Processing method and system suitable for automated stereoscopic warehouse

Abstract

The application discloses a processing method and system for an automated stereoscopic warehouse, and relates to the technical field of warehouse logistics management, comprising: constructing a three-dimensional space data model of the stereoscopic warehouse, and acquiring space position information of a warehouse storage location based on the three-dimensional space data model; acquiring historical warehouse in-out data of goods, and sorting goods categories according to in-out frequencies to obtain a priority sequence; associating the warehouse storage location with the goods categories according to the priority sequence; acquiring warehouse order information, and generating an optimal scheduling route of a stacker according to the space position information of the warehouse storage location associated with goods to be in-out stored. The application sorts goods categories according to in-out frequencies, and sorts warehouse storage locations according to distances between the warehouse storage locations and warehouse entrances and exits, thereby realizing the association between the warehouse storage locations and the goods categories, effectively reducing the moving distance of the stacker during the in-out storage process, greatly improving the efficiency of the in-out storage of the goods, and reducing the operating cost.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics management technology, and in particular to a processing method and system suitable for automated storage and retrieval systems (AS / RS). Background Technology

[0002] Automated storage and retrieval systems (AS / RS) represent a more advanced logistics management method. They utilize multi-level, three-dimensional stacking to fully utilize warehouse space, achieving optimized warehouse layout, automated storage and retrieval, and simplified operation. Therefore, the operational efficiency and cost of AS / RS have become key concerns.

[0003] Goods picking and inbound / outbound operations are the core components of scheduling in automated storage and retrieval systems (AS / RS), and are also the main factors affecting the efficiency of AS / RS. Current AS / RS systems lack efficient route planning for goods, resulting in low inbound / outbound efficiency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a processing method and system suitable for automated warehouses.

[0005] To solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A processing method suitable for automated storage and retrieval systems (AS / RS) includes:

[0007] Construct a three-dimensional spatial data model of the automated warehouse, and obtain the spatial location information of the storage locations based on the three-dimensional spatial data model;

[0008] Obtain historical inbound and outbound data of goods, and sort the types of goods according to their inbound and outbound frequency to obtain a priority sequence;

[0009] The storage locations are associated with the types of goods according to the priority sequence;

[0010] Obtain warehouse order information and generate the optimal scheduling route for the stacker crane based on the spatial location information of the warehouse storage locations associated with the goods to be stored or removed from the warehouse. The optimal scheduling route is the route with the shortest travel distance for the stacker crane.

[0011] As a preferred embodiment of the processing method applicable to automated storage and retrieval systems (AS / RS) of the present invention, the step of obtaining the spatial location information of the storage location based on a three-dimensional spatial data model includes:

[0012] Construct a three-dimensional coordinate system;

[0013] The three-dimensional spatial coordinates of the warehouse location are obtained based on the three-dimensional spatial data model.

[0014] As a preferred embodiment of the processing method applicable to automated storage and retrieval systems described in this invention, in the priority sequence, the higher the inbound and outbound frequency of the goods type, the higher the priority of the goods type.

[0015] As a preferred embodiment of the processing method applicable to automated storage and retrieval systems (AS / RS) of the present invention, the step of associating the storage location with the type of goods according to a priority sequence includes:

[0016] The storage locations are sorted from closest to farthest based on the horizontal distance between them and the entrance / exit of the automated warehouse, thus obtaining a first sequence;

[0017] Select several groups of storage locations in the first sequence that are equidistant from the entrance and exit of the automated warehouse, and each group of storage locations includes several storage locations stacked in sequence along the vertical direction.

[0018] The storage locations in each storage location group are sorted from low to high according to their height to obtain several second sequences;

[0019] The target sequence of the warehouse location is obtained by updating the arrangement order of the corresponding group of warehouse location in the first sequence according to the second sequence;

[0020] Associate the nth storage location in the target sequence with the nth type of goods in the priority sequence.

[0021] As a preferred embodiment of the processing method applicable to automated storage and retrieval systems (AS / RS) of the present invention, after generating the optimal scheduling route for the stacker crane based on the spatial location information of the storage locations associated with the goods to be stored, the method further includes:

[0022] Determine whether the optimal scheduling route conflicts with the optimal scheduling route of the running stacker crane, and update the current optimal scheduling route of the stacker crane if a conflict exists.

