Electric storage equipment based on automatic warehouse patrol technology

Abstract

The invention discloses an electric power storage device based on an automatic warehouse patrol technology, and relates to the technical field of storage management. An order obtaining module is arranged to obtain a storage list of a target warehouse, and a material scanning module is arranged to check and store commodities on the storage list; the task distribution unit is used for completing the warehousing tasks of the urgent type warehousing lists and the ordinary type warehousing lists, judging whether the urgent type warehousing lists are drawn or not, and determining whether the urgent type warehousing lists need to be drawn or not; the urgent warehousing unit draws and dispatches a corresponding number of transportation robots from the transportation robots distributed for each warehousing area to complete warehousing of commodities on the urgent warehousing list by combining the number of the transportation robots distributed in each warehousing area and the number and required time of warehousing tasks which are not executed by each transportation robot; and the dispatching of the transportation robots in other storage areas is more reasonable, the excessive dispatching condition is avoided, and the balance of overall commodity warehousing of the warehouse is further guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse management, and in particular to electric power warehouse equipment based on automated warehouse inspection technology. Background Art

[0002] In the daily operation of the warehouse, the continuous inflow of materials has brought great challenges to warehouse management. The warehouse managers are faced with heavy tasks of material in and out of the warehouse, and the pressure has doubled. At the same time, the inefficiency of manual inventory makes the work extremely challenging. It is necessary to ensure that the progress of the project is not affected and the accuracy of the inventory data is guaranteed. In order to cope with this problem, modern technology has introduced an automated solution, which realizes efficient and accurate storage of materials through the collaborative operation of intelligent scanning systems and transport robots;

[0003] When materials are put into storage, they are divided into two categories: ordinary and emergency according to the degree of urgency. Ordinary materials are stored according to standard procedures, while emergency materials are given priority. However, the storage time of emergency materials is often uncertain, and sometimes even conflicts with the transportation of ordinary materials, resulting in insufficient number of transport robots to meet the demand for timely storage of emergency materials. In this case, some robots that are transporting ordinary materials must be transferred to support the transportation of emergency materials.

[0004] At the current level of technology, when mobilizing these transport robots, it is usually determined based on the number of goods that have not yet been stored in each storage area. This method may cause robots in certain areas to be over-mobilized, which may greatly affect the storage efficiency and time of the area, and further affect the overall storage balance in the warehouse;

[0005] In order to solve the above problems, the present invention proposes a solution. Summary of the invention

[0006] The purpose of the present invention is to provide an electric power storage device based on automated warehouse inspection technology, in order to solve the problem in the prior art that when the storage of emergency materials in the warehouse conflicts with the transportation of ordinary materials, resulting in insufficient number of transport robots, the number of transport robots to be drawn from each storage area is determined based on the number of goods that have not yet been stored in each storage area, which will cause robots in some areas to be over-drawn, which may greatly affect the storage efficiency and time of the area, and further affect the storage balance problem in the warehouse as a whole;

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] An electric power storage device based on automatic warehouse inspection technology, comprising:

[0009] The warehouse entry planning module is used to plan the entry of all commodities on the warehouse entry form. The warehouse entry planning module includes a location planning unit, a task allocation unit, and an expedited warehouse entry unit. The warehouse entry form contains commodity information of several commodities. The warehouse entry form is divided into two types: expedited type and ordinary type.

[0010] The location planning unit generates the storage location information of all the goods according to the commodity information of all the goods on the storage order, and the storage location information includes the storage area, storage shelf and storage number;

[0011] For common types of incoming orders, the task allocation unit allocates a corresponding number of transport robots to several storage areas based on the incoming location information of all commodities on the incoming order and the total number of transport robots currently in a non-working state in the target warehouse, and allocates a corresponding number of commodity transportation quantities to each transport robot;

[0012] At the same time, the location planning unit generates the entry tasks of all the goods on the entry list according to the entry location information of all the goods on the entry list in combination with the path planning algorithm. The entry tasks include the entry location information of the goods, the transportation trajectory path, the departure time, the corresponding path consumption time and the transportation robot selected for the goods.

