Box-type vertical warehouse box access control method, device, equipment and storage medium

Abstract

The present invention discloses a box-type vertical warehouse box access control method, device, equipment and storage medium. The method includes: in response to a storage request, obtaining an unoccupied empty point in a target area under a plane coordinate system; determining the current starting point; taking the current starting point as a base point, determining whether there is a positive transverse occupied point and a positive longitudinal occupied point in the plane coordinate system; if not, determining an initial storage area based on the positive transverse empty point and the positive longitudinal empty point; determining whether there is a jump longitudinal occupied point in the positive longitudinal direction of the plane coordinate system based on the current starting point; if there is no jump longitudinal occupied point in the positive longitudinal direction of the plane coordinate system, determining the initial storage area as a target storage area for a box to be placed, and sending a storage instruction to a box transport vehicle, so that the box transport vehicle stores the box to be placed in the target storage area. The present invention can effectively improve the utilization rate of storage space.

Description

Technical Field

[0001] The present invention belongs to the technical field of warehouse material storage, and in particular relates to a box-type vertical warehouse box access control method, device, equipment and storage medium. Background Art

[0002] Stereoscopic warehousing is a type of warehousing method whose main feature is to make full use of the three-dimensional space of the warehouse, stack goods vertically through the shelf system and supporting handling equipment to improve the storage capacity of the warehouse. Stereoscopic warehousing usually needs to be operated in conjunction with automated equipment and a warehouse management system (WMS) to improve warehousing efficiency and accuracy. When storing goods, especially when storing boxes, the industry generally adopts a fixed storage location for the allocation of cargo locations. The smaller the box on the cargo location, the more space is wasted; the more boxes need to be stored, the more cargo locations are built. At present, there is no effective method to reduce the waste of storage space. Summary of the invention

[0003] In view of the deficiencies in the prior art, the object of the present invention is to provide a box-type vertical warehouse box access control method, device, equipment and storage medium to solve the problem in the prior art that due to the different sizes of boxes, the storage space needs to match the large-sized boxes, resulting in waste of storage space.

[0004] According to one aspect of the present application, a method for controlling access to a box in a box-type vertical warehouse is disclosed, the method comprising:

[0005] In response to the storage request, obtaining unoccupied empty points in a target area in a plane coordinate system, wherein the target area includes N×M array points;

[0006] Determine a current starting point, where the current starting point is an empty point currently traversed based on a target traversal rule among the empty points;

[0007] Taking the current starting point as a base point, determining whether there is a positive lateral occupied point within the positive lateral target distance of the plane coordinate system and determining whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system;

[0008] When neither the positive lateral occupied point nor the positive longitudinal occupied point exists in the plane coordinate system, determining an initial storage area based on positive lateral empty points within the positive lateral target distance and positive longitudinal empty points within the positive longitudinal target distance;

[0009] Based on the current starting point, determining a jumping point after the current starting point jumps along the positive longitudinal direction to the longitudinal dimension of the box to be placed;

[0010] updating the base point with the jump point, and determining whether there is a jump longitudinal occupied point in the positive longitudinal direction of the plane coordinate system;

[0011] If the jump longitudinal occupied point does not exist in the positive longitudinal direction of the plane coordinate system, the initial storage area is determined as the target storage area for the box to be placed;

[0012] A storage instruction is sent to the box transport vehicle so that the box transport vehicle stores the box to be placed in the target storage area.

[0013] In some embodiments, when neither the positive lateral occupied point nor the positive longitudinal occupied point exists in the plane coordinate system, after determining the initial storage area based on the positive lateral empty points within the positive lateral target distance and the positive longitudinal empty points within the positive longitudinal target distance, the method further includes:

[0014] Based on the current starting point, determining whether there is a longitudinal vacant storage area in the negative longitudinal direction of the plane coordinate system, wherein the lateral size of the longitudinal vacant storage area is the same as the lateral size of the initial storage area, and the longitudinal size of the longitudinal vacant storage area is the same as the longitudinal size of the initial storage area;

[0015] When the longitudinal vacant storage area exists in the negative longitudinal direction of the plane coordinate system, the longitudinal vacant storage area is used as the initial storage area;

[0016] The base point is updated with a longitudinal vacancy starting point of the longitudinal vacancy storage area, wherein the longitudinal vacancy starting point is a point of the longitudinal vacancy storage area that is closest to the coordinate origin of the plane coordinate system.

[0017] In some embodiments, when neither the positive lateral occupied point nor the positive longitudinal occupied point exists in the plane coordinate system, after determining the initial storage area based on the positive lateral empty points within the positive lateral target distance and the positive longitudinal empty points within the positive longitudinal target distance, the method further includes:

[0018] Based on the current starting point, determining whether there is a transverse vacant storage area in the negative transverse direction of the plane coordinate system, wherein the transverse size of the transverse vacant storage area is the same as the transverse size of the initial storage area, and the longitudinal size of the transverse vacant storage area is the same as the longitudinal size of the initial storage area;

[0019] When the lateral vacant storage area exists in the negative lateral direction of the plane coordinate system, the lateral vacant storage area is used as the initial storage area;

[0020] The base point is updated with a lateral vacancy starting point of the lateral vacancy storage area, wherein the lateral vacancy starting point is a point of the lateral vacancy storage area that is closest to the coordinate origin of the plane coordinate system.

[0021] In some embodiments the method further comprises:

[0022] When any one of the positive lateral occupied point and the positive longitudinal occupied point exists in the plane coordinate system, determining a next traversal point in the empty point area based on the target traversal rule;

[0023] The next traversal point determined is determined as the current starting point, and the steps of determining whether there is a positive horizontal occupied point within the positive horizontal target distance of the plane coordinate system and determining whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system are performed with the current starting point as the base point.

[0024] In some embodiments, the method further comprises:

[0025] In response to a pickup request, based on the target identification information carried in the pickup request, determining a target box to be picked up corresponding to the target identification information;

[0026] Acquire target coordinate information of the target box to be picked up, wherein the target coordinate information includes target corner point coordinates of the target box to be picked up;

[0027] Taking the target corner point as a starting point, determining whether there is a blocking occupied point in the positive longitudinal direction of the plane coordinate system;

[0028] When there is a stop occupied point in the positive longitudinal direction of the plane coordinate system, the step of obtaining an unoccupied empty point area in the target area under the plane coordinate system is performed to transfer the stop box corresponding to the stop occupied point to the target transfer area until it is determined that there is no stop occupied point in the positive longitudinal direction of the plane coordinate system with the target corner point as the starting point;

[0029] When there is no blocking point in the positive longitudinal direction of the plane coordinate system, a pickup instruction carrying the target identification information is sent to the box transport vehicle, so that the box transport vehicle takes out the target box to be picked up corresponding to the target identification.