[0023] As a preferred embodiment of the processing method applicable to automated storage and retrieval systems described in this invention, the step of determining whether the optimal scheduling route conflicts with the optimal scheduling route of the running stacker crane includes:

[0024] Determine if there is a path in the current optimal scheduling route of the stacker crane that overlaps with the optimal scheduling route of the stacker crane in operation;

[0025] Get the first time interval of the current stacker crane moving in the overlapping path and the second time interval of the running stacker crane moving in the overlapping path;

[0026] Determine whether there is an overlap between the first time period and the second time period. If there is, it means that there is a conflict between the current optimal scheduling route of the stacker crane and the optimal scheduling route of the stacker crane in operation.

[0027] As a preferred embodiment of the processing method applicable to automated storage and retrieval systems described in this invention, the step of updating the optimal scheduling route of the current stacker crane includes:

[0028] Obtain the first storage order currently being executed by the stacker crane and the second storage order being executed by a running stacker crane that conflicts with the current optimal scheduling route of the stacker crane, wherein the number of orders in the second storage order is greater than or equal to 1;

[0029] Obtain the expected order times for the first and second warehousing orders, and sort the first and second warehousing orders in ascending order based on the time difference between the expected order time and the current time to obtain an order priority sequence;

[0030] The first and second warehousing orders are executed sequentially according to the order priority sequence.

[0031] As a preferred embodiment of the processing method applicable to automated storage and retrieval systems (AS / RS) of the present invention, wherein: the step of sequentially executing the first storage order and the second storage order according to the order priority sequence includes:

[0032] Determine the stacker crane number corresponding to the highest priority order in the order priority sequence, and control the corresponding stacker crane to execute its determined optimal scheduling route;

[0033] The execution priority sequence of the remaining stacker cranes is determined based on the order priority sequence;

[0034] The waiting positions of the remaining stacker cranes are determined sequentially based on their execution priority sequence.

[0035] Control all remaining stacker cranes to move to their corresponding waiting positions, and after updating the execution priority of any stacker crane to the highest, control the corresponding stacker crane to execute its determined optimal scheduling route.

[0036] As a preferred embodiment of the processing method applicable to automated storage and retrieval systems (AS / RS) of the present invention, wherein: the step of sequentially determining the waiting positions of the remaining stacker cranes based on the execution priority sequence of the remaining stacker cranes includes:

[0037] Determine the stacker number with the highest execution priority among the remaining stacker cranes, and determine its overlapping path with the stacker crane currently in execution;

[0038] The starting point of the overlapping path is designated as the waiting station of the stacker with the highest execution priority among the remaining stacker cranes.

[0039] As a preferred embodiment of the processing method applicable to automated storage and retrieval systems (AS / RS) of the present invention, after setting the starting point of the overlapping path as the waiting station of the stacker crane with the highest execution priority among the currently remaining stacker cranes, the method further includes:

[0040] After the stacker with the highest execution priority among the remaining stacker cranes is moved to the waiting station, it is removed from the execution priority sequence of the remaining stacker cranes, and the execution priority sequence of the remaining stacker cranes is updated.

[0041] The beneficial effects of this invention are:

[0042] This invention sorts goods by type according to their entry and exit frequency and sorts storage locations by their distance from the warehouse entrance and exit, thus associating storage locations with goods types. This effectively reduces the travel distance of stacker cranes during the entry and exit process, greatly improves the efficiency of goods entry and exit, and reduces operating costs. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A flowchart illustrating the processing method for automated storage and retrieval systems provided by the present invention;

[0045] Figure 2 This is a schematic diagram of the specific process of step S103 in the processing method for automated warehouses provided by the present invention;

[0046] Figure 3 This is a schematic diagram illustrating the specific process of determining whether the optimal scheduling route conflicts with the optimal scheduling route of the stacker crane in step S105.

[0047] Figure 4 This is a schematic diagram illustrating the specific process of updating the optimal scheduling route of the current stacker crane in step S105.