[0013] The task allocation unit generates the warehousing tasks for all commodities on the warehousing order and inputs them into the corresponding transport robots in sequence. The corresponding transport robots execute the warehousing tasks for all commodities according to the received tasks.

[0014] Furthermore, for an expedited entry order, the expedited entry unit determines whether the total number of transport robots currently in a non-working state can quickly complete the entry of all the goods on the entry order based on the total number of transport robots currently in a non-working state and the total number of goods on the entry order;

[0015] If it is determined that the total number of transport robots currently in a non-working state cannot quickly complete the warehousing of all the goods on the warehousing order, the expedited warehousing unit shall, according to the preset withdrawal rules, select a number of transport robots from all transport robots currently performing warehousing tasks according to the number of warehousing tasks that have not yet been performed by all transport robots currently performing warehousing tasks and the path consumption time corresponding to the transport planning trajectory route in each warehousing task;

[0016] The task allocation unit generates the warehousing tasks for all the goods on the warehousing list by using a path planning algorithm based on the selected transport robots and all the transport robots that are currently in a non-working state and the warehousing location information of all the goods on the warehousing list.

[0017] Furthermore, it also includes an order acquisition module for obtaining a warehouse entry order. The product information includes the name, specifications, model, unit price and total price of the product. The specifications include weight, volume and type.

[0018] Furthermore, it also includes a material scanning module for scanning, comparing and warehousing the goods pre-stored in the target warehouse;

[0019] After receiving the transmitted warehouse entry form, the material scanning module verifies the goods by scanning the product code of the goods in combination with the product information on the warehouse entry form, and after all the goods on the warehouse entry form are verified, all the goods on the warehouse entry form are stored in the temporary storage area of ​​the target warehouse.

[0020] Beneficial effects of the present invention:

[0021] (1) The present invention obtains the incoming order of the target warehouse by setting an order acquisition module, and sets a material scanning module to scan, verify and enter the goods on the incoming order. For ordinary incoming orders, after all the goods on the incoming order are entered into the warehouse, the location planning unit allocates a storage area, a storage shelf and a storage number to each commodity based on the type, weight and volume of the commodity. After the allocation is completed, the task allocation unit combines the robot that is not currently in a working state to specify the incoming task for each commodity, including specifying the transportation robot for each commodity, the departure time of the commodity transportation and the path consumption time. In this way, the transportation and warehousing process of all the commodities on the incoming order is made intelligent and traceable;

[0022] (2) The present invention sets a task allocation unit. For an expedited entry order, the present invention first determines the timeliness of the entry of all commodities on the entry order based on the total number of all currently non-working transport robots. Based on the determination result, it is determined whether it is necessary to transfer the transport robots currently executing the entry tasks of the ordinary entry order. In the case where transfer is required, the expedited entry unit combines the number of transport robots allocated in each storage area and the number and required time of each transport robot that has not yet executed the entry tasks, and transfers a corresponding number of transport robots from the transport robots allocated to each storage area to complete the entry of commodities on the expedited entry order. In this way, on the one hand, the timeliness of the entry of commodities on the expedited entry order is guaranteed. On the other hand, the transfer of transport robots to other storage areas is more reasonable, avoiding the occurrence of excessive transfer that causes a significant delay in the entry work of some storage areas, and further ensuring the balance of the entry of commodities in the warehouse as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] Figure 1 is a system block diagram of the present invention;

[0025] Figure 2 It is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] like Figure 1 , 2 As shown, a power storage device based on automated warehouse inspection technology includes an order acquisition module, a material scanning module and a warehousing planning module;

[0028] The order acquisition module is used to obtain the warehouse entry form input by the manager of the target warehouse. The warehouse entry form contains the commodity entry date, serial number, supplier information and commodity information of several commodities;

[0029] Supplier information includes the supplier's name, contact information and address for subsequent verification and contact; product information includes the product's name, specifications, model, unit price and total price, and specifications include but are not limited to weight, volume and type;