[0030] In some embodiments, the plane coordinate system includes a transverse direction and a longitudinal direction that are perpendicular to each other, the transverse direction is the movement direction of the box transport vehicle, and the longitudinal direction is the storage direction of the boxes to be placed.

[0031] In some embodiments, the positive lateral target distance is the superposition of the lateral point of the box to be placed in the positive lateral direction of the plane coordinate system and the positive lateral reserved point, and the positive longitudinal target distance is the superposition of the longitudinal point of the box to be placed in the positive longitudinal direction of the plane coordinate system and the positive longitudinal reserved point, and the method further includes:

[0032] Obtain the transverse dimension and longitudinal dimension of the box to be placed;

[0033] Determine a transverse quotient and a transverse remainder of the transverse dimension of the box relative to the dot dimension and a longitudinal quotient and a longitudinal remainder of the longitudinal dimension of the box relative to the dot dimension;

[0034] Based on the transverse quotient and the transverse remainder, determining a transverse point of the box to be placed in the positive transverse direction of the plane coordinate system;

[0035] Based on the longitudinal quotient and the longitudinal remainder, a longitudinal point of the box to be placed in the positive longitudinal direction of the plane coordinate system is determined.

[0036] According to another aspect of the present application, a box-type vertical warehouse box access control device is also disclosed, the device comprising:

[0037] A vacant point area acquisition module, used for acquiring unoccupied vacant points in a target area in a plane coordinate system in response to a storage request, wherein the target area includes N×M array points;

[0038] A current starting point determination module, used to determine a current starting point, wherein the current starting point is an empty point currently traversed based on a target traversal rule in the empty point area;

[0039] The first occupied point determination module is used to determine whether there is a positive lateral occupied point within the positive lateral target distance of the plane coordinate system and whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system, taking the current starting point as a base point;

[0040] an initial storage area determination module, configured to determine an initial storage area based on positive lateral vacant points within the positive lateral target distance and positive longitudinal vacant points within the positive longitudinal target distance when neither the positive lateral occupied point nor the positive longitudinal occupied point exists in the plane coordinate system;

[0041] A jumping point determination module, used to determine, based on the current starting point, a jumping point after the current starting point jumps along the positive longitudinal direction to the longitudinal dimension of the box to be placed;

[0042] an occupied point second determination module, configured to update the base point with the jump point, and determine whether there is a jump longitudinal occupied point in the positive longitudinal direction of the plane coordinate system;

[0043] a target storage area determination module, configured to determine the initial storage area as the target storage area for the box to be placed if the jump longitudinal occupied point does not exist in the positive longitudinal direction of the plane coordinate system;

[0044] The storage instruction sending module is used to send a storage instruction to the box transport vehicle so that the box transport vehicle stores the box to be placed in the target storage area.

[0045] According to another aspect of the present application, an electronic device is also disclosed, which includes a memory and at least one processor, wherein the memory stores instructions; the at least one processor calls the instructions in the memory so that the electronic device executes each step of the box-type warehouse box access control method as described above.

[0046] According to another aspect of the present application, a computer-readable storage medium is also disclosed, on which instructions are stored. When the instructions are executed by a processor, the various steps of the box-type warehouse box access control method as described in any of the above items are implemented.

[0047] The present invention includes but is not limited to the following beneficial effects: (1) In this solution, after finding an unoccupied empty point, the empty point is used as a base point to search for occupied points within the target distance in the longitudinal and transverse directions of the plane coordinate system to determine whether the transverse and longitudinal directions meet the placement conditions of the box to be placed. This solution can judge the unoccupied area based on the target distance that is adapted to the box size, thereby improving the adaptability of the box to the placement area size, achieving mixed loading of small-sized boxes and large-sized boxes, and avoiding providing space utilization; (2) By considering the occupied points in the transverse and longitudinal directions, the present invention can avoid conflicts and interferences during the access process and improve the stability and reliability of the operation; (3) By considering the vacant storage areas in the negative longitudinal and transverse directions, the present technical solution makes more comprehensive use of the space of the vertical warehouse and further reduces the waste of storage space; (4) By obtaining the coordinate information of the target box to be picked up and checking whether there is a blocking occupied point in the positive longitudinal direction, the present technical solution can plan the optimal picking path based on the position of the blocking occupied point to avoid unnecessary movement and further improve the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description:

[0049] Figure 1 This is a flow chart of a method for controlling access to a box in a box-type vertical warehouse according to an embodiment of the present application;

[0050] Figure 2 It is another flow chart of the box access control method of the box-type vertical warehouse according to the embodiment of the present application;

[0051] Figure 3 It is another flow chart of the box access control method of the box-type vertical warehouse according to the embodiment of the present application;

[0052] Figure 4 It is another flow chart of the box access control method of the box-type vertical warehouse according to the embodiment of the present application;

[0053] Figure 5 It is another flow chart of the box access control method of the box-type vertical warehouse according to the embodiment of the present application;

[0054] Figure 6 It is another flow chart of the box access control method of the box-type vertical warehouse according to the embodiment of the present application;

[0055] Figure 7 This is a structural block diagram of a box-type vertical warehouse box access control device according to an embodiment of the present application;

[0056] Figure 8 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0057] Fig. 9 is a schematic diagram of the target area of ​​this application;

[0058] Fig.10 is a schematic diagram of an embodiment of the present application when there is a jumping longitudinal occupation point in the positive longitudinal direction of the plane coordinate system;

[0059] Fig.11 is a schematic diagram of an embodiment of the present application when there is a longitudinal vacant storage area in the negative longitudinal direction of the plane coordinate system;

[0060] Fig.12 It is a storage display schematic diagram determined by the box access control method of the box-type vertical warehouse in the embodiment of the present application;

[0061] Fig.13 It is a schematic diagram of box storage display in the prior art. DETAILED DESCRIPTION