[0048] Figure 5 This is a schematic diagram of the processing system for automated storage and retrieval systems provided by the present invention. Detailed Implementation

[0049] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0050] Figure 1 This is a flowchart illustrating a processing method applicable to automated storage and retrieval systems (AS / RS) provided in an embodiment of this application. The method includes steps S101 to S105, which are described in detail below:

[0051] Step S101: Construct a three-dimensional spatial data model of the automated warehouse, and obtain the spatial location information of the storage locations based on the three-dimensional spatial data model.

[0052] Specifically, a 3D scanner can be used to scan the automated warehouse and create a 3D model. After completing the 3D model, a 3D coordinate system is established on the constructed 3D spatial data model. This allows the acquisition of the 3D spatial coordinates of all storage locations within the warehouse, thus providing spatial location information for all storage locations and facilitating subsequent planning of inbound and outbound scheduling routes.

[0053] Step S102: Obtain historical inbound and outbound data of goods, and sort the types of goods according to the frequency of inbound and outbound to obtain a priority sequence.

[0054] Specifically, different types of goods have different inbound and outbound frequencies. The inbound and outbound frequency of goods can be compared by comparing the sum of the total number of outbound and inbound goods within a certain time period. Taking one month as the time period, the inbound and outbound frequency of different types of goods can be obtained by comparing the sum of the total number of outbound and inbound goods for each type of goods within one month.

[0055] Using the above method, the frequency of entry and exit of different types of goods can be sorted to obtain a priority sequence of goods types.

[0056] It is understandable that in the above priority sequence, the higher the frequency of goods entering and leaving the warehouse, the higher its priority.

[0057] Step S103: Associate the storage location with the type of goods according to the priority sequence.

[0058] Specifically, for high-priority goods, due to their frequent inbound and outbound movements, these goods can be placed in storage locations closer to the entrance and exit of the automated warehouse. For low-priority goods, due to their infrequent inbound and outbound movements, these goods can be placed in storage locations farther from the entrance and exit of the automated warehouse. This effectively reduces the travel distance of the stacker crane and improves the efficiency of goods handling during inbound and outbound operations. See also... Figure 2 The above step S103 specifically includes the following steps:

[0059] Step S103a: Sort the storage locations from near to far according to the horizontal distance between the storage locations and the entrance / exit of the automated warehouse to obtain a first sequence.

[0060] Specifically, the racking in an automated warehouse is generally arranged in a matrix, with adjacent racks forming aisles for stacker cranes to move between them. Therefore, the horizontal distance between each storage location and the entrance / exit of the automated warehouse is the shortest aisle distance between the storage location and the warehouse's inlet.

[0061] Step S103b: Select several groups of storage locations in the first sequence that are equidistant from the entrance and exit of the automated warehouse, and each group of storage locations includes several storage locations stacked sequentially in the vertical direction.

[0062] Understandably, since it's an automated warehouse, the shelving uses a multi-layered, three-dimensional stacking method. This results in several vertically stacked storage locations. For each of these vertically stacked storage locations, the horizontal distance between it and the entrance / exit of the automated warehouse is equal.

[0063] Since the horizontal distance between several storage locations stacked vertically and the entrance / exit of the automated warehouse is equal, these storage locations are grouped together.

[0064] Step S103c: Sort several storage locations in each group of storage locations from low to high according to their height to obtain several second sequences.

[0065] For lower-level storage locations, the stacker crane simply moves to the corresponding location and horizontally places or retrieves the goods. However, for upper-level storage locations, the stacker crane needs to lift and lower the goods, which is more cumbersome. Furthermore, the higher the storage location, the longer the time required for goods to be stored and retrieved. Therefore, sorting several storage locations in each group from lowest to highest yields several second sequences.

[0066] Understandably, because the distances between the various storage location groups and the entrance / exit of the automated warehouse differ, the positions of these second sequences within the first sequence also differ. For storage location groups with shorter distances to the entrance / exit, their corresponding second sequence is located at the beginning of the first sequence, while for storage location groups with longer distances, their corresponding second sequence is located at the end of the first sequence.

[0067] Step S103d: Update the arrangement order of the corresponding storage location group in the first sequence according to the second sequence to obtain the target sequence of the storage location.

[0068] Specifically, in the original first sequence, the storage locations within each group of storage locations did not have a defined order. The second sequence, however, sorts the storage locations within each group. Therefore, inserting the second sequence into the first sequence allows for priority sorting of the previously unsorted storage locations, thus obtaining the target sequence of storage locations.

