. For example, a material box containing the target goods can be transported to the sorting equipment by either the picking and placing equipment or the handling equipment. The specific transportation method and process are the same as those in the aforementioned warehousing system, and will not be repeated here.

[0126] Goods sorted by the sorting equipment in the work area are transported to the outbound area by handling equipment. For example, the sorting device of the sorting equipment can sort the target goods from the material box leaving the shelf into the order box, and the handling equipment will carry the order box containing the target goods to the outbound area, where the target goods will be packaged.

[0127] The warehouse in this application embodiment may include all the technical solutions and technical effects of the aforementioned warehousing system, which will not be repeated here.

[0128] Figure 6 This is a schematic diagram illustrating the steps of the warehousing system control method provided in the embodiments of this application. Figure 7A flowchart of a warehousing system control method provided in an embodiment of this application.

[0129] Please refer to Figure 6 and Figure 7 and combined Figure 1 and Figure 2 This application provides a warehouse system control method. The method is used by a warehouse system controller, with the controller acting as the executor of the method. The method includes:

[0130] S100: Receive order information and determine the quantity of the target material box based on the order information.

[0131] The warehouse system controller receives order information via wireless communication. This order information includes the type and quantity of goods in the target order. Based on this order information, the controller can determine the quantity of target material boxes and their specific location on the warehouse system's shelf 100.

[0132] It should be noted that the storage system's memory stores information about the goods stored in the material boxes on all shelves 100 of the current storage system, including the type of goods and the quantity of goods stored in each material box. After receiving order information, the controller can retrieve the coordinates of all material boxes containing the target goods from the memory using keyword search. Based on the current busy status of all picking and placing equipment 300 and sorting equipment 200 in the storage system, the controller determines which picking and placing equipment 300 and sorting equipment 200 need to perform the outbound task for the target order.

[0133] The warehousing system control method provided in this application embodiment can select different outbound methods and outbound paths after retrieving the material boxes using the picking and placing equipment 300 according to the quantity of material boxes corresponding to a specific order, thereby improving the outbound efficiency of material boxes under different working conditions.

[0134] S200. If there is only one target material box, a first picking instruction is sent to the picking and placing equipment, so that the picking and placing equipment picks up and places the target material box to the temporary storage layer of the shelf; if there are multiple target material boxes, a second picking instruction is sent to the picking and placing equipment, so that the picking and placing equipment picks up multiple target material boxes and moves the multiple target material boxes to the sorting conveyor line at one time.

[0135] It is understandable that when the target material box is a single one, the picking and placing equipment 300 can obtain the target material box with only a single picking operation. The first picking instruction includes the coordinate information of the target material box. For example, the coordinates of the target material box are [X, Y]. X corresponds to the storage column of the target material box on the shelf 100, and Y corresponds to the stacking position of the target material box in the corresponding storage column.

[0136] When the picking and placing equipment 300 picks up goods, the moving gantry 320 first moves along the slide rail 313 of the frame 310 to the storage column corresponding to the target material box, and then the picking and placing device 330 moves along the moving gantry 320 to be opposite to the target material box and performs the picking and placing operation.

[0137] Furthermore, when issuing a single material box, on one hand, the picking and placing equipment 300 can retrieve the material box to the temporary storage layer 102, and the handling equipment 400 can then transport the material box from the temporary storage layer 102 to the sorting conveyor line 210; on the other hand, the picking and placing equipment 300 can directly transport the single target material box to the sorting conveyor line 210. The specific method for issuing a single material box can be selected based on the specific working status of the handling equipment 400 and the picking and placing equipment 300, using currently idle equipment for the issuance operation.

[0138] When there are multiple target material boxes, single or multiple retrieval operations can be performed based on the specific storage location of the multiple target material boxes on shelf 100. This will not be explained in detail below.

[0139] In some embodiments, the picking and placing device 300 acquires multiple target material boxes, specifically including:

[0140] Determine whether multiple target material boxes are stacked consecutively. Continuously stacked material boxes refer to multiple material boxes located in the same storage column and arranged vertically in sequence.

[0141] If multiple target material boxes are stacked consecutively, the picking and placing equipment 300 is controlled to move to the position corresponding to the target material box, lift the other material boxes above the target material box, and take out all the target material boxes at once.

[0142] Understandably, if multiple target material boxes are stacked consecutively, the second pick-up and drop-off instruction only needs to include the coordinate information of the bottommost material box and the coordinate information of the topmost material box.

