Carrying method, carrying device and warehousing system

Abstract

The invention relates to the technical field of warehouse logistics, and discloses a carrying method, a carrying device and a warehousing system.The method comprises the steps that the number of first to-be-put-in objects and / or the number of first to-be-put-out objects corresponding to at least one to-be-processed task is determined; according to at least one of the number of the first to-be-put-in objects and the number of the first to-be-put-out objects and the first number, a proportion threshold value corresponding to a cache region of the warehousing system is adjusted; wherein the first number is related to the number of cache bits in the cache region; determining the occupation proportion of cache bits in the cache region; and according to the occupancy proportion and a proportion threshold value, the first carrying equipment is controlled to carry the target warehouse-out object stored in the storage area in the warehousing system to the cache area, and / or carry the target warehouse-in object stored in the cache area to the storage area. According to the invention, adaptive adjustment of the proportion threshold value of the cache region can be realized, and the working efficiency of the warehousing system is improved.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a transport method, a transport device and a warehousing system. Background Art

[0002] In the warehousing system, the cargo box robot can move the containers to be shipped stored on the upper shelf to the cache position on the bottom shelf, and then the handling robot can move the containers to be shipped stored on the bottom cache position to the workstation to complete the shipping process. The handling robot can also move the containers to be shipped to the bottom cache position of the shelf, and then the cargo box robot can move the containers to be shipped on the bottom cache position to the upper storage position to complete the shipping process.

[0003] Usually, the container robot performs the warehousing or outbound tasks based on the upper limit of the buffer level. In the related art, the upper limit of the buffer level is manually configured by the operator, but the manual configuration of the upper limit of the water level has the problems of poor timeliness and accuracy, thus affecting the working efficiency of the storage system. Summary of the invention

[0004] In order to solve the above problems, the embodiments of the present application provide a transport method, a transport device and a storage system, which can adaptively adjust the ratio threshold (i.e., the upper limit of the water level) of the buffer area, thereby improving the working efficiency of the storage system. Specifically, the embodiments of the present application disclose the following technical solutions:

[0005] A first aspect of an embodiment of the present application provides a transport method, which is applied to a control device, and the method includes: determining the number of first objects to be entered and / or the number of first objects to be sent out corresponding to at least one task to be processed; adjusting a proportion threshold corresponding to a cache area of ​​a warehousing system according to at least one of the number of first objects to be entered and the number of first objects to be sent out, as well as the first quantity; wherein the first quantity is related to the number of cache bits in the cache area; determining the occupancy ratio of the cache bits in the cache area; and controlling a first transport device to transport a target outbound object stored in a storage area of ​​the warehousing system to the cache area, and / or, transporting a target inbound object stored in the cache area to the storage area, according to the occupancy ratio and the proportion threshold.

[0006] In some embodiments, according to at least one of the number of first objects to be entered and the number of first objects to be shipped out, as well as the first number, adjusting the proportion threshold corresponding to the cache area of ​​the warehousing system includes: when a preset condition is satisfied between at least one of the number of first objects to be entered and the number of first objects to be shipped out, as well as the first number, adjusting the proportion threshold corresponding to the cache area to the first proportion threshold; wherein, the preset condition is satisfied between at least one of the number of first objects to be entered and the number of first objects to be shipped out, as well as the first number, including: the number of first objects to be entered is greater than or equal to the first number, and the first duration is greater than the first duration, wherein the first duration is the duration during which the number of first objects to be entered is greater than or equal to the first number; or, the number of first objects to be shipped out is less than the first number, and the second duration is greater than the second duration, wherein the second duration is the duration during which the number of first objects to be shipped out is less than the first number; or, the number of first objects to be entered is greater than or equal to the first number, the first duration is greater than the first duration, the number of first objects to be shipped out is less than the first number, and the second duration is greater than the second duration.

[0007] In some embodiments, based on the occupancy ratio and the ratio threshold, the first handling device is controlled to transport the target outbound object stored in the storage area of ​​the storage system to the cache area, including: when the occupancy ratio is less than the first ratio threshold and the storage area includes the target outbound object, the first handling device is controlled to transport the target outbound object from the first storage position to the target cache position in the cache area.

[0008] In some embodiments, the target incoming object stored in the cache area is moved to the storage area, including: when the occupancy ratio is greater than or equal to a first ratio threshold and the cache area includes the target incoming object, controlling a first transport device to move the target incoming object from a first cache position to a target storage position in the storage area.

[0009] In some embodiments, based on the occupancy ratio and the ratio threshold, the first handling device is controlled to move the target outbound object stored in the storage area of ​​the storage system to the cache area, including: when the occupancy ratio is greater than or equal to the first ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outbound object, the first handling device is controlled to move the target incoming object from the first cache position to the target storage position in the storage area, and move the target outbound object from the first storage position to the target cache position in the cache area.

[0010] In some embodiments, according to at least one of the number of the first objects to be in and the number of the first objects to be out, and the first quantity, adjusting the ratio threshold corresponding to the cache area of ​​the warehousing system includes: when at least one of the number of the first objects to be in and the number of the first objects to be out, and the first quantity do not satisfy the preset condition, adjusting the ratio threshold corresponding to the cache area to the second ratio threshold; wherein the second ratio threshold is greater than the first ratio threshold. Wherein, at least one of the number of the first objects to be in and the number of the first objects to be out, and the first quantity do not satisfy the preset condition, including at least one of the following situations: the number of the first objects to be in is less than the first quantity; the first duration is less than or equal to the first duration, wherein the first duration is the duration during which the number of the first objects to be in is greater than or equal to the first quantity; the number of the first objects to be out is greater than or equal to the first quantity; the second duration is less than or equal to the second duration, wherein the second duration is the duration during which the number of the first objects to be out is less than the first quantity.

[0011] In some embodiments, based on the occupancy ratio and the ratio threshold, the first handling device is controlled to transport the target outbound object stored in the storage area of ​​the storage system to the cache area, including: when the occupancy ratio is less than a second ratio threshold and the storage area includes the target outbound object, the first handling device is controlled to transport the target outbound object from the first storage position to the target cache position in the cache area.

[0012] In some embodiments, the method further includes: determining the number of second objects to be shipped out; wherein the second objects to be shipped out include objects to be shipped out on the cache position of the cache area. Moving the target incoming objects stored in the cache area to the storage area includes: when the occupancy ratio is less than the second ratio threshold and the cache area includes the target incoming objects, if the number of the second objects to be shipped out is greater than or equal to the second number, then controlling the first handling device to move the target incoming objects from the first cache position to the target storage position of the storage area; wherein the second number is related to the number of second handling devices in the warehousing system, and the second handling device is used to move the objects to be shipped out of the cache area or move the objects to be shipped in to the cache position.

[0013] In some embodiments, the target incoming object stored in the cache area is moved to the storage area, including: when the occupancy ratio is greater than or equal to a second ratio threshold and the cache area includes the target incoming object, controlling the first transport device to move the target incoming object from the first cache position to the target storage position in the storage area.

[0014] In some embodiments, the target incoming object stored in the cache area is moved to the storage area, including: when the occupancy ratio is greater than or equal to a second ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, controlling the first transport device to move the target incoming object from the first cache position to the target storage position of the storage area, and moving the target outgoing object from the first storage position to the target cache position of the cache area.

[0015] In some embodiments, the target outbound object and the target inbound object are both located in the first lane, and the first lane corresponds to the first storage area and the first cache area; the method also includes: when the first cache area includes at least one second object to be inbound and the first storage area includes at least one third object to be outbound, obtaining the first position information of the at least one second object to be inbound in the first cache area and the second position information of the at least one third object to be outbound in the first storage area; based on the first position information and the second position information, determining the target inbound object in the at least one second object to be inbound, and determining the target outbound object in the at least one third object to be outbound.

[0016] In some embodiments, based on the first position information and the second position information, a target inbound object is determined in at least one second object to be inbound, and a target outbound object is determined in at least one third object to be outbound, including: determining the target outbound object in at least one third object to be outbound; determining whether there is a candidate inbound object in the same column as the target outbound object in at least one second object to be inbound based on the first position information of at least one second object to be inbound and the second position information of the target outbound object; if there is a candidate inbound object in the same column as the target outbound object in at least one second object to be inbound, then the candidate inbound object that is closest to the target outbound object is determined as the target inbound object.