[0069] Step S103e: Associate the nth storage location in the target sequence with the nth type of goods in the priority sequence.

[0070] Specifically, in the target sequence of storage locations, the earlier storage locations are closer to the entrance and exit of the automated warehouse, while the later storage locations are farther away. Simultaneously, in the priority sequence, the earlier types of goods have higher inbound and outbound frequencies, while the later types have lower inbound and outbound frequencies.

[0071] For high-priority goods, due to their frequent entry and exit frequencies, these goods are placed in storage locations closer to the entrance and exit of the automated warehouse. For low-priority goods, due to their infrequent entry and exit frequencies, these goods are placed in storage locations farther from the entrance and exit of the automated warehouse.

[0072] Therefore, the first storage location in the target sequence is associated with the first type of goods in the priority sequence, and the second storage location in the target sequence is associated with the second type of goods in the priority sequence. This process continues, associating the nth storage location in the target sequence with the nth type of goods in the priority sequence. This ensures that goods with higher inbound / outbound frequency are placed in storage locations closer to the warehouse entrance / exit, thereby reducing the travel distance of the stacker crane and improving the efficiency of goods handling.

[0073] Step S104: Obtain warehouse order information and generate the optimal scheduling route for the stacker crane based on the spatial location information of the warehouse storage location associated with the goods to be stored or removed from the warehouse. The optimal scheduling route is the route with the shortest travel distance for the stacker crane.

[0074] Specifically, the warehouse order information includes the type of each item to be shipped out or received. Based on this type of item information, the three-dimensional spatial coordinates of the associated storage location can be determined. Subsequently, the controller can generate the optimal scheduling route for the stacker crane based on the three-dimensional spatial coordinates of the associated storage location and the aisle information within the automated warehouse.

[0075] It should be noted that the optimal scheduling route is the route with the shortest travel distance for the stacker crane.

[0076] Step S105: Determine whether the optimal scheduling route conflicts with the optimal scheduling route of the stacker crane in operation, and update the current optimal scheduling route of the stacker crane if there is a conflict.

[0077] Specifically, a conflict between the current optimal scheduling route of a stacker crane and the optimal scheduling route of a stacker crane in operation generally occurs when the optimal scheduling routes overlap, and two or more stacker cranes meet at the overlapping portion. Therefore, see... Figure 3 Determining whether the optimal scheduling route conflicts with the optimal scheduling route of a stacker crane in operation specifically includes the following steps:

[0078] Step S105a: Determine whether there is a path in the current optimal scheduling route of the stacker crane that overlaps with the optimal scheduling route of the running stacker crane.

[0079] Step S105b: Obtain the first time period of the current stacker crane moving in the overlapping path and the second time period of the running stacker crane moving in the overlapping path;

[0080] Step S105c: Determine whether there is an overlap between the first time period and the second time period. If there is, it means that there is a conflict between the current optimal scheduling route of the stacker crane and the optimal scheduling route of the stacker crane in operation.

[0081] When the optimal scheduling route conflicts with the optimal scheduling route of a running stacker crane, since some paths in the optimal scheduling route are unusable, selecting other paths to adjust the optimal scheduling route generally results in the stacker crane taking a longer detour. Therefore, in this embodiment, see... Figure 4 The method for updating the optimal scheduling route of the current stacker crane is as follows:

[0082] Step S105d: Obtain the first storage order currently being executed by the stacker crane and the second storage order being executed by a running stacker crane that conflicts with the current stacker crane's optimal scheduling route.

[0083] Understandably, the optimal scheduling route of the current stacker crane may conflict with the optimal scheduling routes of more than one operating stacker crane. Therefore, the number of orders for the second warehouse order is greater than or equal to 1.

[0084] Step S105e: Obtain the expected order times for the first and second warehousing orders, and sort the first and second warehousing orders in ascending order based on the time difference between the expected order time and the current time to obtain an order priority sequence.

[0085] Specifically, the expected time for each order mentioned above represents the latest possible completion time. The time difference between the expected time and the current time reflects the urgency of the order. Therefore, by prioritizing the orders according to their urgency, a priority sequence can be obtained.

[0086] Step S105f: Execute the first storage order and the second storage order in sequence according to the order priority sequence.