[0030] In this embodiment, the warehouse entry order is divided into two types according to the urgency of the goods entering the warehouse, namely, the expedited type and the ordinary type. For the expedited type warehouse entry order, the goods in it need to be entered into the warehouse immediately, and for the ordinary type warehouse entry order, the goods in it are routinely entered into the warehouse. The input time of the ordinary type warehouse entry order is fixed and is regularly input into the order acquisition module by the management personnel; the input time of the expedited type warehouse entry order is not fixed;

[0031] After receiving the warehouse entry order, the order acquisition module obtains it and transmits it to the material scanning module;

[0032] The material scanning module is used to scan, compare and store the goods pre-stored in the target warehouse. The material scanning module stores the received warehouse entry order after receiving it.

[0033] For a general type of warehouse entry, the material scanning module verifies all commodities on the warehouse entry according to the warehouse entry. The verification method is as follows:

[0034] Scan the product code of the product, read the product information of the corresponding product, and compare it with the product information of the corresponding product in the warehouse entry order. If the comparison is consistent, the product verification is successful;

[0035] For the successfully verified goods, the material scanning module places the corresponding goods in the temporary storage area of ​​the target warehouse. The temporary storage area is a separate area designated by the management personnel of the target warehouse for temporarily storing the pre-warehoused goods;

[0036] When all the goods on the warehouse entry form are successfully verified, the material scanning module transmits the warehouse entry form to the warehouse entry planning module;

[0037] In one embodiment of the present invention, a product information code is attached to the packaging of each product on the warehouse entry form, and the product information code carries product information of the corresponding product;

[0038] If the goods with different storage verification are scanned and compared again, if they are still inconsistent, the manager of the target warehouse will deal with the goods;

[0039] The warehousing planning module is used to plan the warehousing of each commodity. The warehousing planning module includes a location planning unit, a task allocation unit, and an expedited warehousing unit.

[0040] After receiving the said warehouse entry form, the warehouse entry planning module transmits it to the location planning unit, which stores the storage information of all storage areas in the target warehouse;

[0041] In one embodiment of the present invention, the manager of the target warehouse demarcates several storage areas in the target warehouse according to the types of goods that can be stored in the target warehouse, and one storage area corresponds to one type of goods;

[0042] In one embodiment of the present invention, a plurality of storage shelves are provided in a storage area, and each storage shelf is provided with a plurality of storage numbers for accurately identifying the storage location of the goods;

[0043] The storage information of a storage area includes storage information of each storage number on all storage shelves in the corresponding storage area, and the storage information at least includes a status signal;

[0044] In this embodiment, the state signal is either 1 or 0. The state signal is 1, indicating that there are commodities stored in the corresponding storage number. Otherwise, it indicates that there are no commodities stored. When the state signal is 1, the storage information also includes commodity information of the corresponding stored commodities.

[0045] After receiving the transmitted entry form, the location planning unit generates entry location information of each commodity on the entry form, wherein the entry location information of each commodity includes the storage area, storage shelf and storage number of the commodity to be pre-stored;

[0046] The storage area, storage shelf and storage number of the goods pre-stored on the storage order are allocated by the location planning unit according to the storage information of all storage areas in the current storage area and the name, type, weight and volume of the goods;

[0047] The location planning unit transmits the storage location information of each commodity on the storage entry form to the task allocation unit, and the task allocation unit generates storage tasks for all commodities on the storage entry form based on the storage entry form according to the preset task allocation rules. In this embodiment, the target warehouse is equipped with a number of transport robots to perform storage tasks for commodities;

[0048] The preset task allocation rules are as follows:

[0049] S11: according to the storage location information of each commodity on the received storage order, all storage areas contained therein are obtained, and marked as A1, A2, ..., Aa, where a≥1;

[0050] At the same time, according to the storage location information of each commodity on the storage order, the quantity of commodities in the storage areas A1, A2, ..., Aa is obtained in sequence, and the corresponding marks are B1, B2, ..., Ba;