[0143] For example, there are N target material boxes, which are stacked consecutively. The coordinates of the bottom target material box are [X, Y], and the coordinates of the other target material boxes are [X, Y+1], [X, Y+2], ..., [X, Y+N-1]. When the picking and placing device 300 picks up the goods, it only needs to move to the corresponding storage column. First, one picking and placing device 330 lifts the material box at coordinate [X, Y+N] and all the material boxes above it. Then, another picking and placing device 330 lifts the target material box at coordinate [X, Y], and removes all N target material boxes.

[0144] If multiple target material boxes are not stacked consecutively, the picking and placing equipment 300 is controlled to move sequentially to the positions corresponding to the multiple target material boxes, and lifts the other material boxes above the target material boxes respectively, so as to take out the multiple target material boxes in sequence.

[0145] Understandably, if multiple target material boxes are not stacked consecutively, the second pick-up and drop-off instruction includes the coordinate information of all unstacked target material boxes.

[0146] For example, if the coordinates of the target material boxes are [a, b], [c, d], and [e, f], then the three target material boxes can be picked up and placed sequentially. The step of picking up the first target material box at coordinates [a, b] is the same as the steps for picking up and placing a single material box. When picking up the second target material box at coordinates [c, d], after lifting the other material boxes above it, the first target material box can be stacked on top of the second target material box before lifting the second target material box, simultaneously completing the picking operation for both the first and second target material boxes. The third target material box at coordinates [e, f] can be removed in a similar manner, and so on, allowing for the picking up and placing of more target material boxes. After all target material boxes have been removed, they are transported to the sorting conveyor line 210 in one go.

[0147] In some embodiments, after sending a first picking instruction to the picking and placing device 300, causing the picking and placing device 300 to pick up and place the target material box to the temporary storage layer 102 of the shelf 100, the method further includes:

[0148] Send a handling instruction to the handling equipment 400, so that the handling equipment 400 can move the target material box from the temporary storage layer 102 to the sorting conveyor line 210.

[0149] It is understood that the handling instructions include the coordinate information of the target material box stored in the temporary storage layer 102. After the handling equipment 400 removes the target material box from the temporary storage layer 102, it can select to transport the target material box to the sorting conveyor line 210 of the sorting equipment 200 with relatively few order sorting tasks, based on the current logistics idle status of the sorting equipment 200.

[0150] This application also provides a storage medium that stores computer execution instructions, which, when executed, are used to implement the warehousing system control method in the above-described technical solution.

[0151] The storage medium can be a computer-readable storage medium or a communication medium. A communication medium includes any medium that facilitates the transfer of a computer program from one location to another. A computer-readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the ASIC can be located in a user equipment. Furthermore, the processor and the computer-readable storage medium can also exist as discrete components in a communication device.

[0152] For example, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A warehousing system characterized by, The warehouse system comprises: a rack comprising a storage layer and a temporary storage layer, the temporary storage layer being located below the storage layer, the storage layer being configured to store a plurality of material boxes arranged in a vertical direction; a sorting device comprising a sorting conveying line and a sorting apparatus, the sorting conveying line being arranged at a side of the rack and being connected to the rack and conveying the material boxes, the sorting apparatus being opposite to the sorting conveying line and being configured to sort goods in the material boxes on the sorting conveying line; a picking device being arranged to move along a length direction of the rack, the picking device being configured to selectively perform one of the following operations according to a number of the material boxes to be picked: if the number of the material boxes to be picked is single, picking the single material box from the storage layer to the temporary storage layer; or if the number of the material boxes to be picked is multiple, simultaneously picking the multiple material boxes to the sorting conveying line; a carrying device being configured to carry the material boxes in the temporary storage layer to the sorting conveying line.

2. The warehousing system according to claim 1, characterized in that, The sorting conveying line has an input port arranged opposite to one end of the length direction of the rack, and the picking device is located at a side of the length direction of the rack, and one end of a moving path of the picking device along the length direction of the rack is opposite to the input port.

3. The warehousing system according to claim 2, characterized in that, The sorting conveying line comprises a first conveying section, a second conveying section and a third conveying section, the first conveying section being connected to the rack and forming the input port, the third conveying section having an output port connected to the rack, the second conveying section being connected between the first conveying section and the third conveying section, and the sorting apparatus being located at a side of the second conveying section.