[0087] Specifically, first, the stacker crane number corresponding to the highest priority order in the order priority sequence is determined, and the corresponding stacker crane is controlled to execute its determined optimal scheduling route. Next, the execution priority sequence of the remaining stacker cranes is determined based on the order priority sequence, and the waiting positions of the remaining stacker cranes are determined sequentially based on their execution priority sequence. Finally, all remaining stacker cranes are controlled to move to their corresponding waiting positions, and after the execution priority of any stacker crane is updated to the highest, the corresponding stacker crane is controlled to execute its determined optimal scheduling route.

[0088] The method for determining the remaining waiting positions for stacker cranes is as follows:

[0089] First, determine the sequence number of the stacker crane with the highest execution priority among the remaining stacker cranes, and identify its overlapping path with the currently executing stacker crane. Then, designate the starting point of the overlapping path as the waiting station for the stacker crane with the highest execution priority among the remaining stacker cranes. After the stacker crane with the highest execution priority moves to the waiting station, it is removed from the execution priority sequence of the remaining stacker cranes, and the execution priority sequence of the remaining stacker cranes is updated. This process is repeated until the waiting stations for all remaining stacker cranes are determined.

[0090] Therefore, the above technical solution sorts goods by type according to the frequency of entry and exit and sorts storage locations by distance from the warehouse entrance and exit, thereby associating storage locations with goods types. This effectively reduces the travel distance of stacker cranes during entry and exit, greatly improves the efficiency of goods entry and exit, and reduces operating costs.

[0091] Figure 5 This is a schematic diagram of a processing system for an automated storage and retrieval system (AS / RS) provided in an embodiment of this application. The system includes a construction module 201, an acquisition module 202, an association module 203, and a scheduling module 204.

[0092] The construction module 201 is used to construct a three-dimensional spatial data model of the automated warehouse and obtain the spatial location information of the storage locations based on the three-dimensional spatial data model.

[0093] Specifically, after completing the 3D modeling of the automated warehouse, the construction module 201 establishes a 3D coordinate system for the constructed 3D spatial data model, which can obtain the 3D spatial coordinates of all storage locations in the automated warehouse, and thus obtain the spatial location information of all storage locations.

[0094] The acquisition module 202 is used to acquire historical inbound and outbound data of goods, and sort the types of goods according to the frequency of inbound and outbound to obtain a priority sequence.

[0095] It should be noted that in the priority sequence, the higher the frequency of goods entering and leaving the warehouse, the higher its priority.

[0096] The association module 203 is used to associate the storage location with the type of goods according to the priority sequence.

[0097] Specifically, the aforementioned association module 203 first sorts the storage locations from near to far based on their horizontal distance from the entrance / exit of the automated warehouse, obtaining a first sequence. Then, it selects several groups of storage locations in the first sequence that have the same horizontal distance to the entrance / exit of the automated warehouse, with each group comprising several storage locations stacked vertically. Next, it sorts the storage locations in each group according to their height from low to high, obtaining several second sequences. Then, it updates the order of the corresponding storage location groups in the first sequence according to the second sequences, obtaining the target sequence of the storage locations. Finally, it associates the nth storage location in the target sequence with the nth type of goods in the priority sequence.

[0098] The scheduling module 204 is used to obtain warehouse order information and generate the optimal scheduling route for the stacker crane based on the spatial location information of the warehouse storage location associated with the goods to be stored or removed from the warehouse. The optimal scheduling route is the route with the shortest travel distance for the stacker crane.

[0099] In addition, the processing system applicable to automated storage and retrieval systems also includes a judgment module. The judgment module is used to determine whether the optimal scheduling route conflicts with the optimal scheduling route of the running stacker crane, and updates the current optimal scheduling route of the stacker crane if a conflict exists.

[0100] In addition to the above embodiments, the present invention may have other implementation methods; all technical solutions formed by equivalent substitution or equivalent transformation fall within the protection scope claimed by the present invention.