[0062] An embodiment of the present invention provides a box access control method for a box-type vertical warehouse, comprising: in response to a storage request, obtaining unoccupied empty points in a target area in a plane coordinate system, wherein the target area includes N×M array points; determining a current starting point, the current starting point being an empty point currently traversed based on a target traversal rule in the empty point area; taking the current starting point as a base point, determining whether there is a positive transverse occupied point within a positive transverse target distance of the plane coordinate system and determining whether there is a positive longitudinal occupied point within a positive longitudinal target distance of the plane coordinate system; when there are no positive transverse occupied points and positive longitudinal occupied points in the plane coordinate system, Based on the positive transverse empty points within the positive transverse target distance and the positive longitudinal empty points within the positive longitudinal target distance, the initial storage area is determined; based on the current starting point, the jump point after the current starting point jumps along the positive longitudinal direction to the longitudinal size of the box to be placed is determined; the base point is updated with the jump point to determine whether there is a jump longitudinal occupation point in the positive longitudinal direction of the plane coordinate system; if there is no jump longitudinal occupation point in the positive longitudinal direction of the plane coordinate system, the initial storage area is determined as the target storage area for the box to be placed; a storage instruction is sent to the box transport vehicle so that the box transport vehicle stores the box to be placed in the target storage area. The present invention can effectively improve the storage utilization efficiency.

[0063] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] For ease of understanding, the specific process of the embodiment of the present invention is described below. Before the detailed description, the following introduction is made: In this embodiment, for ease of understanding, the three-dimensional warehouse is flattened, such as Fig. 9 As shown, Fig. 9The plan view of the XY plane coordinate system established by the stereoscopic warehouse is shown. The plan view includes multiple areas. Each area is divided into an N×M array, and each area is divided into N×M array points. The size of each array point is Q×Q, where N is an integer greater than zero, M is an integer greater than zero, N and M are equal or unequal, and N can be 100, 125, 130, etc., and M can be 125, 130, 150, etc.; Q is an integer greater than zero, and Q can be 10mm, 15mm, 20mm, 25mm, etc. The specific value of the number of arrays and the specific value of each array point can be set according to time requirements, and no specific limitation is made here. It should be noted that the target area of ​​the plane under the plane coordinate system is determined based on the actual size of the actual storage area of ​​the stereoscopic warehouse. When the target area is divided, the values ​​of the target area and the array points are reduced by multiples based on the actual size of the storage area of ​​the warehouse. The plane coordinate system includes a transverse direction and a longitudinal direction which are perpendicular to each other. The transverse direction is the movement direction of the box transport vehicle, and the longitudinal direction is the storage direction of the boxes to be placed.

[0065] Specifically, Figure 1 This is a flow chart of the box-type vertical warehouse box access control method of the present application, and the steps include:

[0066] S100: In response to a storage request, obtain unoccupied empty points in a target area in a plane coordinate system.

[0067] Among them, in this embodiment, the RGV trolley is used as a box transport vehicle to realize the transportation of the boxes to be placed. The storage request can be realized by the user clicking on the control interface of the RGV trolley, or by the user clicking on the remote control platform of the RGV trolley. In this example, the remote control platform where the user clicks on the RGV to get off is used as an example for explanation. Specifically, the remote control platform and the RGV trolley communicate with each other, and a display interface is provided on the remote control platform for displaying the various control buttons and running trajectories of the RGV trolley, wherein the control buttons include but are not limited to inventory, pickup and other buttons. When the user clicks on the inventory button on the control platform, the control platform sends a storage request to the background server, and the background server executes the step S100, and in response to the storage request, obtains the occupied empty points in the target area under the plane coordinate system. Among them, the target area is a plane area corresponding to any one of the multiple storage areas of the three-dimensional warehouse, and the target area includes N×M array points.

[0068] Exemplarily, obtaining unoccupied vacant points in the target area under the plane coordinate system can be implemented based on a real-time updated warehouse management system, wherein the warehouse management system can be pre-established and can track and record the status of each area unit in the warehouse, including whether it is occupied and what kind of items (for example, size, weight and other attributes) are occupied. Each area unit corresponds to L×P array points in the plane, where L is less than N and P is less than M. Furthermore, the warehouse management system needs to be updated every time new items are put into the warehouse or existing items are taken out of the warehouse. For example, when a new box is stored in a location, it is necessary to mark the location as occupied in the system and record the relevant attributes of the box. When a box is moved out of a location, it is necessary to mark the location as unoccupied in the system.

[0069] In one example, if Fig. 9 As shown, Q may be 25 mm, each Q×Q array point may be a 25 mm*25 mm square, and all squares constitute the N×M array.

[0070] S102, determining a current starting point, where the current starting point is an empty point currently traversed based on the target traversal rule among the empty points.

[0071] The target traversal rule may be to start traversing from the current starting point, and when the traversal is completed, traverse to the next empty point to the right from the current starting point, or to traverse to the next empty point to the left after the traversal of the current starting point is completed, or to traverse to the next empty point upward or downward after the traversal of the current starting point is completed. The specific target traversal rule can be pre-set according to actual needs. In this embodiment, the target traversal rule is to traverse to the next empty point to the right after the traversal of the current starting point is completed. In this embodiment, the right direction is Fig. 9 The positive direction of the X axis.

[0072] S104, taking the current starting point as a base point, determining whether there is a positive lateral occupied point within the positive lateral target distance of the plane coordinate system, and determining whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system.