[0051] S12: Obtain the total number C1 of transport robots currently in a non-working state in the target warehouse, where the non-working state means that the transport robots have not received any warehousing tasks;

[0052] S13: Calculate and obtain the regional allocation quantity D1 and unit transportation quantity F1 of the storage area A1 based on the warehouse entry order. The calculation steps include S131-S132:

[0053] S131: Using formula Calculate and obtain the area allocation quantity D1 of the storage area A1 based on the warehouse entry form, where the area allocation quantity is artificially defined and is used to represent the number of transport robots allocated to the storage area A1 based on the number of commodities pre-stored in the storage area A1 on the warehouse entry form;

[0054] S132: Obtain the total quantity E1 of the commodities whose storage location information includes the storage area A1 on all the storage receipts, and calculate the unit transportation quantity F1 of the storage area A1 based on the storage receipts using the formula F1=ceil(E1 / D1). The unit transportation quantity is artificially defined to represent the transportation quantity of commodities allocated to each transportation robot in the storage area A1 based on the commodities on the storage receipts;

[0055] S14: According to S13, the regional allocation quantities D1, D2, ..., Da and the unit transportation quantities F1, F2, ..., Fa of the storage areas A1, A2, ..., Aa based on the warehouse entry order are calculated in sequence;

[0056] The task allocation unit selects D1, D2, ..., Da number of transport robots for the storage areas A1, A2, ..., Aa in sequence as transport robots for executing the entry order according to the storage areas A1, A2, ..., Aa based on the regional allocation quantities D1, D2, ..., Da of the entry order, and allocates corresponding quantities of goods to all selected entry robots for entry according to the unit transport quantities F1, F2, ..., Fa of the entry order and all goods on the entry order according to the storage areas A1, A2, ..., Aa;

[0057] It should be noted that the goods pre-stored in a storage area can only be transported into the warehouse by the storage robot assigned to the storage area;

[0058] Then, the task allocation unit generates a transportation trajectory path, a departure time, and a corresponding path consumption time for each transportation trajectory path according to the storage location information of all the goods on the storage order by using a path planning algorithm, and the path planning algorithm is one or more of the Dijkstra algorithm, the A* algorithm, and the Floyd-Warshall algorithm;

[0059] It should be noted here that the starting point of all the commodity transportation trajectory paths on the warehouse entry order is the temporary storage area of ​​the target warehouse, and the path consumption time refers to the time required for the transport robot to transport according to the corresponding transportation trajectory path;

[0060] Based on a commodity on the warehousing list, the task allocation unit generates a warehousing task for the commodity according to the warehousing location information, transportation trajectory path, departure time, corresponding path consumption time and the transportation robot selected for the commodity, and stores it;

[0061] The task allocation unit generates the warehousing tasks for all the commodities on the warehousing order and inputs them into the corresponding transport robots in sequence, and the corresponding transport robots execute the warehousing tasks for all the commodities received;

[0062] In one embodiment of the present invention, a transport robot performs a warehousing task corresponding to a commodity, which is specifically manifested as the corresponding transport robot departs at the departure time included in the warehousing task, transports the commodity according to the corresponding transport trajectory, and after transporting the commodity to a designated shelf, places the commodity at a location corresponding to the storage number according to the storage number included in the warehousing task, indicating that the warehousing task is completed;

[0063] In the second embodiment, for an expedited warehouse entry order, the material scanning unit completes the verification of all commodities on all warehouse entry orders, and places all commodities on the warehouse entry orders into a temporary storage area of ​​the target warehouse;

[0064] After the placement is completed, the material scanning unit transmits the storage order to the storage planning module, and the storage planning module transmits the storage order to the location planning unit after receiving the transmitted storage order; the location planning unit generates the storage location information of each commodity on the storage order;