[0017] In some embodiments, the method further includes: if there is at least one free storage position in the first storage area, determining a target storage position in the at least one free storage position; determining whether there is a blocking object outside the target outbound object. Controlling the first handling device to carry the target inbound object from the first cache position to the target storage position of the storage area, and carrying the target outbound object from the first storage position to the target cache position of the cache area, including: if there is no blocking object outside the target outbound object, controlling the first handling device to carry the target inbound object from the first cache position to the target storage position; controlling the first handling device to carry the target outbound object from the first storage position to the first cache position; wherein the target cache position includes the first cache position.

[0018] In some embodiments, controlling the first handling device to carry the target incoming object from the first cache position to the target storage position of the storage area, and carrying the target outgoing object from the first storage position to the target cache position of the cache area also includes: if there is a blocking object outside the target outgoing object, controlling the first handling device to carry the target incoming object from the first cache position to the target storage position; controlling the first handling device to carry the blocking object to the first temporary storage position of at least one free temporary storage position of the first handling device; controlling the first handling device to carry the target outgoing object from the first storage position to the first cache position.

[0019] In some embodiments, the method further includes: if there is no free storage position in the first storage area, determining a second temporary storage position in at least one free temporary storage position of the first handling device. Controlling the first handling device to carry the target incoming object from the first cache position to the target storage position of the storage area, and carrying the target outgoing object from the first storage position to the target cache position of the cache area, includes: controlling the first handling device to carry the target incoming object from the first cache position to the second temporary storage position, and carrying the target outgoing object from the first storage position to the first cache position; controlling the first handling device to carry the target incoming object from the second temporary storage position to the first storage position; wherein the target storage position includes the first storage position.

[0020] In some embodiments, the method further includes: when the target incoming object is located in the second temporary storage location, if the target incoming object is hit by any outbound task, controlling the first handling device to transport the target incoming object from the second temporary storage location to any free cache location in the first cache area.

[0021] In some embodiments, controlling the first handling device to carry the target incoming object from the first cache position to the target storage position of the storage area, and carrying the target outgoing object from the first storage position to the target cache position of the cache area includes: if there is no incoming object in the same column as the target outgoing object in at least one second incoming object, controlling the first handling device to carry the target incoming object from the first cache position to a third temporary storage position in at least one free temporary storage position of the first handling device, and carrying the target outgoing object to the target cache position; wherein the target cache position includes the first cache position; determining the target storage position in the free storage positions of the first storage area based on the position information of the first handling device; and controlling the first handling device to carry the target incoming object from the third temporary storage position to the target storage position.

[0022] In some embodiments, the method further includes: if there is no incoming object in the at least one second incoming object that is located in the same column as the target outgoing object, then, in at least one free cache position in the first cache area, a free cache position whose distance to the target outgoing object is less than a first preset threshold is determined as the target cache position; based on the position information of the target cache position, a second incoming object in the at least one second incoming object whose distance to the target cache position is less than a second preset threshold is determined as the target incoming object.

[0023] In some embodiments, the method further includes: when there is no free storage position in the first storage area and there is no free temporary storage position in the first handling device, determining a second lane in the storage system; wherein the second lane corresponds to the second storage area and the second cache area; and determining a target storage position in at least one free storage position in the second storage area. Controlling the first handling device to carry the target incoming object from the first cache position to the target storage position in the storage area, and carrying the target outgoing object from the first storage position to the target cache position in the cache area, includes: controlling the first handling device to carry the target incoming object from the first cache position of the first cache area corresponding to the first lane to the target storage position in the second storage area; controlling the first handling device to carry the target outgoing object to the first cache position; wherein the target cache position includes the first cache position.

[0024] In some embodiments, the method further includes: determining a second cache position in at least one free cache position in the second cache area. Controlling the first handling device to carry the target incoming object from the first cache position to the target storage position in the storage area, and carrying the target outgoing object from the first storage position to the target cache position in the cache area, includes: controlling the third handling device in the storage system to carry the target incoming object from the first cache position of the first cache area corresponding to the first lane to the second cache position of the second cache area corresponding to the second lane; controlling the fourth handling device corresponding to the second lane to carry the target incoming object from the second cache position to the target storage position in the second storage area; and controlling the first handling device to carry the target outgoing object to the first cache position.

[0025] In some embodiments, the first objects to be stored in the warehouse include the objects to be stored in the warehouse after being picked up by the workstation in the warehousing system, the objects to be stored in the warehouse transported by the second transport equipment, and the objects to be stored in the cache position in the cache area; the first objects to be shipped out of the warehouse include the objects to be shipped out of the warehouse at the storage position in the storage area.

[0026] The second aspect of the embodiment of the present application provides a handling device, including a determination module, an adjustment module and a control module. The determination module is configured to: determine the number of first objects to be in and / or the number of first objects to be out of the warehouse corresponding to at least one task to be processed; determine the occupancy ratio of cache locations in the cache area of ​​the warehousing system. The adjustment module is configured to: adjust the ratio threshold corresponding to the cache area according to at least one of the number of first objects to be in and the number of first objects to be out of the warehouse, and the first quantity; wherein the first quantity is related to the number of cache locations in the cache area. The control module is configured to: control the first handling device to transport the target out-of-warehouse object stored in the storage area of ​​the warehousing system to the cache area, and / or, transport the target in-warehouse object stored in the cache area to the storage area, according to the occupancy ratio and the ratio threshold.

[0027] The third aspect of the embodiment of the present application provides a warehousing system, including a control device and a first handling device. The control device is configured to: determine the number of first objects to be in and / or the number of first objects to be out of the warehouse corresponding to at least one task to be processed; adjust the proportion threshold corresponding to the cache area of ​​the warehousing system according to at least one of the number of first objects to be in and the number of first objects to be out of the warehouse, and the first quantity; wherein the first quantity is related to the number of cache bits in the cache area; determine the occupancy ratio of the cache bits in the cache area; and generate a handling instruction according to the occupancy ratio and the proportion threshold. The first handling device is configured to: according to the handling instruction, transport the target out-of-warehouse object stored in the storage area of ​​the warehousing system to the cache area, and / or transport the target in-warehouse object stored in the cache area to the storage area.

[0028] A fourth aspect of an embodiment of the present application provides an electronic device, comprising: a processor and a memory, the memory being used to store computer executable instructions; the processor being used to read the instructions from the memory and execute the instructions to implement the transport method described in the first aspect above.

[0029] A fifth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores computer program instructions. When a computer reads the instructions, the transport method described in the first aspect is executed.

[0030] A sixth aspect of an embodiment of the present application provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the transport method described in the first aspect above.

[0031] A seventh aspect of the embodiments of the present application provides a computer program, which, when executed by a processor, can implement the transport method described in the first aspect.

[0032] The handling method, handling device and storage system provided in the embodiments of the present application dynamically adjust the proportional threshold (i.e., the upper limit of the water level) corresponding to the cache area through the relationship between the number of first objects to be stored in and / or the number of first objects to be shipped out corresponding to at least one pending task in the storage system, and the number of cache locations (i.e., the first number) in the cache area. After the proportional threshold of the cache is adjusted, the first handling device is controlled to perform the corresponding handling task, such as a shipping task, a storage task or a compound operation task, based on the relationship between the occupancy ratio of the cache locations and the proportional threshold. The embodiments of the present application realize the adaptive adjustment of the proportional threshold of the cache area in the storage system, solves the problem of poor timeliness and accuracy caused by manually configuring the proportional threshold in the related art, and improves the working efficiency of the storage system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A schematic diagram of a storage system provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of a scene of a transport process provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of a carrier and a first handling device provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of another transport method provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of another transport method provided in an embodiment of the present application;

[0039] Fig. 6A A schematic diagram of a scenario of a warehouse outbound process provided in an embodiment of the present application;

[0040] Figure 6B A schematic diagram of a scenario of a warehousing process provided in an embodiment of the present application;

[0041] Figure 6C A schematic diagram of a scenario of a composite operation process provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of another transport method provided in an embodiment of the present application;

[0043] Figure 8 A schematic diagram of another transport method provided in an embodiment of the present application;

[0044] Fig. 9 A schematic diagram of a scene of a transport process provided in an embodiment of the present application;

[0045] Fig. 10A A schematic diagram of another transport process scenario provided in an embodiment of the present application;

[0046] Fig. 10B A schematic diagram of another scenario of a transport process provided in an embodiment of the present application;

[0047] Fig. 10C A schematic diagram of another scenario of a transport process provided in an embodiment of the present application;

[0048] Fig.11 A schematic diagram of a transport device provided in an embodiment of the present application;

[0049] Fig.12 A schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0051] In the warehousing system, the cargo box robot can move the containers to be shipped stored on the upper shelf to the cache position on the bottom shelf, and then the handling robot can move the containers to be shipped stored in the cache position on the bottom shelf to the workstation to complete the shipping process. The handling robot can also move the containers to be shipped to the cache position on the bottom shelf, and the cargo box robot can move the containers to be shipped stored in the cache position on the bottom shelf to the upper storage position to complete the shipping process.