[0073] Among them, the positive transverse target distance is the target distance in the transverse coordinate direction under the plane coordinate system, that is, the target distance in the positive X direction. The positive transverse target distance can refer to the distance that the length dimension of the box to be placed needs to occupy, that is, the transverse points occupied by the length dimension of the box to be placed in the positive transverse direction of the plane coordinate system, or it can refer to the distance that the width dimension of the box to be placed needs to occupy, that is, the transverse points occupied by the width dimension of the box to be placed in the positive transverse direction of the plane coordinate system. Further, it can be understood that when the box transport vehicle places the box, a certain working space is generally reserved for the telescopic mechanism of the box transport vehicle. Therefore, in this embodiment, the positive transverse target distance can be determined as the superposition of the transverse points occupied by the length dimension of the box to be placed in the positive transverse direction of the plane coordinate system and the reserved points of the telescopic mechanism of the box transport vehicle in the positive transverse direction of the plane coordinate system. Similarly, the positive longitudinal target distance is the target distance in the longitudinal coordinate direction under the plane coordinate system, that is, the target distance in the positive Y direction. The positive longitudinal target distance may refer to the distance that the length dimension of the box to be placed needs to occupy, that is, the longitudinal point occupied by the length dimension of the box to be placed in the positive longitudinal direction of the plane coordinate system, or may refer to the distance that the width dimension of the box to be placed needs to occupy, that is, the longitudinal point occupied by the width dimension of the box to be placed in the positive longitudinal direction of the plane coordinate system. It can be understood that in the longitudinal direction, it is directly connected to the transport track of the box transport vehicle, and in the longitudinal direction, a reserved point in the positive longitudinal direction of the plane coordinate system for the telescopic mechanism of the transport vehicle may be reserved, or it may not be reserved. For the sake of unification, in this embodiment, the positive longitudinal target distance may be determined as the superposition of the longitudinal point occupied by the width dimension of the box to be placed in the positive longitudinal direction of the plane coordinate system and the reserved point of the telescopic mechanism of the box transport vehicle in the positive longitudinal direction of the plane coordinate system.

[0074] Specifically, to determine whether there is a positive horizontal occupied point within the positive horizontal target distance of the plane coordinate system, specifically, the current starting point can be used as the base point, and the array points can be traversed in the positive X direction to determine whether there is an occupied point among the Q array points corresponding to the positive horizontal target distance. Similarly, to determine whether there is a positive vertical occupied point within the positive vertical target distance of the plane coordinate system, the current starting point can be used as the base point, and the array points can be traversed in the positive Y direction to determine whether there is an occupied point among the Q array points corresponding to the positive vertical target distance. Specifically, the traversal process is the process of querying whether the current traversal point is marked as occupied in the warehouse management system.

[0075] S106. When there are no positive transverse occupied points and positive longitudinal occupied points in the plane coordinate system, determine the initial storage area based on positive transverse empty points within the positive transverse target distance and positive longitudinal empty points within the positive longitudinal target distance.

[0076] Specifically, when there are no positive transverse occupied points and positive longitudinal occupied points in the plane coordinate system, it means that the area formed by the positive transverse target distance and the positive longitudinal target distance is a non-occupied area, and the area can be used to place the box to be placed. Therefore, the area formed by the product of the number of Q points occupied by the positive transverse target distance, for example, A, and the number of Q points occupied by the positive longitudinal target distance, for example, B, can be determined as the initial storage area.

[0077] S108. Based on the current starting point, determine a jumping point after the current starting point jumps along the positive longitudinal direction by the longitudinal dimension of the box to be placed.

[0078] S110, updating the base point with the jump point, and determining whether there is a jump longitudinal occupied point in the positive longitudinal direction of the plane coordinate system.

[0079] Specifically, after determining the initial storage area, the current starting point can be used as the base point, and after jumping the number of array points corresponding to the longitudinal size of the box to be placed in the positive longitudinal direction, the jump point after the jump can be determined, and the base point can be updated with the jump point after the jump, that is, the jump point is used as the current starting point to determine whether there is a jump longitudinal occupation point in the positive longitudinal direction of the plane coordinate system. It can be understood that when it is determined that there is a jump longitudinal occupation point in the positive longitudinal direction of the plane coordinate system, it means that the box has been placed outside the initial storage area. Since the storage position of the box in the Y direction (longitudinal) is placed from the inside to the outside (from the origin to the positive direction of the Y axis), if the box has been placed outside the initial storage area, it will cause the RGV trolley to be unable to perform the storage of the box in the initial storage area. Therefore, in this step, by judging whether there is a jump longitudinal occupation point in the positive longitudinal direction of the plane coordinate system, the jump placement of the box can be effectively avoided, resulting in the problem of the box being unable to be placed or the box being placed in disorder. Furthermore, after determining that boxes have been placed outside the initial storage area, the information can be fed back to the backend server, and the backend server can wait for the box pick-up instruction outside the initial storage area, take out the boxes outside the initial storage area and then place them again. The above steps can effectively determine whether there is a box transport vehicle on the longitudinal inventory path. Fig.10 As shown in the figure, when there are occupied goods, first shift the occupied goods, which can effectively avoid box skipping and save space.

[0080] S112: If there is no jumping longitudinal occupation point in the positive longitudinal direction of the plane coordinate system, the initial storage area is determined as the target storage area for the boxes to be placed.

[0081] Furthermore, if there is no jumping longitudinal occupancy point in the positive longitudinal direction of the plane coordinate system, it means that there are no obstacles on the longitudinal inventory path of the transport vehicle, and it will not prevent the box transport vehicle from placing the box to be placed in the initial storage area. There will be no jumping storage phenomenon in the entire inventory process. At this time, the initial storage area is determined as the target storage area for the box to be placed.

[0082] S114: Send a storage instruction to the box transport vehicle so that the box transport vehicle stores the boxes to be placed in the target storage area.

[0083] Specifically, after receiving the inventory instruction, the box transport vehicle stores the boxes to be placed in the target storage area according to the transportation route.

[0084] Furthermore, Figure 2 Another flow chart of the box-type vertical warehouse box access control method is as follows: Figure 2 As shown, this method is applied when there are no positive transverse occupied points and positive longitudinal occupied points in the plane coordinate system, based on the positive transverse empty points within the positive transverse target distance and the positive longitudinal empty points within the positive longitudinal target distance, after determining the initial storage area; specifically, refer to Figure 2 , the method comprises the following steps:

[0085] S200 . Based on the current starting point, determine whether there is a longitudinal vacant storage area in the negative longitudinal direction of the plane coordinate system.

[0086] S202: When there is a longitudinal vacant storage area in the negative longitudinal direction of the plane coordinate system, use the longitudinal vacant storage area as the initial storage area.

[0087] S204, updating the base point with the longitudinal vacancy starting point of the longitudinal vacancy storage area, wherein the longitudinal vacancy starting point is the point of the longitudinal vacancy storage area that is closest to the coordinate origin of the plane coordinate system.