[0065] The location planning unit transmits the storage location information of each commodity on the storage order to the expedited storage unit, and the expedited storage unit determines whether the storage of all commodities on the storage order needs to be dispatched by the transport robot according to the preset dispatch determination rules. The dispatch determination rules are as follows:

[0066] S21: Obtain the total number G1 of transport robots currently in a non-working state; obtain the total number H1 of all commodities in the warehouse entry order;

[0067] S22: Calculate the estimated warehousing time J1 of the warehousing order using the formula J1=(H1 / G1)×I1, where I1 is the preset standard transportation time of a single transport robot;

[0068] S23: Compare J1 and J, where J is the preset expedited standard determination time:

[0069] S231: If J1>J, it is determined that the total number of transport robots currently in a non-working state is insufficient to quickly complete the warehousing of all commodities on the warehousing order, and it is necessary to extract transport robots in a working state to assist in completing the warehousing of all commodities on the warehousing order;

[0070] At this time, using the formula Calculate and obtain the number J2 of transport robots pre-selected on the warehouse entry form;

[0071] S232: If J1≤J, the total number of transport robots currently in a non-working state is determined to be sufficient to quickly complete the warehousing of all commodities on the warehousing order;

[0072] When it is determined that a transport robot in working state needs to be deployed to assist in completing the warehousing of all the goods on the warehousing order, the expedited warehousing unit deploys the transport robots in working state according to the preset deployment rules. The deployment rules are as follows:

[0073] S31: extracting all unexecuted warehousing tasks stored in all transport robots currently executing warehousing tasks, and obtaining all storage areas contained in the extracted warehousing tasks, marking them as K1, K2, ..., Kk, where k≥1;

[0074] It should be noted here that if a storage area is only assigned L1 transport robots, then the storage area is ignored and not marked in S31, where L1 is the preset minimum number of robot transports;

[0075] S32: Calculate and obtain the withdrawal assessment quantities R1, R2, ..., Rk of the storage areas K1, K2, ..., Kk according to the preset withdrawal calculation rules. The withdrawal calculation rules are as follows:

[0076] S321: Obtain all the warehousing tasks including the storage area K1 from all the extracted warehousing tasks and mark them as M1, M2, ..., Mm, where m≥1;

[0077] S322: sequentially obtain the path consumption time corresponding to the transport trajectory paths included in the warehousing tasks M1, M2, ..., Mm, and use the summation formula to calculate the sum of the path consumption time of all the paths, and mark it as the remaining consumption time N1 of the storage area K1;

[0078] The total number of transport robots that perform warehousing tasks M1, M2, ..., Mm is obtained and calibrated as the robot occupancy Q1 of the storage area K1;

[0079] S323: Calculate the withdrawal assessment amount R1 of the storage area K1 using the formula R1=Q1 / (N1×α1), where α1 is a preset dimension adjustment factor, which is used to adjust the two characteristics of robot occupancy and remaining time to one calculation dimension for calculation;

[0080] S33: Calculate and obtain the withdrawal assessment quantities R1, R2, ..., Rk of the storage areas K1, K2, ..., Kk in sequence according to S32;

[0081] S34: reorder and mark the withdrawal evaluation quantities R1, R2, ..., Rk in order from large to small, and re-mark the withdrawal evaluation quantities R1, R2, ..., Rk reordered and marked in order from large to small as T1, T2, ..., Tk in sequence;

[0082] Re-label the storage areas corresponding to the withdrawn assessment quantities T1, T2, ..., Tk as U1, U2, ..., Uk;

[0083] S35: Compare T1 and P1:

[0084] If T1 > P1, then use the formula to calculate and obtain the optimal transfer quantity X1 of the storage area U1, where V1 is the preset first unit transfer loss quantity used to compensate for the loss degree of the transfer evaluation quantity caused by transferring the corresponding number of transport robots, W1 is the preset first unit benchmark quantity used to ensure that the time for the corresponding storage area to complete the warehousing task after the transfer is still within the specified time, and P1 is the preset first transfer evaluation comparison quantity;