[0052] Usually, the execution of the warehousing or outbound tasks by the cargo box robot is determined based on the upper limit of the water level in the buffer area. In the related art, the upper limit of the water level in the buffer area is manually configured by the operator. For example, the operator needs to adjust the upper limit of the water level in the buffer area according to the dynamic changes in the task volume of the outbound task and the warehousing task to ensure the working efficiency of the cargo box robot and the handling robot. However, there may be deviations or configuration errors in the manual configuration of the upper limit of the water level. At the same time, the manual configuration also has the problem of poor timeliness, which affects the working efficiency of the warehousing system.

[0053] The embodiments of the present application provide a transport method, a transport device and a warehousing system, which can adaptively adjust the upper limit of the water level of the cache area based on the relationship between the number of objects to be stored and / or objects to be stored in the warehousing system, and the number of cache bits in the cache area, so as to improve the timeliness and accuracy of the adjustment of the upper limit of the water level and improve the working efficiency of the warehousing system.

[0054] Figure 1 A schematic diagram of a storage system provided in an embodiment of the present application. Figure 1 The warehousing system provided in the embodiment of the present application is described.

[0055] like Figure 1 As shown, the warehousing system 100 includes an inventory area 110 , at least one workstation 120 , a plurality of first handling devices 130 , a plurality of second handling devices 140 , and a control device 150 .

[0056] Exemplarily, the inventory area 110 includes a plurality of carriers 111, and the plurality of carriers 111 may be arranged in a preset arrangement. For example, the plurality of carriers 111 may be arranged in a single column and multiple rows in the inventory area 110, or may be arranged in a multi-column and multi-row manner, which is not limited in the present embodiment of the application. Figure 1 As shown, a total of 6 rows of carriers are arranged in the inventory area 110, and each row of carriers is arranged in a single column and multiple rows (such as 8 rows).

[0057] In some examples, the carrier 111 may be a shelf, a pallet, a turnover vehicle, a cage vehicle, etc. The carrier 111 is used to carry objects such as goods or containers. The present application embodiment takes the object placed on the carrier 111 as a container as an example for illustrative description.

[0058] In some examples, such as Figure 1 As shown, a lane (also referred to as a driving channel) is provided between two adjacent rows of carriers. The first handling device 130 and the second handling device 140 can move in the lane to perform the handling task. For example, each lane can be a one-way driving channel or a two-way driving channel, which is not limited in the embodiment of the present application.

[0059] Exemplarily, the first handling device 130 may be a cargo box robot, and the first handling device 130 may move in the inventory area 110. For example, the first handling device 130 may move in the lanes of the inventory area 110 to perform a pick-and-place operation on a container placed on a carrier 111 corresponding to the lane.

[0060] like Figure 1As shown, in the inventory area 110, the lane B between the first row of carriers and the second row of carriers includes a first handling device 130, which can move in the lane B and perform pick-and-place operations on containers placed on any of the first row of carriers or the second row of carriers.

[0061] Exemplarily, the second handling device 140 may be a handling robot, and the second handling device 140 may move within the inventory area 110 or between the inventory area 110 and the workstation 120. For example, the second handling device 140 may move in the lanes of the inventory area 110 or in the driving channel under the carrier 111 to perform a pick-and-place operation on a container placed on the cache storage location of the carrier 111.

[0062] For example, the second handling device 140 can take out a container from the buffer storage location of the carrier 111 and carry the container to the workstation 120 so that the workstation 120 can perform a picking operation on the container; or the second handling device 140 can also carry the container picked by the workstation 120 back to the buffer storage location of the carrier 111. Figure 1 As shown, in the inventory area 110 , the lane C between the second row of carriers and the third row of carriers includes two second transport devices 140 , and the two second transport devices 140 have different running directions in the lane C.

[0063] Exemplarily, the control device 150 may be coupled to the workstation 120 , the first transport device 130 , and the second transport device 140 , respectively, to control the operation of the workstation 120 , the first transport device 130 , and the second transport device 140 .

[0064] In some examples, the control device 150 may be a server or a terminal device, or a device deployed with a warehouse management system (WMS) and a robot management system (RMS). The terminal device may include at least one of a personal computer, a laptop, a smart phone, a tablet computer, and a portable wearable device; the server may include an independent server or a server cluster composed of multiple servers, which is not limited in the embodiments of the present application.

[0065] In some examples, the control device 150 is connected to the workstation 120, the first handling device 130, and the second handling device 140 for data communication. For example, the control device can be connected to the workstation 120, the first handling device 130, and the second handling device 140 through a local area network (LAN), a wireless local area network (WLAN), or other networks.

[0066] Figure 2 A schematic diagram of a carrier and a first handling device provided in an embodiment of the present application.

[0067] like Figure 2 As shown, each carrier 111 in the inventory area 110 is provided with a buffer area 11 and a storage area 12. The buffer area 11 is located at the lower layer of the carrier 111, and the storage area 12 is located at the upper layer of the carrier 111, that is, the storage area 12 is located above the buffer area 11. It can be understood that the buffer area 11 includes at least one layer of buffer cargo space, and the buffer area 11 is provided on the side of the carrier 111 close to the ground. The storage area 12 is provided on the side of the buffer area 11 away from the ground, and the storage area 12 includes at least one layer of storage cargo space.

[0068] For example, the carrier 111 may include multiple layers of beams, and multiple cargo positions may be arranged on each layer of beams. According to the number of layers of beams, each carrier 111 is divided into two parts in the vertical direction; wherein the upper part is called the storage area 12, and the lower part is called the buffer area 11. The number of layers (beams) occupied by the buffer area 11 may be less than the number of layers (beams) occupied by the storage area 12, and the embodiment of the present application is not limited thereto.

[0069] In some examples, the number of layers of beams included in the storage area 12 is related to the raisable height of the second handling device 140. For example, the total height of the number of layers of beams included in the storage area 12 may be less than or equal to the maximum height to which the second handling device 140 can rise.

[0070] Exemplarily, at least one layer of beam area of ​​the carrier 111 close to the ground may be referred to as the buffer area 11. For example, the buffer area 11 may be a layer of beam area of ​​the carrier 111 close to the ground, or may be at least two layers of beam area of ​​the carrier 111 close to the ground. In other words, the buffer area 11 may include at least one layer of cache cargo space, and the embodiment of the present application does not limit the number of layers of cache cargo space in the buffer area 11. Figure 2 The buffer area 11 is taken as an example to illustrate that it is a beam area of ​​a layer of the carrier 111 close to the ground (that is, the buffer area 11 includes a layer of buffer cargo space).

[0071] Exemplarily, the multi-layer beam area above the buffer area 11 of the carrier 111 may be referred to as a storage area 12. The storage area 12 includes multi-layer storage locations, which are located on the upper layer of at least one layer of buffer locations.

[0072] like Figure 2 As shown, the buffer area 11 and the storage area 12 of the carrier 111 can be provided with multiple cargo spaces, and the cargo spaces are used to place containers such as material boxes, pallets or packaging boxes, and the containers are used to store goods; or the cargo spaces can also directly place the goods themselves. The embodiments of the present application are not limited to this, and the following embodiments are illustrative by taking the placement of containers on cargo spaces as an example.

[0073] Exemplarily, the cargo location may include two types: a cache location and a storage location. The cargo location in the cache area 11 is referred to as a cache location 101, and the cargo location in the storage area 12 is referred to as a storage location 102. Figure 2 As shown, the cache area 11 of the carrier 111 includes 6 cache bits, and the storage area 12 includes 36 storage bits.