[0088] Specifically, Fig.11 As shown, when there is a longitudinal vacant storage area in the negative longitudinal direction of the plane coordinate system, if the currently determined initial storage area is used as the target storage area, there may be a situation where the box to be placed is not stored in place. At this time, it is necessary to use the longitudinal vacant storage area as the initial storage area, and use the point of the longitudinal vacant storage area closest to the coordinate origin of the plane coordinate system as the longitudinal vacancy starting point, and update the base point with the longitudinal vacancy starting point, and then repeat the steps S102-S114. Specifically, Fig.11 In the figure, the starting point of the vertical gap is the position indicated by point T.

[0089] Furthermore, Figure 3 Another flow chart of the box-type vertical warehouse box access control method is as follows: Figure 3As shown, this method is applied when there are no positive transverse occupied points and positive longitudinal occupied points in the plane coordinate system, based on the positive transverse empty points within the positive transverse target distance and the positive longitudinal empty points within the positive longitudinal target distance, after determining the initial storage area; for details, refer to Figure 3 , the method comprises the following steps:

[0090] S300, based on the current starting point, determining whether there is a lateral vacant storage area in the negative lateral direction of the plane coordinate system, wherein the lateral size of the lateral vacant storage area is the same as the lateral size of the initial storage area, and the longitudinal size of the lateral vacant storage area is the same as the longitudinal size of the initial storage area;

[0091] S302, when there is a vacant storage area in the negative lateral direction of the plane coordinate system, use the vacant storage area in the lateral direction as the initial storage area;

[0092] S304, updating the base point with the lateral gap starting point of the lateral gap storage area, wherein the lateral gap starting point is the point of the lateral gap storage area that is closest to the coordinate origin of the plane coordinate system.

[0093] Specifically, the principle is the same as that introduced in the above steps S200-S204. When there is a horizontal vacant storage area in the negative horizontal direction of the plane coordinate system, if the currently determined initial storage area is used as the target storage area, the box to be placed may not be stored in place. At this time, it is necessary to use the horizontal vacant storage area as the initial storage area, and use the point of the horizontal vacant storage area closest to the coordinate origin of the plane coordinate system as the horizontal vacancy starting point, and use the horizontal vacancy starting point to update the base point, and then repeat steps S102-S114.

[0094] Furthermore, Figure 4 Another flow chart of the box-type vertical warehouse box access control method is shown, referring to Figure 4 As shown, the following steps are included:

[0095] S400: In response to a storage request, obtain unoccupied empty points in a target area in a plane coordinate system.

[0096] S402, determining a current starting point, where the current starting point is an empty point currently traversed based on the target traversal rule among the empty points.

[0097] S404: Taking the current starting point as a base point, determine whether there is a positive lateral occupied point within the positive lateral target distance of the plane coordinate system, and determine whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system.

[0098] Specifically, the introduction of steps S400-S404 may refer to the introduction of the above steps S100-S104, which will not be repeated here.

[0099] S406. When any one of a positive horizontal occupied point and a positive vertical occupied point exists in the plane coordinate system, determine the next traversal point in the empty point area based on the target traversal rule.

[0100] S408. Determine the next traversal point as the current starting point, and execute the steps of determining whether there is a positive horizontal occupied point within the positive horizontal target distance of the plane coordinate system and determining whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system with the current starting point as the base point.

[0101] Specifically, when any one of the positive horizontal occupied points and the positive longitudinal occupied points exists in the plane coordinate system, it means that there are occupied points that do not meet the target distance in the positive direction of the X-axis and the positive direction of the Y-axis of the plane coordinate system with the current starting point as the base point. At this time, you can continue to traverse the next empty point based on the target traversal rules, and determine the next traversal point as the current starting point, and then continue to execute step S104 or step S404.

[0102] Furthermore, Figure 5 Another flow chart of the box-type vertical warehouse box access control method is shown, referring to Figure 5 As shown, the following steps are included:

[0103] S500: In response to a pickup request, based on the target identification information carried in the pickup request, determine a target box to be picked up corresponding to the target identification information.

[0104] Specifically, after receiving the pickup request, the backend server responds to the pickup request, determines the target identification information carried in the pickup request, and then determines the target box to be picked up corresponding to the target identification information based on the target representation information.

[0105] S502: Acquire target coordinate information of a target box to be picked up, where the target coordinate information includes target corner point coordinates of the target box to be picked up.

[0106] It can be understood that the target coordinate information of the target box to be picked up can be determined based on the horizontal point position and the vertical point position of the plane coordinate system corresponding to the starting point of the length dimension and the starting point of the width dimension of the target box to be picked up. For example, when the starting point of the length of the box to be picked up is the origin, the length dimension corresponds to 10 horizontal points, and when the starting point of the width of the box to be picked up is the origin, the width dimension corresponds to 8 horizontal points, then the four corner point coordinates in the target coordinate information of the target box to be picked up are (0, 0), (10, 0), (0, 8), (10, 8). In this embodiment, the target corner point coordinate of the target box to be picked up is one of the four corner point coordinates.

[0107] S504: Taking the target corner point as the starting point, determine whether there is a blocking point in the positive longitudinal direction of the plane coordinate system.

[0108] Exemplarily, in this example, the corner point with the largest coordinate point is used as the target corner point coordinate, for example, the coordinates (10, 8) in the above embodiment are used as the target corner point coordinate, and then the target corner point is used as the starting point to determine whether there is a blocking occupied point in the positive longitudinal direction of the plane coordinate system.

[0109] S506. When there is a blocking point in the positive longitudinal direction of the plane coordinate system, execute the step of obtaining an unoccupied empty point area in the target area of ​​the plane coordinate system to transfer the blocking box corresponding to the blocking point to the target transfer area until it is determined that there is no blocking point in the positive longitudinal direction of the plane coordinate system with the target corner point as the starting point.

[0110] Specifically, when there is a stop occupied point in the positive longitudinal direction of the plane coordinate system, it means that a stop box has been stored there, and step S100 is executed to determine an unoccupied vacant point, so as to facilitate the transfer of the stop box corresponding to the stop occupied point to the target transfer area. It can be understood that the target transfer area can be the target storage area determined by repeating steps S102-S112. Furthermore, the transfer step of the stop box can be performed multiple times until it is determined that there is no stop occupied point in the positive longitudinal direction of the plane coordinate system with the target corner point as the starting point.