[0085] If P2 ≤ T1 ≤ P1, then use the formula to calculate and obtain the optimal transfer quantity X1 of the storage area U1, where V2 is the preset second unit transfer loss quantity used to compensate for the loss degree of the transfer evaluation quantity caused by transferring the corresponding number of transport robots, W2 is the preset second unit benchmark quantity used to ensure that the time for the corresponding storage area to complete the warehousing task after the transfer is still within the specified time, and P2 is the preset second transfer evaluation comparison quantity;

[0086] If T1 < P2, it is determined that the storage area U1 does not meet the transfer conditions, and at this time, the optimal transfer quantity of the storage area U1 is 0;

[0087] S36: In the order of storage areas U1, U2,..., Uk, calculate and obtain the optimal transfer quantities of storage areas U2, U3,..., Uk in the same way as in S35. During this process, for each calculated optimal transfer quantity of a storage area, find the sum of this optimal transfer quantity and all the optimal transfer quantities of the storage areas that have been calculated, and compare the obtained sum with J2:

[0088] If it is greater than or equal to J2, first stop calculating the optimal transfer quantities of the remaining storage areas. Then, generate the pre-transfer data of the incoming order based on all the calculated optimal transfer quantities of the storage areas and their corresponding storage areas, and transmit the pre-transfer data of the incoming order to the task allocation unit;

[0089] If it is less than J2, continue to calculate the optimal transfer quantity of the next storage area in sequence until all the optimal transfer quantities of the storage areas are calculated. If the final sum is still less than J2 after all the optimal transfer data of the storage areas are calculated, at this time, generate the pre-transfer data of the incoming order based on all the calculated optimal transfer quantities of the storage areas and their corresponding storage areas, and transmit the pre-transfer data of the incoming order to the task allocation unit;

[0090] After receiving the transmitted pre-transfer data of the incoming order, the task allocation unit selects the corresponding number of transport robots from the corresponding storage areas according to all the storage areas and their optimal transfer quantities included therein;

[0091] After the allocation is completed, for each transport robot allocated from the storage area, the unexecuted warehousing tasks stored in these transport robots are evenly distributed to the transport robots that have not been allocated from the corresponding storage area. After the allocation is completed, the unexecuted warehousing tasks currently stored in the allocated transport robots are deleted, and the working status of the transport robots allocated from each storage area is changed to a non-working status.

[0092] Afterwards, the warehousing tasks for all the commodities on the warehousing order are generated according to the preset task allocation rules, and the warehousing tasks for all the commodities on the warehousing order are input into the corresponding transport robots in sequence, and the corresponding transport robots execute the warehousing tasks for all the commodities received. It should be noted that the task allocation rules here are the same as those for the warehousing orders of the common type;

[0093] When it is determined that there is no need to deploy a transport robot in working state to assist in completing the warehousing of the commodities on all the warehousing orders, the expedited warehousing unit transmits the warehousing order and the warehousing location information of all the commodities on the warehousing order to the location planning unit, and the location planning unit generates the warehousing tasks for all the commodities on the warehousing order according to the preset task allocation rules. It should be noted that the task allocation rules here are the same as the task allocation rules for ordinary warehousing orders;

[0094] In the description of the specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0095] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the invention or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

[0096] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An electric power storage device based on automated warehouse inspection technology, characterized in that: include: The warehouse entry planning module is used to plan the entry of all commodities on the warehouse entry form. The warehouse entry planning module includes a location planning unit, a task allocation unit, and an expedited warehouse entry unit. The warehouse entry form contains commodity information of several commodities. The warehouse entry form is divided into two types: expedited type and ordinary type. The location planning unit generates the storage location information of all the goods according to the commodity information of all the goods on the storage order, and the storage location information includes the storage area, storage shelf and storage number; For common types of incoming orders, the task allocation unit allocates a corresponding number of transport robots to several storage areas based on the incoming location information of all commodities on the incoming order and the total number of transport robots currently in a non-working state in the target warehouse, and allocates a corresponding number of commodity transportation quantities to each transport robot; At the same time, the location planning unit generates the entry tasks of all the goods on the entry list according to the entry location information of all the goods on the entry list in combination with the path planning algorithm. The entry tasks include the entry location information of the goods, the transportation trajectory path, the departure time, the corresponding path consumption time and the transportation robot selected for the goods. The task allocation unit generates the warehousing tasks for all commodities on the warehousing order and inputs them into the corresponding transport robots in sequence. The corresponding transport robots execute the warehousing tasks for all commodities according to the received tasks.