[0074] In some examples, the cargo positions in the buffer area 11 of the carrier 111 can be set in a single-depth manner, and the cargo positions in the storage area 12 can be set in a single-depth manner or in a multi-depth manner. The present application embodiment is not limited to this. The single-depth is used to indicate that each layer of the beam includes a single row of cargo positions, and the multi-depth is used to indicate that each layer of the beam includes at least two rows of cargo positions. Figure 2 As shown, the cargo spaces of the storage area 12 of the carrier 111 are arranged in a double-depth manner, that is, each storage area includes two rows of cargo spaces. For example, the cargo spaces located on the outside can be called external storage spaces, and the cargo spaces located on the inside can be called internal storage spaces.

[0075] In some examples, containers may or may not be placed on the cache bit 101 and the storage bit 102. The cache bit with the container placed may be referred to as a non-free cache bit, and the cache bit without the container placed may be referred to as a free cache bit; similarly, the storage bit with the container placed may be referred to as a non-free storage bit, and the storage bit without the container placed may be referred to as a free storage bit.

[0076] For example, Figure 2 As shown, the first handling equipment 130 includes a pick-and-place device 13, which can move up and down in the vertical direction, and place the container on the cargo position (storage position or cache position) of the carrier 111 through the telescopic fork, suction cup and other structures therein, or take out the container placed on the cargo position of the carrier 111.

[0077] In some examples, the first handling device 130 further includes a plurality of temporary storage locations 14, which can be used to place containers or goods. The distance and number of layers between the temporary storage locations can be set according to the distance and number of layers between each layer of beams in the carrier 111, which is not limited in the present embodiment.

[0078] Exemplarily, the first handling equipment 130 can reach the position of the carrier 111 by moving in the horizontal direction, and then move the picking and placing device 13 in the vertical direction to transport the objects to be stored in the buffer area 11 to the storage area 12, or transport the objects to be stored in the storage area 12 to the buffer area 11.

[0079] In some examples, the second transport device 140 can transport the objects to be stored in to the buffer area 11 of the carrier 111 , and can also move the objects to be stored out of the buffer area 11 of the carrier 111 .

[0080] Exemplarily, the cooperation between the first transport device 130 and the second transport device 140 may execute a warehouse outbound task or a warehouse outbound task.

[0081] like Figure 2 As shown, after the second handling device 140 carries the object to be stored in to the free cache position 101 of the buffer area 11 of the carrier 111, the first handling device 130 can take out the object to be stored in the cache position 101 through the pick-and-place device 13, and carry the object to be stored in to the free storage position 102 of the storage area 12 by moving in the horizontal direction and / or the pick-and-place device 13 in the vertical direction, so as to realize the storage operation of the object to be stored in. Alternatively, the first handling device 130 can take out the object to be stored out of the storage area 12 by moving in the vertical direction of the pick-and-place device 13, and carry the object to be stored out of the storage area 12 to the free cache position 101 of the buffer area 11 by moving in the horizontal direction and / or the pick-and-place device 13 vertically, and finally the second handling device 140 carries the object to be stored out of the storage area 120 placed in the cache position 101 to realize the storage operation of the object to be stored out of the storage area.

[0082] The transport method provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0083] Figure 3 This is a schematic diagram of a transport method provided in an embodiment of the present application. It should be noted that: Figure 3 The transport method shown can be implemented by the control device 150 in the storage system 100 of the above embodiment. Figure 3 As shown, the method includes steps 310 to 340 as shown below.

[0084] Step 310: Determine the number of first objects to be inbound and / or the number of first objects to be outbound corresponding to at least one task to be processed.

[0085] In some examples, the control device may obtain at least one pending task, and determine a first object to be inbound and a first object to be outbound corresponding to the at least one pending task. The at least one pending task may be a pending task within a preset inventory area range received by the control device at a certain moment (such as the current moment), or may be a pending task within a preset inventory area range received by the control device within a preset time range. The preset inventory area range may be at least one warehouse or at least one storage storage area of ​​a warehouse.

[0086] For example, the pending tasks may be tasks generated according to orders or work orders issued by customers. Each pending task may correspond to at least one object to be transported, and the object to be transported may be goods or containers. The container may be an original box for placing goods, or other containers for storing goods. The following embodiments may be exemplified by taking the object to be transported as a container as an example.

[0087] In some examples, the objects to be transported may include objects to be stored in and / or objects to be shipped out, wherein the objects to be stored in are used to indicate objects to be transported that need to be transferred to the carrier, and the objects to be shipped out are used to indicate objects to be transported that need to be moved away from the carrier.

[0088] For example, the objects to be stored may include objects to be transported placed in the buffer area and objects to be transported to the buffer area. The objects to be transported to the buffer area include objects to be transported at the workstation and objects to be transported to the inventory area by the second transport device. Objects to be shipped out include objects to be shipped out placed in the storage area and objects to be shipped out placed in the buffer area.

[0089] In some embodiments, the first objects to be stored in the warehouse include the objects to be stored in the warehouse after being picked up by the workstation, the objects to be stored in the warehouse transported by the second transport equipment, and the objects to be stored in the cache position in the cache area; the first objects to be shipped out of the warehouse include the objects to be shipped out of the warehouse at the storage position in the storage area.

[0090] In some examples, the cache area includes at least one cache position, which is located at the lower level of the vehicle, and the cache position is used to place objects to be stored or to be removed from the warehouse. The storage area includes at least one storage position, which is located at the upper level of the vehicle. The object placed on the storage position may be an object to be removed from the warehouse, or an object that does not need to be removed from the warehouse at present. It should be noted that the cache area and the storage area have been described in the above embodiments, and to avoid repetition, they will not be repeated here.

[0091] It should be noted that at least one warehouse can be divided into at least one preset inventory area according to actual needs. There can be multiple standards for dividing inventory areas, and one inventory area can include at least one storage area and a cache area. For example, at least one warehouse is used as a preset inventory area according to the warehouse as a unit, and each preset inventory area includes at least one storage area and a cache area; or, a warehouse is divided into multiple preset inventory areas according to the warehouse lanes as a unit, and each preset inventory area includes at least one storage area and a cache area; or, the warehouse is divided into multiple preset inventory areas according to the type of stored items, and each preset inventory area includes at least one storage area and a cache area; or, the warehouse is divided into multiple preset inventory areas according to the container type, and each preset inventory area includes at least one storage area and a cache area.

[0092] It should be explained that the present application does not specifically limit the division form of the preset inventory area. The cache area and storage area in the embodiment of the present application are not necessarily the cache area and storage area of ​​a single vehicle. The cache area in the embodiment of the present application may be the cache area corresponding to the preset inventory area, and the storage area may be the storage area corresponding to the preset inventory area. For example, the cache area and storage area may be the cache area and storage area corresponding to the inventory area, or the cache area and storage area corresponding to the lane, or the cache area and storage area corresponding to the partition; wherein the inventory area may include multiple partitions, and each partition includes multiple lanes. The following is an explanation using the cache area as an example.

[0093] In some examples, the buffer area may be the sum of the buffer areas of each vehicle in a preset inventory area, and the preset inventory area may be an inventory area of ​​at least one warehouse or at least a portion of an inventory area in a warehouse. Figure 1 As shown, the buffer area may be the sum of the buffer areas of each vehicle in the inventory area 110. For another example, the buffer area may be the sum of the buffer areas of each vehicle in the first row of vehicles corresponding to lane B, and / or the sum of the buffer areas of each vehicle in the second row of vehicles. For another example, the buffer area may be the sum of the buffer areas of all vehicles in the partition. Figure 1 As shown, the lanes A and B in the inventory area 110 may be divided into partition A, and the buffer area may be the sum of the buffer areas of each vehicle in partition A (ie, the first row of vehicles and the second row of vehicles).

[0094] For example, the objects to be entered in the cache positions in the cache area may include the sum of the objects to be entered placed on the cache positions of each carrier in the preset inventory area, and the objects to be shipped out in the storage positions in the storage area may include the sum of the objects to be shipped out placed on the storage positions of each carrier in the inventory area.