4. The warehousing system according to claim 3, characterized in that, Two ends of the second conveying section are provided with an inlet and an outlet, and the carrying device can be connected to the inlet or the outlet.

5. The warehousing system according to claim 2, characterized in that, The sorting conveying line comprises a first conveying line and a second conveying line, the first conveying line and the second conveying line being arranged in a vertical direction, one of the first conveying line and the second conveying line being configured to convey the material boxes from one end connected to the rack to the sorting apparatus, and the other of the first conveying line and the second conveying line being configured to convey the material boxes from the sorting apparatus to one end connected to the rack.

6. The warehousing system according to any one of claims 1-5, characterized in that, The picking device comprises a frame, a moving gantry and a picking apparatus, the frame having a slide rail extending along the length direction of the rack, the moving gantry being movably connected to the slide rail, the moving gantry being arranged vertically, the picking apparatus being connected to the moving gantry and being movable along a height direction of the moving gantry.

7. The warehousing system according to claim 6, characterized in that, At least two picking apparatuses are arranged on the moving gantry, at least one of the picking apparatuses being configured to lift other material boxes stacked above a target material box, and at least one of the picking apparatuses being configured to pick the target material box.

8. The warehousing system according to claim 6, characterized in that, The frame comprises at least two uprights and at least two cross beams, the uprights are arranged at both ends of the length direction of the shelf, and the cross beams are connected between the uprights at both ends of the length direction of the shelf; the cross beams are used to form the slide rail.

9. The warehousing system according to claim 6, characterized in that, The mobile gantry is multiple, multiple mobile gantries are arranged at intervals along the extension direction of the slide rail, and multiple mobile gantries can be independently moved along the slide rail.

10. The warehousing system according to any one of claims 1-5, characterized in that, The shelf is multiple, multiple shelves are arranged at intervals and form a storage area; there is a lane between adjacent shelves, the goods taking and placing equipment is arranged in the lane, and the goods taking and placing equipment is configured to take and place the material box from the shelves on both sides of the lane; the sorting equipment is arranged outside the storage area.

11. The warehousing system according to any one of claims 1-5, characterized in that, The temporary storage layer is provided below a moving channel, and the conveying equipment can move in the moving channel; the conveying equipment can enter the moving channel from any position on the side of the shelf.

12. A warehouse characterized in that, The warehouse comprises an entry area, a storage area, a work area and an exit area, and the warehouse is provided with the storage system of any one of claims 1-11; The shelf of the storage system is arranged in the storage area, and the sorting equipment of the storage system is arranged in the work area; The goods in the entry area are transported to the shelf in the storage area by the conveying equipment of the storage system; the goods on the shelf are transported to the sorting equipment in the work area by the goods taking and placing equipment or the conveying equipment of the storage system; the sorted goods of the sorting equipment in the work area are transported to the exit area by the conveying equipment.

13. A warehouse system control method characterized by, The controller for the storage system of any one of claims 1-11, the method comprises: receiving order information and determining the number of target material boxes according to the order information; if the target material box is single, sending a first taking instruction to the goods taking and placing equipment to make the goods taking and placing equipment take and place the target material box to the temporary storage layer of the shelf; if the target material box is multiple, sending a second taking instruction to the goods taking and placing equipment to make the goods taking and placing equipment obtain multiple target material boxes and convey the multiple target material boxes to the sorting conveying line at one time.

14. The warehouse system control method according to claim 13, wherein, The goods taking and placing equipment obtains multiple target material boxes, specifically comprising: determining whether multiple target material boxes are continuously stacked material boxes; if multiple target material boxes are continuously stacked material boxes, controlling the goods taking and placing equipment to move to the position corresponding to the target material box, lift other material boxes above the target material box, and take out all target material boxes at one time; if multiple target material boxes are not continuously stacked material boxes, controlling the goods taking and placing equipment to move to the positions corresponding to multiple target material boxes in turn, respectively lift other material boxes above the target material box, and take out multiple target material boxes in turn.

15. The warehouse system control method according to claim 13, wherein, After the first taking instruction is sent to the goods taking and placing equipment to make the goods taking and placing equipment take and place the target material box to the temporary storage layer of the shelf, it further comprises: A conveying instruction is sent to the conveying device, so that the conveying device conveys the target material box from the temporary storage layer to the sorting conveyor line.

16. A storage medium, characterized by The storage medium stores computer-executable instructions that, when executed, implement the warehouse system control method of any one of claims 13-15.

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