2. The power storage equipment based on the automated warehouse inspection technology according to claim 1 is characterized in that: For an expedited entry order, the expedited entry unit determines whether the total number of transport robots currently in a non-working state can quickly complete the entry of all the goods on the entry order based on the total number of transport robots currently in a non-working state and the total number of goods on the entry order; If it is determined that the total number of transport robots currently in a non-working state cannot quickly complete the warehousing of all the goods on the warehousing order, the expedited warehousing unit shall, according to the preset withdrawal rules, select a number of transport robots from all transport robots currently performing warehousing tasks according to the number of warehousing tasks that have not yet been performed by all transport robots currently performing warehousing tasks and the path consumption time corresponding to the transport planning trajectory route in each warehousing task; The task allocation unit generates the warehousing tasks for all the goods on the warehousing list by using a path planning algorithm based on the selected transport robots and all the transport robots that are currently in a non-working state and the warehousing location information of all the goods on the warehousing list.

3. The power storage equipment based on the automated warehouse inspection technology according to claim 2 is characterized in that: If it is determined that the total number of transport robots that are currently not working can quickly complete the warehousing of all the goods on the warehousing list, the task allocation unit will use the path planning algorithm to generate the warehousing tasks for all the goods on the warehousing list based on the warehousing location information of all the goods on the warehousing list and the total number of all transport robots that are currently not working.

4. The power storage equipment based on the automated warehouse inspection technology according to claim 1 is characterized in that: It also includes an order acquisition module to obtain the incoming order. The product information includes the name, specifications, model, unit price and total price of the product. The specifications include weight, volume and type.

5. The power storage equipment based on the automated warehouse inspection technology according to claim 1 is characterized in that: The target warehouse manager designates several storage areas in the target warehouse according to the types of goods that can be stored in the target warehouse. One storage area corresponds to one type of goods. There are several storage shelves in a storage area, and each storage shelf has several storage numbers.

6. The power storage equipment based on the automated warehouse inspection technology according to claim 1 is characterized in that: It also includes a material scanning module for scanning, comparing and warehousing the goods pre-stored in the target warehouse; After receiving the transmitted warehouse entry form, the material scanning module verifies the goods by scanning the product code of the goods in combination with the product information on the warehouse entry form, and after all the goods on the warehouse entry form are verified, all the goods on the warehouse entry form are stored in the temporary storage area of ​​the target warehouse.

7. The power storage equipment based on the automated warehouse inspection technology according to claim 2 is characterized in that: For an expedited entry order, the expedited entry unit determines whether the total number of transport robots currently in a non-working state can quickly complete the entry of all commodities on the entry order. The specific rules are as follows: S21: Obtain the total number G1 of transport robots currently in a non-working state; obtain the total number H1 of all commodities in the warehouse entry order; S22: Calculate the estimated warehousing time J1 of the warehousing order using the formula J1=(H1 / G1)×I1, where I1 is the preset standard transportation time of a single transport robot; S23: Compare J1 and J, where J is the preset expedited standard determination time: S231: If J1>J, it is determined that the total number of transport robots currently in a non-working state is insufficient to quickly complete the warehousing of all commodities on the warehousing order, and it is necessary to extract transport robots in a working state to assist in completing the warehousing of all commodities on the warehousing order; At this time, using the formula Calculate and obtain the number J2 of transport robots pre-selected on the warehouse entry form; S232: If J1≤J, then the total number of transport robots currently in a non-working state is determined to be sufficient to quickly complete the warehousing of all the goods on the warehousing order.