[0111] It can be understood that in another scheme, when it is determined that there is a blocking point in the positive longitudinal direction of the plane coordinate system, the transfer path of the items occupying the blocking point can be planned based on the position coordinate information of the blocking point to facilitate the transfer of goods.

[0112] S508. When there is no blocking point in the positive longitudinal direction of the plane coordinate system, a pickup instruction carrying the target identification information is sent to the box transport vehicle, so that the box transport vehicle takes out the target box to be picked up corresponding to the target identification.

[0113] Specifically, when it is determined that there is no blocking occupied point in the positive longitudinal direction of the plane coordinate system, it means that the goods can be picked up at this time. At this time, the box transport vehicle sends a pick-up instruction carrying target identification information, so that the box transport vehicle determines the target box to be picked up based on the target identification information and then takes it out.

[0114] Furthermore, Figure 6 Another flow chart of the box-type vertical warehouse box access control method is shown, referring to Figure 6 As shown, the following steps are included:

[0115] S600: Obtain the horizontal dimension and the vertical dimension of the box to be placed.

[0116] In one example, the horizontal dimension (length dimension) and the vertical dimension (width dimension) of the box to be placed may be obtained from a database.

[0117] S602: Determine a transverse quotient and a transverse remainder of the transverse dimension of the box relative to the single array point dimension, and a longitudinal quotient and a longitudinal remainder of the longitudinal dimension of the box relative to the single array point dimension.

[0118] S604: Based on the transverse quotient and the transverse remainder, determine the transverse point of the box to be placed in the positive transverse direction of the plane coordinate system.

[0119] S606: Based on the longitudinal quotient and the longitudinal remainder, determine the longitudinal point of the box to be placed in the positive longitudinal direction of the plane coordinate system.

[0120] In one example, if the horizontal (length) dimension of the box to be placed is 600 mm and the vertical (width) dimension is 400, then when the array point size is 25 mm × 25 mm, it can be calculated that the number of horizontally occupied points is 24 and the number of vertically occupied points is 16.

[0121] Furthermore, the coordinates of the box to be placed in the plane coordinate system can be determined based on the number of determined longitudinal points and transverse points, wherein one longitudinal point corresponds to one scale coordinate on the Y axis, and one transverse point corresponds to one scale coordinate on the X axis.

[0122] Further, based on the above introduction, it can be known that in some cases, a certain amount of space needs to be reserved for the mechanical mechanism of the box transport vehicle. For example, the reserved point can be one array point or two array points. Specifically, it can be set based on actual needs and is not specifically limited here.

[0123] Further, based on the technical solution of this application, the following can be obtained: Fig.12 The box storage diagram shown is based on the Fig.12 It can be seen that this technical solution can make large-sized boxes and small-sized boxes mixed, which can make full use of the storage space and solve the problems of the prior art such as Fig.13 The displayed boxes can only be arranged in sequence, and after a small box occupies the position of a large box, no more boxes can be placed in the empty space.

[0124] According to another aspect of the present application, a box-type vertical warehouse box access control device is also disclosed, such as Figure 7 As shown, the device comprises:

[0125] A vacant point region acquisition module, used for acquiring unoccupied vacant points in a target region in a plane coordinate system in response to a storage request, wherein the target region includes N×M array points;

[0126] A current starting point determination module is used to determine the current starting point, where the current starting point is the empty point currently traversed in the empty point area based on the target traversal rule;

[0127] The first occupied point determination module is used to determine whether there is a positive lateral occupied point within the positive lateral target distance of the plane coordinate system and whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system, taking the current starting point as a base point;

[0128] An initial storage area determination module, used to determine the initial storage area based on positive lateral vacant points within the positive lateral target distance and positive longitudinal vacant points within the positive longitudinal target distance when there are no positive lateral occupied points and positive longitudinal occupied points in the plane coordinate system;

[0129] A jumping point determination module, for determining, based on the current starting point, a jumping point after the current starting point jumps along the positive longitudinal direction by the longitudinal dimension of the box to be placed;

[0130] The second occupied point determination module is used to update the base point with the jump point and determine whether there is a jump longitudinal occupied point in the positive longitudinal direction of the plane coordinate system;

[0131] A target storage area determination module, configured to determine the initial storage area as the target storage area for the box to be placed if there is no jump longitudinal occupation point in the positive longitudinal direction of the plane coordinate system;

[0132] The storage instruction sending module is used to send a storage instruction to the box transport vehicle so that the box transport vehicle stores the box to be placed in the target storage area.

[0133] Furthermore, the device also includes:

[0134] A longitudinal vacant storage area determination module is used to determine whether there is a longitudinal vacant storage area in the negative longitudinal direction of the plane coordinate system based on the positive vacant points within the positive lateral target distance and the positive longitudinal vacant points within the positive longitudinal target distance after determining the initial storage area when there are no positive lateral occupied points and positive longitudinal occupied points in the plane coordinate system, and then determine based on the current starting point whether there is a longitudinal vacant storage area in the negative longitudinal direction of the plane coordinate system, wherein the lateral size of the longitudinal vacant storage area is the same as the lateral size of the initial storage area, and the longitudinal size of the longitudinal vacant storage area is the same as the longitudinal size of the initial storage area.

[0135] The initial storage area determination module is specifically configured to use the longitudinal vacant storage area as the initial storage area when there is a longitudinal vacant storage area in the negative longitudinal direction of the plane coordinate system.

[0136] The base point first updating module is used to update the base point with the longitudinal vacancy starting point of the longitudinal vacancy storage area, wherein the longitudinal vacancy starting point is the point of the longitudinal vacancy storage area closest to the coordinate origin of the plane coordinate system.

[0137] Furthermore, the device also includes:

[0138] A module for determining a transverse vacant storage area is used to determine, when there are no positive transverse occupied points and positive longitudinal occupied points in the plane coordinate system, whether there is a transverse vacant storage area in the negative transverse direction of the plane coordinate system based on the positive transverse vacant points within the positive transverse target distance and the positive longitudinal vacant points within the positive longitudinal target distance after determining the initial storage area, and then, based on the current starting point, determine whether there is a transverse vacant storage area in the negative transverse direction of the plane coordinate system, wherein the transverse size of the transverse vacant storage area is the same as the transverse size of the initial storage area, and the longitudinal size of the transverse vacant storage area is the same as the longitudinal size of the initial storage area.