[0095] In some examples, after determining the objects to be entered and the objects to be exited corresponding to each pending task, the number of first objects to be entered and / or the number of first objects to be exited corresponding to at least one pending task is further determined.

[0096] Step 320: adjusting a ratio threshold corresponding to a buffer area of ​​the storage system according to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, as well as the first number.

[0097] For example, the first number is related to the number of cache locations in the cache area, and the value of the first number can be adjusted according to actual needs. The number of cache locations is the total number of cache locations corresponding to each carrier in the preset inventory area. Figure 1 As shown, the number of cache locations may be the total number of cache locations corresponding to each carrier in the inventory area 11 .

[0098] For example, the number of cache bits may be the number of available cache bits in the cache area, where the available cache bits are all cache bits except locked cache bits and abnormal cache bits.

[0099] In some examples, the first number may be less than the number of cache bits. For example, the first number may be the number of cache bits times the first preset coefficient. The first preset coefficient may be set as required, and the first preset coefficient may be set to a smaller value less than 1. For example, the first preset coefficient may be set to 0.1 or 0.2, etc., which is not limited in the embodiments of the present application.

[0100] Exemplarily, the ratio threshold corresponding to the cache area is used to indicate the upper limit of the occupancy ratio of the cache bits in the cache area (also referred to as the water level upper limit). When the occupancy ratio of the cache bits is greater than the ratio threshold, it indicates that the occupancy ratio of the current cache bits has reached the upper limit, and the cache bits of the cache area need to be released to free up the corresponding free cache bits.

[0101] Figure 4 A schematic diagram of another method of transport provided in an embodiment of the present application. Figure 4 The adjustment process of the ratio threshold corresponding to the buffer area is described. Figure 4 As shown, step 320 includes step 321 and step 322 as shown below.

[0102] Step 321, when at least one of the first quantity of objects to be stored in and the first quantity to be stored out, and the first quantity satisfy a preset condition, the ratio threshold corresponding to the cache area is adjusted to the first ratio threshold.

[0103] In some examples, at least one of the quantity of the first objects to be entered into the warehouse and the first quantity to be exited from the warehouse, and the first quantity satisfying the preset condition may include: the quantity of the first objects to be entered into the warehouse and the first quantity satisfying the preset condition, or the quantity of the first objects to be exited from the warehouse and the first quantity satisfying the preset condition, or the quantity of the first objects to be entered into the warehouse, the quantity of the first objects to be exited from the warehouse, and the first quantity satisfying the preset condition.

[0104] The above three situations that meet the preset conditions are explained below.

[0105] In some embodiments, the number of the first objects to be stored in the warehouse and the first quantity meet a preset condition, including: the number of the first objects to be stored in the warehouse is greater than or equal to the first quantity, and the first duration is greater than the first duration; wherein the first duration is the duration during which the number of the first objects to be stored in the warehouse is greater than or equal to the first quantity.

[0106] In some examples, after determining the number of the first objects to be stored and the first quantity, the number of the first objects to be stored is compared with the first quantity. If at the current moment, the number of the first objects to be stored is greater than or equal to the first quantity, then starting from the current moment, the first duration during which the number of the first objects to be stored is greater than or equal to the first quantity can be determined. When the first duration is greater than or equal to the first duration, it is determined that the number of the first objects to be stored and the first quantity meet a preset condition. The first duration can be set according to demand, such as the first duration can be set to 1 minute, 3 minutes, or 5 minutes.

[0107] That is to say, when the number of the first objects to be stored is greater than or equal to the first number, and the duration of maintaining this state (i.e., the first duration) is greater than the first duration, it is determined that the number of the first objects to be stored and the first number meet the preset condition. For example, at the first moment, the number of the first objects to be stored is greater than or equal to the first number, and after the first moment, the number of the first objects to be stored may change. Regardless of whether the number of the first objects to be stored increases or decreases, within the first duration starting from the first moment, the number of the first objects to be stored remains greater than or equal to the first number, and then it is determined that the first duration is greater than or equal to the first duration.

[0108] For example, when the first duration is set to 1 minute, the number of the first objects to be stored at the first moment is greater than or equal to the first number, and at the 20th second after the first moment, the number of the first objects to be stored is less than the first number, and at the 30th second, the number of the first objects to be stored is greater than or equal to the first number. In this case, it can be determined that the duration of the first objects to be stored is greater than or equal to the first number, that is, the first duration (i.e. 20 seconds) is less than the first duration (i.e. 1 minute), and therefore, the number of the first objects to be stored and the first number do not meet the preset condition. Since at the 30th second, the number of the first objects to be stored is again greater than or equal to the first number, it can be restarted from the moment corresponding to the 30th second to determine whether the number of the first objects to be stored remains greater than or equal to the first number in the next first duration.

[0109] Exemplarily, when the number of the first objects to be stored is greater than or equal to the first number, and the first duration is greater than the first duration, it indicates that a large number of objects to be stored continue to exist in the storage system. In this case, the current operation scenario of the storage system is determined to be the storage mode. In the storage mode, the first handling device can preferentially transport the objects to be stored in the buffer area to the storage area.

[0110] In some examples, when it is determined that the operation mode of the storage system is the warehousing mode, the ratio threshold corresponding to the buffer area can be adjusted to the first ratio threshold. The first ratio threshold is a smaller value, and the first ratio threshold can be set according to demand, such as the first ratio threshold can be set to 0.1, 0.2 or 0.3.

[0111] For example, when it is determined that the operating mode of the warehousing system is the warehousing mode, due to the large number of objects to be stored, the control device automatically adjusts the proportion threshold of the buffer area to a smaller first proportion threshold to trigger the first handling equipment to perform the warehousing operation as early as possible, thereby controlling the first handling equipment to start transporting the objects to be stored in the buffer area to the storage area as early as possible, thereby improving the working efficiency of the warehousing system.

[0112] In some embodiments, the first quantity to be shipped out and the first quantity meet a preset condition, including: the first quantity of objects to be shipped out is less than the first quantity, and the second duration is greater than the second duration; wherein the second duration is the duration during which the first quantity of objects to be shipped out is less than the first quantity.

[0113] In some examples, after determining the number of the first objects to be shipped out and the first quantity, the number of the first objects to be shipped out is compared with the first quantity. If at the current moment, the number of the first objects to be shipped out is less than the first quantity, then starting from the current moment, determine the second duration during which the number of the first objects to be shipped out is less than the first quantity. When the second duration is greater than or equal to the second duration, determine that the first number to be shipped out and the first quantity meet a preset condition. Among them, the second duration can be set according to demand, and the second duration can be the same as the first duration or different from the first duration, and the embodiment of the present application is not limited to this. For example, the present application can be exemplified by taking the first duration being the same as the second duration as an example, such as the second duration can be set to 1 minute, 3 minutes or 5 minutes, etc.

[0114] That is, when the number of the first objects to be shipped out is less than the first number, and the duration of maintaining this state (i.e., the second duration) is greater than the second duration, it is determined that the first number to be shipped out and the first number meet the preset condition. For example, at the second moment, the number of the first objects to be shipped out is less than the first number, and after the second moment, the number of the first objects to be shipped out may change. Regardless of whether the first objects to be shipped out increase or decrease, within the second duration starting from the second moment, the number of the first objects to be shipped out remains less than the first number, and it is determined that the first number to be shipped out and the first number meet the preset condition.

[0115] For example, when the second duration is set to 1 minute, the number of the first objects to be shipped out at the current moment is less than the first number, and at the 10th second after the second moment, the number of the first objects to be shipped out is greater than the first number, and at the 20th second, the number of the first objects to be shipped out is less than the first number. In this case, it can be determined that the duration of the first objects to be shipped out is less than the first number, that is, the second duration (i.e., 10 seconds) is less than the second duration (i.e., 1 minute), and therefore, the number of the first objects to be shipped out and the first number do not meet the preset condition. Since the number of the first objects to be shipped out is less than the first number at the 20th second, it can be restarted from the moment corresponding to the 20th second to determine whether the number of the first objects to be shipped out remains less than the first number in the next second duration.

[0116] Exemplarily, when the number of the first objects to be shipped out is less than the first number and the second duration is greater than the second duration, it indicates that the number of objects to be shipped out in the storage system is small and has lasted for a sufficiently long time. In this case, it can also be determined that the current operation scenario of the storage system is the warehousing mode. Therefore, the control device can automatically adjust the proportion threshold of the cache area to a smaller first proportion threshold.