8. The power storage equipment based on the automated warehouse inspection technology according to claim 7 is characterized in that: The rules for the expedited warehousing unit to draw a number of transport robots from all the transport robots currently performing warehousing tasks are as follows: S31: extracting all unexecuted warehousing tasks stored in all transport robots currently executing warehousing tasks, and obtaining all storage areas contained in the extracted warehousing tasks, marking them as K1, K2, ..., Kk, where k≥1; S32: Calculate and obtain the withdrawal assessment quantities R1, R2, ..., Rk of the storage areas K1, K2, ..., Kk according to the preset withdrawal calculation rules. The withdrawal calculation rules are as follows: S321: Obtain all the warehousing tasks including the storage area K1 from all the extracted warehousing tasks and mark them as M1, M2, ..., Mm, where m≥1; S322: sequentially obtain the path consumption time corresponding to the transport trajectory paths included in the warehousing tasks M1, M2, ..., Mm, and use the summation formula to calculate the sum of the path consumption time of all the paths, and mark it as the remaining consumption time N1 of the storage area K1; The total number of transport robots that perform warehousing tasks M1, M2, ..., Mm is obtained and calibrated as the robot occupancy Q1 of the storage area K1; S323: Calculate and obtain the transfer evaluation quantity R1 of the storage area K1 using the formula R1 = Q1 / (N1 × α1), where α1 is a preset dimension adjustment factor used to adjust the two features of the robot occupancy and the remaining time consumption to a calculation dimension for operation; S33: Calculate and obtain the transfer evaluation quantities R1, R2,..., Rk of the storage areas K1, K2,..., Kk in sequence according to S32; S34: Re - sort and mark the transfer evaluation quantities R1, R2,..., Rk in descending order, and re - mark the transfer evaluation quantities R1, R2,..., Rk sorted in descending order as T1, T2,..., Tk in sequence; Re - mark the storage areas corresponding to the transfer evaluation quantities T1, T2,..., Tk as U1, U2,..., Uk; S35: Compare T1 and P1: If T1>P1, use the formula Calculate and obtain the optimal withdrawal quantity X1 of the storage area U1, where V1 is the preset first unit withdrawal loss quantity, W1 is the preset first unit benchmark quantity, and P1 is the preset first withdrawal evaluation comparison quantity; If P2≤T1≤P1, then use the formula Calculate and obtain the optimal withdrawal quantity X1 of the storage area U1, where V2 is the preset second unit withdrawal loss quantity, W2 is the preset second unit benchmark quantity, and P2 is the preset second withdrawal evaluation comparison quantity; If T1 < P2, it is determined that the storage area U1 does not meet the transfer condition, and at this time, the optimal transfer quantity of the storage area U1 is 0; S36: Calculate and obtain the optimal transfer quantities of the storage areas U2, U3,..., Uk in sequence in the same way as S35 according to the order of the storage areas U1, U2,..., Uk. During this process, for each calculated optimal transfer quantity of a storage area, find the sum of this optimal transfer quantity and all the optimal transfer quantities of the storage areas that have been calculated, and compare the obtained sum with J2: If it is greater than or equal to J2, first stop calculating the optimal transfer quantities of the remaining storage areas, and then generate the pre - transfer data of the incoming - stock order based on all the optimal transfer quantities of the storage areas that have been calculated and their corresponding storage areas; If it is less than J2, continue to calculate the optimal transfer quantity of the next storage area in sequence until all the optimal transfer quantities of all the storage areas are calculated. If the final sum is still less than J2 after all the optimal transfer data of all the storage areas are calculated, at this time, generate the pre - transfer data of the incoming - stock order based on all the optimal transfer quantities of the storage areas that have been calculated and their corresponding storage areas; After receiving the transmitted pre - transfer data of the incoming - stock order, the task allocation unit withdraws the transport robots corresponding to their optimal transfer quantities from the corresponding storage areas according to all the storage areas and their optimal transfer quantities included therein.

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