[0139] The initial storage area determination module is further specifically configured to use the vacant transverse storage area as the initial storage area when there is a vacant transverse storage area in the negative transverse direction of the plane coordinate system.

[0140] The base point second updating module is used to update the base point with a transverse gap starting point of the transverse gap storage area, wherein the transverse gap starting point is a point of the transverse gap storage area that is closest to the coordinate origin of the plane coordinate system.

[0141] Furthermore, the device also includes:

[0142] The traversal point determination module is used to determine the next traversal point in the empty point area based on the target traversal rule when any one of the positive horizontal occupied point and the positive longitudinal occupied point exists in the plane coordinate system.

[0143] The current starting point update module is used to determine the next traversal point determined as the current starting point, and execute the steps of determining whether there is a positive horizontal occupied point within the positive horizontal target distance of the plane coordinate system and determining whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system with the current starting point as the base point.

[0144] Furthermore, the device also includes:

[0145] The target box to be picked up determining module is used to respond to a pickup request and determine a target box to be picked up corresponding to the target identification information based on the target identification information carried in the pickup request.

[0146] The target coordinate information determination module is used to obtain the target coordinate information of the target box to be picked up, and the target coordinate information includes the target corner point coordinates of the target box to be picked up.

[0147] The blocking occupied point determination module is used to determine whether there is a blocking occupied point in the positive longitudinal direction of the plane coordinate system with the target corner point as the starting point.

[0148] The first execution module is used to execute the step of obtaining unoccupied empty point areas in the target area of ​​the plane coordinate system when there is a stop occupied point in the positive longitudinal direction of the plane coordinate system, so as to transfer the stop box corresponding to the stop occupied point to the target transfer area, until it is determined that there is no stop occupied point in the positive longitudinal direction of the plane coordinate system with the target corner point as the starting point.

[0149] The second execution module is used to send a pickup instruction carrying target identification information to the box transport vehicle when there is no blocking occupation point in the positive longitudinal direction of the plane coordinate system, so that the box transport vehicle takes out the target box to be picked up corresponding to the target identification.

[0150] Furthermore, the device also includes:

[0151] The size acquisition module is used to acquire the horizontal size and the vertical size of the box to be placed.

[0152] The calculation module is used to determine the transverse quotient and transverse remainder of the transverse size of the box relative to the single array point size and the longitudinal quotient and longitudinal remainder of the longitudinal size of the box relative to the single array point size.

[0153] The transverse point determination module is used to determine the transverse point of the box to be placed in the positive transverse direction of the plane coordinate system based on the transverse quotient and the transverse remainder.

[0154] The longitudinal point determination module is used to determine the longitudinal point of the box to be placed in the positive longitudinal direction of the plane coordinate system based on the longitudinal quotient and the longitudinal remainder.

[0155] The application introduction of the relevant modules of the device in this example can refer to the relevant introduction of the principle of the above method, which will not be repeated here.

[0156] According to another aspect of the present application, an electronic device is also disclosed, which includes a memory and at least one processor, wherein instructions are stored in the memory; at least one processor calls the instructions in the memory so that the electronic device executes each step of the above-mentioned box-type warehouse box access control method.

[0157] above Figure 7 The box-type vertical warehouse box access control device in the embodiment of the present invention is described in detail from the perspective of modular functional entities, and the electronic device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0158] Figure 88 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device 800 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 810 (for example, one or more processors) and a memory 820, and one or more storage media 830 (for example, one or more mass storage devices) storing application programs 833 or data 832. Among them, the memory 820 and the storage medium 830 can be short-term storage or permanent storage. The program stored in the storage medium 830 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the electronic device 800. Furthermore, the processor 810 may be configured to communicate with the storage medium 830 to execute a series of instruction operations in the storage medium 830 on the electronic device 800.

[0159] The electronic device 800 may also include one or more power supplies 840, one or more wired or wireless network interfaces 850, one or more input and output interfaces 860, and / or one or more operating systems 831, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Figure 8 The structure of the electronic device shown does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine some components, or arrange the components differently.

[0160] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the box-type warehouse box access control method.

[0161] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0162] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0163] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling access to a box in a box-type vertical warehouse, characterized in that: The method comprises: In response to the storage request, obtaining unoccupied empty points in a target area in a plane coordinate system, wherein the target area includes N×M array points; Determine the current starting point, which is the empty point currently traversed based on the target traversal rule among the empty points; Taking the current starting point as the base point, determine whether there is a positive lateral occupied point within the positive lateral target distance of the plane coordinate system and determine whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system; When there are no positive lateral occupied points and positive longitudinal occupied points in the plane coordinate system, an initial storage area is determined based on positive lateral empty points within the positive lateral target distance and positive longitudinal empty points within the positive longitudinal target distance; Based on the current starting point, determine a jumping point after the current starting point jumps along the positive longitudinal direction to the longitudinal dimension of the box to be placed; The base point is updated with the jump point to determine whether there is a jump longitudinal occupied point in the positive longitudinal direction of the plane coordinate system; If there is no jump longitudinal occupation point in the positive longitudinal direction of the plane coordinate system, the initial storage area is determined as the target storage area for the box to be placed; Sending a storage instruction to the box transport vehicle so that the box transport vehicle stores the box to be placed in the target storage area; In response to the pickup request, based on the target identification information carried in the pickup request, determine the target box to be picked up corresponding to the target identification information; Get the coordinates of the target corner points of the target box to be taken; Taking the target corner point as the starting point, determine whether there is a blocking occupied point in the positive longitudinal direction of the plane coordinate system; If so, executing the step of obtaining an unoccupied empty defect area in the target area in the plane coordinate system; If not, a pickup instruction carrying the target identification information is sent to the box transport vehicle, so that the box transport vehicle takes out the target box to be picked up corresponding to the target identification.