[0117] In some embodiments, the number of the first objects to be entered into the warehouse, the number of the first objects to be exited from the warehouse, and the first quantities satisfy preset conditions, including: the number of the first objects to be entered into the warehouse is greater than or equal to the first number, the first duration is greater than the first duration, the number of the first objects to be exited from the warehouse is less than the first number, and the second duration is greater than the second duration.

[0118] In some examples, when the warehousing system can simultaneously satisfy: the number of the first objects to be entered into the warehouse is greater than or equal to the first number, the first duration is greater than the first duration, the number of the first objects to be shipped out of the warehouse is less than the first number, and the second duration is greater than the second duration, it indicates that there are a large number of objects to be entered into the warehouse in the warehousing system, and the number of objects to be entered into the warehouse is greater than the number of objects to be shipped out of the warehouse. In this case, it can be determined that the current operating scenario of the warehousing system is the warehousing mode, and the first handling equipment needs to be triggered as soon as possible to perform the warehousing operation. Therefore, the control device can adjust the proportion threshold of the buffer area to a smaller first proportion threshold.

[0119] Step 322, when at least one of the first quantity of objects to be stored in and the first quantity to be stored out, and the first quantity do not satisfy a preset condition, the ratio threshold corresponding to the cache area is adjusted to a second ratio threshold.

[0120] In some embodiments, at least one of the first quantity of objects to be stored in and the first quantity to be stored out, and the first quantity do not satisfy a preset condition, including at least one of the following situations:

[0121] ① The quantity of the first objects to be stored is less than the first quantity.

[0122] ② The first duration is less than or equal to the first duration, and the first duration is the duration during which the number of the first objects to be stored is greater than or equal to the first number.

[0123] ③ The quantity of the first objects to be shipped out is greater than or equal to the first quantity.

[0124] ④ The second duration is less than or equal to the second duration, and the second duration is the duration during which the number of the first objects to be shipped out is less than the first number.

[0125] Exemplarily, when at least one of the number of the first objects to be stored in and the first number to be out of the warehouse, and the first number do not meet the preset condition, the ratio threshold of the cache area is adjusted to the second ratio threshold. The second ratio threshold is greater than the first ratio threshold. For example, the second ratio threshold can be set according to demand, and the second ratio threshold can be set to 0.7, 0.8 or 0.9, etc. This embodiment of the application is not limited to this.

[0126] In some examples, when the number of the first objects to be stored in is small, and / or the number of the first objects to be shipped out is large, it indicates that there are a large number of objects to be shipped out in the storage system. In this case, it is determined that the current operation mode of the storage system is a non-storage mode. The non-storage mode may include a shipping mode or a picking mode. In the non-storage mode, the first handling device is required to preferentially transport the objects to be shipped out located at the storage position to the cache position.

[0127] In other examples, when the first object to be received in is greater than the first quantity, but the duration of the first object to be received in is greater than the first quantity, that is, the first duration is less than or equal to the first duration, it can also be considered that the current operating mode of the warehousing system is the non-warehousing mode; or, when the duration of the first object to be shipped out is less than the first quantity, but the second duration is less than or equal to the second duration, it can also be considered that the current operating mode of the warehousing system is the non-warehousing mode.

[0128] Exemplarily, when it is determined that the operating mode of the warehousing system is a non-warehouse mode, since the first handling equipment needs to transport a large number of objects to be shipped out of the storage area to the cache area, it needs to occupy more cache positions in the cache area. In this case, the control device can adjust the proportion threshold of the cache area to a larger second proportion threshold, so that the first handling equipment can transport more objects to be shipped out of the storage area to the cache positions in the cache area.

[0129] Step 330, determining the occupancy ratio of the cache bits in the cache area.

[0130] Exemplarily, the occupancy ratio of the cache bits in the cache area can be determined based on the number of all cache bits in the cache area and the number of non-free cache bits, wherein the non-free cache bits are cache bits in the cache area where objects to be stored or objects to be stored are placed.

[0131] For example, the idle and non-idle states of the cache bit can be marked by preset parameters. When the cache bit is in an idle state, the state of the cache bit can be marked as 1; when the cache bit is in a non-idle state, the state of the cache bit can be marked as 0. When the first handling device carries the object to be shipped out to the cache bit, the state of the cache bit changes from idle to non-idle, and the control device can mark the state of the cache bit as 0; when the first handling device moves the object to be shipped in on the cache bit away, or the second handling device moves the object to be shipped out on the cache bit away, the state of the cache bit changes from non-idle to idle, and the control device can mark the state of the cache bit as 1. It should be noted that the above-mentioned marking method of the idle state and non-idle state of the cache bit is only an example, and the embodiments of the present application are not limited to this.

[0132] In some examples, the occupancy ratio of the cache bits may be determined based on a ratio between the number of non-free cache bits and the number of all cache bits in the cache area.

[0133] For example, Figure 2 As shown, taking the total number of cache bits in the cache area 11 as 6 as an example, since containers are placed on 4 cache bits in the cache area 11, and containers are not placed on 2 cache bits, that is, the number of non-free cache bits in the cache area 11 is 4, the occupancy ratio of the cache bits in the cache area 11 is: the number of non-free cache bits / the total number of cache bits=4 / 6=0.67.

[0134] Step 340, according to the occupancy ratio and the ratio threshold, control the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area, and / or transport the target inbound object stored in the buffer area to the storage area.

[0135] Exemplarily, the ratio threshold is the upper limit of the water level of the cache position. When the occupancy ratio is greater than or equal to the ratio threshold, it indicates that the occupancy ratio of the cache position exceeds the upper limit of the water level, that is, the cache position is too occupied. In this case, the objects to be stored in the cache area need to be moved to the storage position in the storage area. When the occupancy ratio of the cache position is less than the ratio threshold, it indicates that the occupancy ratio of the cache position is lower than the upper limit of the water level, that is, the cache position is less occupied. In this case, the outbound task can be executed first, that is, the objects to be stored in the storage area are moved to the cache position in the cache area.

[0136] In some examples, when the occupancy ratio of the cache positions is greater than or equal to the ratio threshold, in order to free up more cache positions, the first handling device can perform a warehousing operation task or a compound operation task. Among them, the warehousing operation includes: the first handling device moves the objects to be stored in the cache area upward to the free storage positions in the storage area to reduce the occupancy ratio of the cache positions. The compound operation includes: the first handling device moves the objects to be stored in a cache area upward to the free storage positions in the storage area, and moves the objects to be shipped out of a storage area downward to the free cache positions in the cache area. The compound operation task can not only reduce the occupancy ratio of the cache positions, but also ensure the smooth progress of the shipping tasks.

[0137] For example, when the occupancy ratio of the cache bits is greater than or equal to the ratio threshold, if the current operation mode gives priority to warehousing, the first handling equipment can be controlled to give priority to the warehousing operation to ensure the smooth progress of the warehousing task; if the current operation mode is an inbound and outbound scenario, the first handling equipment can be controlled to perform a composite operation to ensure the smooth progress of the inbound and outbound tasks.

[0138] In some examples, the switch state of the first handling device for performing the composite operation is related to the occupancy ratio of the cache bit. When the composite operation of the first handling device is in the on state, the first handling device can perform the composite operation task; when the switch of the composite operation is in the off state, the first handling device performs the warehousing task.

[0139] For example, when the occupancy ratio is greater than or equal to the ratio threshold, the composite operation of the first handling device is in the on state; or, the switch state of the composite operation may also be related to the priority of the inbound task and the outbound task. For example, when the priority of the outbound task is higher than that of the inbound task, the switch of the composite operation may be in the on state.

[0140] Exemplarily, when the ratio threshold is set differently, the first handling equipment performs the outbound task, the inbound task or the composite operation task at different times.

[0141] In some examples, if the ratio threshold is set to a first ratio threshold, when the occupancy ratio of the cache position is less than the first ratio threshold, the first handling device starts to perform the outbound task, and when the occupancy ratio is greater than or equal to the first ratio threshold, the first handling device starts to perform the inbound task or the compound operation task. If the ratio threshold is set to a second ratio threshold, when the occupancy ratio of the cache position is less than the second ratio threshold, the first handling device starts to perform the outbound task, and when the occupancy ratio is greater than or equal to the second ratio threshold, the first handling device starts to perform the inbound task or the compound operation task. Since the second ratio threshold is greater than the first ratio threshold, when the ratio threshold is set to the first ratio threshold, the first handling device can start to perform the inbound task or the compound operation task earlier, thereby improving the working efficiency of the warehousing system.