Claims

1. A processing method suitable for automated storage and retrieval systems (AS / RS), characterized in that: include: Construct a three-dimensional spatial data model of the automated warehouse, and obtain the spatial location information of the storage locations based on the three-dimensional spatial data model; Obtain historical inbound and outbound data of goods, and sort the types of goods according to their inbound and outbound frequency to obtain a priority sequence; The storage locations are associated with the types of goods according to the priority sequence; Obtain warehouse order information and generate the optimal scheduling route for the stacker crane based on the spatial location information of the warehouse storage locations associated with the goods to be stored or removed from the warehouse. The optimal scheduling route is the route with the shortest travel distance for the stacker crane. Determine whether the optimal scheduling route conflicts with the optimal scheduling route of the running stacker crane, and update the current optimal scheduling route of the stacker crane if there is a conflict. Specifically, this includes: determining whether there is a path in the current optimal scheduling route of the stacker crane that overlaps with the optimal scheduling route of the running stacker crane. Get the first time interval of the current stacker crane moving in the overlapping path and the second time interval of the running stacker crane moving in the overlapping path; Determine whether there is an overlap between the first time period and the second time period. If there is, it means that there is a conflict between the current optimal scheduling route of the stacker crane and the optimal scheduling route of the stacker crane in operation.

2. The processing method for automated storage and retrieval systems according to claim 1, characterized in that: The acquisition of spatial location information of warehouse storage locations based on a three-dimensional spatial data model includes: Construct a three-dimensional coordinate system; The three-dimensional spatial coordinates of the warehouse location are obtained based on the three-dimensional spatial data model.

3. The processing method for automated storage and retrieval systems according to claim 2, characterized in that: In the priority sequence, the higher the frequency of entry and exit of the goods type, the higher the priority of the goods type.

4. The processing method for automated storage and retrieval systems according to claim 3, characterized in that: Associating the storage location with the type of goods according to a priority sequence includes: The storage locations are sorted from closest to farthest based on the horizontal distance between them and the entrance / exit of the automated warehouse, thus obtaining a first sequence; Select several groups of storage locations in the first sequence that are equidistant from the entrance and exit of the automated warehouse, and each group of storage locations includes several storage locations stacked in sequence along the vertical direction. The storage locations in each storage location group are sorted from low to high according to their height to obtain several second sequences; The target sequence of the warehouse location is obtained by updating the arrangement order of the corresponding group of warehouse location in the first sequence according to the second sequence; Associate the nth storage location in the target sequence with the nth type of goods in the priority sequence.

5. The processing method applicable to automated storage and retrieval systems according to claim 1, characterized in that: The updated optimal scheduling route for the current stacker crane includes: Obtain the first storage order currently being executed by the stacker crane and the second storage order being executed by a running stacker crane that conflicts with the current optimal scheduling route of the stacker crane, wherein the number of orders in the second storage order is greater than or equal to 1; Obtain the expected order times for the first and second warehousing orders, and sort the first and second warehousing orders in ascending order based on the time difference between the expected order time and the current time to obtain an order priority sequence; The first and second warehousing orders are executed sequentially according to the order priority sequence.

6. The processing method for automated storage and retrieval systems according to claim 5, characterized in that: The step of sequentially executing the first warehousing order and the second warehousing order according to the order priority sequence includes: Determine the stacker crane number corresponding to the highest priority order in the order priority sequence, and control the corresponding stacker crane to execute its determined optimal scheduling route; The execution priority sequence of the remaining stacker cranes is determined based on the order priority sequence; The waiting positions of the remaining stacker cranes are determined sequentially based on their execution priority sequence. Control all remaining stacker cranes to move to their corresponding waiting positions, and after updating the execution priority of any stacker crane to the highest, control the corresponding stacker crane to execute its determined optimal scheduling route.

7. The processing method for automated storage and retrieval systems according to claim 6, characterized in that: The process of determining the waiting positions of the remaining stacker cranes based on their execution priority sequence includes: Determine the stacker number with the highest execution priority among the remaining stacker cranes, and determine its overlapping path with the stacker crane currently in execution; The starting point of the overlapping path is designated as the waiting station of the stacker with the highest execution priority among the remaining stacker cranes.

8. The processing method for automated storage and retrieval systems according to claim 7, characterized in that: After setting the starting point of the overlapping path as the waiting station of the stacker crane with the highest execution priority among the current remaining stacker cranes, the following is also included: After the stacker with the highest execution priority among the remaining stacker cranes is moved to the waiting station, it is removed from the execution priority sequence of the remaining stacker cranes, and the execution priority sequence of the remaining stacker cranes is updated.

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