2. The box-type vertical warehouse box access control method according to claim 1 is characterized in that: When neither the positive transverse occupied point nor the positive longitudinal occupied point exists in the plane coordinate system, after determining the initial storage area based on the positive transverse empty points within the positive transverse target distance and the positive longitudinal empty points within the positive longitudinal target distance, the method further includes: Based on the current starting point, determining whether there is a longitudinal vacant storage area in the negative longitudinal direction of the plane coordinate system, wherein the lateral size of the longitudinal vacant storage area is the same as the lateral size of the initial storage area, and the longitudinal size of the longitudinal vacant storage area is the same as the longitudinal size of the initial storage area; When the longitudinal vacant storage area exists in the negative longitudinal direction of the plane coordinate system, the longitudinal vacant storage area is used as the initial storage area; The base point is updated with a longitudinal vacancy starting point of the longitudinal vacancy storage area, wherein the longitudinal vacancy starting point is a point of the longitudinal vacancy storage area that is closest to the coordinate origin of the plane coordinate system.

3. The box-type vertical warehouse box access control method according to claim 1 is characterized in that: When neither the positive transverse occupied point nor the positive longitudinal occupied point exists in the plane coordinate system, after determining the initial storage area based on the positive transverse empty points within the positive transverse target distance and the positive longitudinal empty points within the positive longitudinal target distance, the method further includes: Based on the current starting point, determining whether there is a transverse vacant storage area in the negative transverse direction of the plane coordinate system, wherein the transverse size of the transverse vacant storage area is the same as the transverse size of the initial storage area, and the longitudinal size of the transverse vacant storage area is the same as the longitudinal size of the initial storage area; When the lateral vacant storage area exists in the negative lateral direction of the plane coordinate system, the lateral vacant storage area is used as the initial storage area; The base point is updated with a lateral vacancy starting point of the lateral vacancy storage area, wherein the lateral vacancy starting point is a point of the lateral vacancy storage area that is closest to the coordinate origin of the plane coordinate system.

4. The box-type vertical warehouse box access control method according to claim 1 is characterized in that: The method further comprises: When any one of the positive lateral occupied point and the positive longitudinal occupied point exists in the plane coordinate system, determining a next traversal point in the empty point area based on the target traversal rule; The next traversal point determined is determined as the current starting point, and the steps of determining whether there is a positive horizontal occupied point within the positive horizontal target distance of the plane coordinate system and determining whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system are performed with the current starting point as the base point.

5. The box-type vertical warehouse box access control method according to claim 1 is characterized in that: The method further comprises: When there is a blocking occupied point in the positive longitudinal direction of the plane coordinate system, the step of obtaining an unoccupied empty point area in the target area under the plane coordinate system is executed, and the blocking box corresponding to the blocking occupied point is transferred to the target transfer area until it is determined that there is no blocking occupied point in the positive longitudinal direction of the plane coordinate system with the target corner point as the starting point.

6. The box-type vertical warehouse box access control method according to claim 1 is characterized in that: The plane coordinate system includes a transverse direction and a longitudinal direction which are perpendicular to each other. The transverse direction is the moving direction of the box transport vehicle, and the longitudinal direction is the storage direction of the boxes to be placed.

7. The box-type vertical warehouse box access control method according to claim 1 is characterized in that: The positive lateral target distance is the superposition of the lateral point of the box to be placed in the positive lateral direction of the plane coordinate system and the positive lateral reserved point, and the positive longitudinal target distance is the superposition of the longitudinal point of the box to be placed in the positive longitudinal direction of the plane coordinate system and the positive longitudinal reserved point, and the method further includes: Obtain the transverse dimension and longitudinal dimension of the box to be placed; Determine a transverse quotient and a transverse remainder of the transverse dimension of the box relative to the single array point dimension and a longitudinal quotient and a longitudinal remainder of the longitudinal dimension of the box relative to the single array point dimension; Based on the transverse quotient and the transverse remainder, determining a transverse point of the box to be placed in the positive transverse direction of the plane coordinate system; Based on the longitudinal quotient and the longitudinal remainder, a longitudinal point of the box to be placed in the positive longitudinal direction of the plane coordinate system is determined.

8. A box-type vertical warehouse box access control device, characterized in that: The device comprises: A vacant point area acquisition module, used for acquiring unoccupied vacant points in a target area in a plane coordinate system in response to a storage request, wherein the target area includes N×M array points; A current starting point determination module, used to determine a current starting point, wherein the current starting point is an empty point currently traversed based on a target traversal rule among the empty points; The first occupied point determination module is used to determine whether there is a positive lateral occupied point within the positive lateral target distance of the plane coordinate system and whether there is a positive longitudinal occupied point within the positive longitudinal target distance of the plane coordinate system, taking the current starting point as a base point; an initial storage area determination module, configured to determine an initial storage area based on positive lateral vacant points within the positive lateral target distance and positive longitudinal vacant points within the positive longitudinal target distance when neither the positive lateral occupied point nor the positive longitudinal occupied point exists in the plane coordinate system; A jumping point determination module, used to determine, based on the current starting point, a jumping point after the current starting point jumps along the positive longitudinal direction by the longitudinal dimension of the box to be placed; an occupied point second determination module, configured to update the base point with the jump point, and determine whether there is a jump longitudinal occupied point in the positive longitudinal direction of the plane coordinate system; a target storage area determination module, configured to determine the initial storage area as the target storage area for the box to be placed if the jump longitudinal occupied point does not exist in the positive longitudinal direction of the plane coordinate system; A storage instruction sending module, used for sending a storage instruction to a box transport vehicle, so that the box transport vehicle stores the box to be placed in the target storage area; A pickup request response module, configured to determine a target box to be picked up corresponding to the target identification information based on the target identification information carried in the pickup request; A corner point coordinate acquisition module is used to acquire the coordinates of the target corner points of the target box to be taken; A stop occupied point determination module is used to determine whether there is a stop occupied point in the positive longitudinal direction of the plane coordinate system with the target corner point as the starting point; An execution step, for executing the step of acquiring an unoccupied empty point area in the target area in the plane coordinate system when there is a blocking occupation point; The pickup instruction sending module is used to send a pickup instruction carrying the target identification information to the box transport vehicle when there is no blocking occupation point, so that the box transport vehicle takes out the target box to be picked up corresponding to the target identification.

9. An electronic device, characterized in that: The electronic device includes a memory and at least one processor, wherein the memory stores instructions; the at least one processor calls the instructions in the memory so that the electronic device executes each step of the box access control method of the box-type warehouse as described in any one of claims 1-7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the various steps of the box-type warehouse box access control method described in any one of claims 1 to 7 are implemented.

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