[0142] Figure 5 A schematic diagram of another method of transport provided in the embodiment of the present application. Figure 5 When the ratio thresholds are the first ratio threshold and the second ratio threshold, the handling process of the first handling device is described. Figure 5 As shown, the above step 340 includes steps 341 to 346 as shown below.

[0143] The following describes the case where the ratio threshold is set to the first ratio threshold. Figure 5 As shown, steps 341 to 343 are the transporting process of the first transporting device when the ratio threshold is set to the first ratio threshold.

[0144] Step 341 : When the occupancy ratio is less than a first ratio threshold and the storage area includes the target outbound object, control the first transport device to transport the target outbound object from the first storage location to the target cache location of the cache area.

[0145] In some examples, when the ratio threshold is set to a first ratio threshold, the occupancy ratio of the cache bit is compared with the first ratio threshold. When the occupancy ratio is less than the first ratio threshold, the first handling device enters the outbound operation mode and performs the outbound task. If the storage area includes at least one object to be outbound, the first handling device is controlled to transport the target outbound object of the storage area to the cache area. Among them, at least one object to be outbound in the storage area includes a target outbound object, and the target outbound object is located at a first storage bit of the storage area. The target cache bit is an idle cache bit of the cache area, which is used to place the target outbound object.

[0146] Fig. 6A A schematic diagram of a scenario of a warehouse outbound process provided in an embodiment of the present application.

[0147] like Fig. 6A As shown, when the occupancy ratio of the cache position is less than the first ratio threshold, the first handling device carries the target outbound object of the storage area from the first storage position downward to the target cache position of the cache area, wherein the target cache position is one of the multiple free cache positions of the cache area.

[0148] Step 342: When the occupancy ratio is greater than or equal to the first ratio threshold and the buffer area includes the target incoming object, control the first transport device to transport the target incoming object from the first buffer location to the target storage location in the storage area.

[0149] In some examples, when the occupancy ratio of the cache position is greater than or equal to the first ratio threshold, the first handling device can enter the warehousing operation mode and perform the warehousing task. If the cache area includes at least one object to be stored, the first handling device is controlled to transport the target storage object of the cache area from the first cache position of the cache area to the target storage position of the storage area. Among them, the at least one object to be stored in the cache area includes the target storage object, and the target storage object is located in the first cache position of the cache area. The target storage position is an idle storage position in the storage area, which is used to place the target storage object.

[0150] That is, when the occupancy ratio of the cache bits is greater than or equal to the first ratio threshold, the first handling device can perform the warehousing task, thereby releasing the cache bits in the cache area to free up more free cache bits to facilitate subsequent warehousing tasks.

[0151] Figure 6B A schematic diagram of a scenario of a warehousing process provided in an embodiment of the present application.

[0152] like Figure 6BAs shown, when the occupancy ratio of the cache position exceeds the first ratio threshold, the first handling device moves the target storage object in the cache area from the first cache position upward to the target storage position in the storage area, wherein the target storage position is an idle storage position among multiple idle cache positions in the storage area.

[0153] Step 343, when the occupancy ratio is greater than or equal to the first ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, control the first handling device to transport the target incoming object from the first cache position to the target storage position of the storage area, and transport the target outgoing object from the first storage position to the target cache position of the cache area.

[0154] In some examples, when the occupancy ratio of the cache position is greater than or equal to the first ratio threshold, the first handling device may also enter the compound operation mode and perform the compound operation task. If the cache area includes at least one object to be stored in, and the storage area includes at least one object to be shipped out, the first handling device is controlled to transport the target storage position of the storage area to the target storage position of the storage area, and transport the target shipping object to the target cache position of the cache area. Among them, at least one object to be stored in includes a target storage object, at least one object to be shipped out includes a target shipping object, the target storage object is located in the first cache position of the cache area, and the target shipping object is located in the first storage position of the storage area. The target storage position is a free storage position in the storage area, which is used to place the target storage object, and the target cache position is a free cache position in the cache area, which is used to place the target shipping object.

[0155] Exemplarily, in the compound operation mode, since the first handling device carries the target incoming object upward to an idle storage position in the storage area (i.e., the target storage position), the original cache position (i.e., the first cache position) where the target incoming object is placed is in an idle state. In this case, the first handling device can carry the target outgoing object in the storage area downward to the first cache position (i.e., the original cache position of the target outgoing object).

[0156] like Figure 6C A schematic diagram of a scenario of a composite operation process provided in an embodiment of the present application.

[0157] like Figure 6C As shown, when the occupancy ratio of the cache position exceeds the first ratio, the first handling device moves the target incoming object of the cache area from the first cache position upward to the target storage position, and then moves the target outgoing object of the storage area downward to the target cache position of the cache area. Figure 6C In the example, the target cache bit is the first cache bit.

[0158] In some embodiments, when the occupancy ratio of the cache positions is greater than or equal to a first ratio threshold, if there are objects to be shipped out of the storage area and there are no objects to be received in the cache area, the first handling device may also enter the shipping operation mode to transport the objects to be shipped out of the storage area to the free cache positions in the cache area, thereby avoiding the first handling device from being idle and improving the working efficiency of the first handling device.

[0159] The following describes the case where the ratio threshold is set to the second ratio threshold. Figure 5 As shown, steps 344 to 346 are the transporting process of the first transporting device when the ratio threshold is set to the second ratio threshold.

[0160] Step 344: When the occupancy ratio is less than the second ratio threshold and the storage area includes the target outbound object, control the first transport device to transport the target outbound object from the first storage location to the target cache location in the cache area.

[0161] In some examples, when the ratio threshold is set to the second ratio threshold, the occupancy ratio of the cache position is compared with the second ratio threshold. When the occupancy ratio is less than the second ratio threshold, the first handling device enters the outbound operation mode and performs the outbound task. Since the second ratio threshold is greater than the first ratio threshold, when the ratio threshold is set to the second ratio threshold, the first handling device can perform the outbound task for a greater number of objects to be outbound than the first ratio threshold.

[0162] It should be noted that the process of the first handling equipment performing the outbound task has been described in the above step 341, and will not be repeated here to avoid repetition.

[0163] Step 345 , when the occupancy ratio is greater than or equal to the second ratio threshold and the cache area includes the target incoming object, control the first transport device to transport the target incoming object from the first cache location to the target storage location in the storage area.

[0164] In some examples, when the occupancy ratio of the cache bit is greater than or equal to the second ratio threshold, the first handling device can enter the warehousing operation mode and perform the warehousing task. Since the second ratio threshold is greater than the first ratio threshold, when the ratio threshold is set to the second ratio threshold, the first handling device can perform the warehousing task later than the first ratio threshold.

[0165] It should be noted that the process of the first handling equipment performing the warehousing task has been described in the above step 342, and will not be repeated here to avoid repetition.

[0166] Step 346, when the occupancy ratio is greater than or equal to the second ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, control the first handling device to move the target incoming object from the first cache position to the target storage position in the storage area, and move the target outgoing object from the first storage position to the target cache position in the cache area.

[0167] In some examples, when the occupancy ratio is greater than or equal to the first ratio threshold, the first handling device may also enter the compound operation mode and perform the compound operation task. Since the second ratio threshold is greater than the first ratio threshold, when the ratio threshold is set to the second ratio threshold, compared with the first ratio threshold, the first handling device enters the compound operation mode later to perform the outbound task for a larger number of objects to be outbound.

[0168] It should be noted that the process of the first handling device performing the composite operation task has been described in the above step 343, and will not be repeated here to avoid repetition.

[0169] In some examples, when the ratio threshold is set to the second ratio threshold, since the number of objects to be shipped out is large, the number of second handling devices (such as the second handling devices 140 in the above embodiment) used to transport the objects to be shipped out in the storage system will also increase. The second handling devices are used to move the objects to be shipped out of the buffer area for shipping.

[0170] Since the number of second handling equipment in the warehousing system is limited, when the number of objects to be shipped out is large, all the second handling equipment in the warehousing system may be in a non-idle state, that is, the second handling equipment in the warehousing system has reached its working upper limit. In this case, when the ratio threshold is less than the second ratio threshold, after the first handling equipment transports the objects to be shipped out from the storage area to the cache area, there is no idle second handling equipment to move the objects to be shipped out, resulting in the cache positions in the cache area cannot be released in time, thereby further causing the first handling equipment to be unable to transport the objects to be shipped out from the storage area to the cache area, reducing the handling efficiency of the first handling equipment.

[0171] In order to solve the above problem, the first handling device can be controlled to enter the warehousing operation mode or the compound operation mode in advance, so as to transport the objects to be warehousing in the buffer area to the storage area as early as possible, thereby ensuring the normal progress of the outbound task.

[0172] In some embodiments, the number of second objects to be out of the warehouse is determined; when the occupancy ratio is less than a second ratio threshold and the cache area includes target incoming objects, if the number of second objects to be out of the warehouse is greater than or equal to the second number, the first handling device is controlled to transport the target incoming objects from the first cache position to the target storage position in the storage area.

[0173] In some examples, when the ratio threshold is set to the second ratio threshold, the control device can dynamically obtain the number of objects to be removed from the library cache, that is, the number of second objects to be removed from the library, wherein the second objects to be removed from the library include objects to be removed from the cache position of the cache.

[0174] For example, the second object to be shipped out may be the number of objects to be shipped out stored in the cache area corresponding to the inventory area, that is, the number of objects to be shipped out placed in the cache positions throughout the venue.

[0175] Exemplarily, the second quantity is related to the number of second handling equipment in the storage system. The second quantity may be greater than or equal to the number of second handling equipment. For example, the second quantity may be the number of second handling equipment times the second preset coefficient. The second preset coefficient may be set as required, and the second preset coefficient may be set to a value greater than or equal to 1. For example, the first preset coefficient may be set to 2 or 3, etc., which is not limited in the embodiments of the present application.

[0176] In some examples, after determining the number of the second objects to be shipped out and the second number, the second objects to be shipped out can be compared with the second number. In the case where the occupancy ratio of the cache position is less than the second ratio threshold, if the number of the second objects to be shipped out is greater than or equal to the second number, the first handling device can be controlled to enter the warehousing mode and perform the warehousing task. In other words, even if the occupancy ratio of the cache position does not reach the second ratio threshold, the number of the second objects to be shipped out exceeds the second number, the first handling device can also enter the warehousing mode in advance to release the cache position of the cache area.

[0177] In other examples, when the number of the second objects to be shipped out is greater than or equal to the second number, the first handling device may also enter the compound operation mode and perform the compound operation task. For example, the first handling device may carry the target incoming object in the buffer area from the first buffer position upward to the target storage position in the storage area, and carry the target outgoing object from the first storage position downward to the target cache position in the buffer area.

[0178] The handling method provided in the embodiment of the present application dynamically adjusts the proportional threshold value (i.e., the upper limit of the water level) of the cache area through the relationship between the number of first objects to be stored in and / or the number of first objects to be shipped out corresponding to at least one pending task in the warehousing system, and the number of cache locations (i.e., the first number) of the cache area. After the proportional threshold value of the cache area is adjusted, the first handling device is controlled to perform the corresponding handling task, such as a shipping task, a storage task, or a compound operation task, based on the relationship between the occupancy ratio of the cache locations and the proportional threshold value. The embodiment of the present application realizes adaptive adjustment of the proportional threshold value of the cache area in the warehousing system, solves the problem of poor timeliness and accuracy caused by manually configuring the proportional threshold value in the related art, and improves the working efficiency of the warehousing system.

[0179] Because in the composite operation mode, the first handling device needs to carry the target incoming object in the cache area from the first cache position upward to the target storage position in the storage area, and carry the target outgoing object from the first storage position downward to the target cache position in the cache area. Therefore, how to select the target incoming object and the target outgoing object will have a great impact on the handling efficiency of the first handling device. In order to further improve the handling efficiency of the first handling device, the embodiment of the present application determines the optimal outgoing object in the storage area and determines the optimal incoming object in the cache area, so that the cost spent by the first handling device when exchanging the incoming object and the outgoing object is smaller, thereby improving the working efficiency of the warehousing system.

[0180] Combine the following Figure 7 The process of determining the target storage-in object and the target storage-out object when the first transport device enters the compound operation mode is described.

[0181] Figure 7 A schematic diagram of another method of transport provided in an embodiment of the present application. Figure 7 As shown, the method further includes steps 710 to 720 as shown below. It should be noted that steps 710 to 720 can be performed before step 340.

[0182] Step 710, when the first cache area includes at least one second object to be stored in, and the first storage area includes at least one third object to be stored out, obtain the first position information of the at least one second object to be stored in the first cache area, and the second position information of the at least one third object to be stored out in the first storage area.

[0183] In some examples, a storage area of ​​a warehouse system may include multiple aisles. Figure 1 As shown, at least one side of each lane includes a carrier, and the second handling device can move in the lane to perform pick-and-place operations on objects to be handled (such as containers) on the carriers on one side and / or both sides of the lane.

[0184] For example, the multiple lanes in the inventory area include a first lane, and the first lane corresponds to a first buffer area and a first storage area. The first storage area is a storage area formed by all vehicles corresponding to the first lane, and the first buffer area is a buffer area formed by all vehicles corresponding to the first lane.

[0185] Because the first handling device needs to transport the target incoming object in the cache area to the target storage location and transport the target outgoing object in the storage area to the target cache location when performing a complex operation task, when the first cache area includes at least one second object to be incoming and the first storage area includes at least one third object to be outgoing, it is necessary to first determine the target incoming object among the at least one second object to be incoming and determine the target outgoing object among the at least one third object to be outgoing.

[0186] For example, the first position information of each second object to be stored in and the second position information of each third object to be stored out can be determined. The first position information can be the position information of the cache location where each object to be stored in is located, such as the coordinate position of the cache location or the cache location identifier. The second position information can be the position information of the storage location where each object to be stored out is located, such as the coordinate position of the storage location or the storage location identifier.

[0187] Step 720: Determine a target incoming object from at least one second incoming object, and determine a target outgoing object from at least one third outgoing object, according to the first location information and the second location information.

[0188] In some examples, after the first location information and each piece of second location information are determined, a target inbound object and a target outbound object may be further determined based on the first location information and the second location information.

[0189] Figure 8 A schematic diagram of another transport method provided in an embodiment of the present application is shown as follows: Figure 8 As shown, the above step 720 includes steps 721 to 725 as shown below.

[0190] Step 721: determine a target outbound object from at least one third outbound object.

[0191] For example, when the first storage area includes one third object to be shipped out, the third object to be shipped out can be determined as the target shipping object. When the first storage area includes multiple third objects to be shipped out, the target shipping object can be further determined from the multiple third objects to be shipped out.

[0192] Exemplarily, when there are multiple third objects to be shipped out in the first storage area, the target shipping object can be determined based on the distance between each third object to be shipped out and the first handling equipment (which can be called the moving distance), and / or the shipping priority of each third object to be shipped out.

[0193] In some examples, the distance between each third object to be shipped out and the first handling equipment can be determined based on the position information of the first handling equipment and the second position information of each third object to be shipped out, and the third object to be shipped in that is closest to the first handling equipment among multiple third objects to be shipped out can be determined as the target shipping object.

[0194] For example, when the first handling equipment takes out the third object to be out of the warehouse, it needs to first move horizontally in the aisle to the position of the third object to be out of the warehouse, and take out the third object to be out of the warehouse by moving the picking and placing device up and down in the vertical direction. Therefore, the distance between the third object to be out of the warehouse and the first handling equipment may include: the moving distance required for the first handling equipment to take out the third object to be out of the warehouse, and the moving distance includes the horizontal distance moved by the first handling equipment in the horizontal direction, and / or the vertical distance moved by the picking and placing device of the first handling equipment in the vertical direction.

[0195] For another example, the distance between the first handling equipment and the third object to be stored in the warehouse may also include at least one of the straight-line distance between the third object to be stored in the warehouse and the picking and placing device of the first handling equipment, the horizontal distance between the third object to be stored out of the warehouse and the picking and placing device of the first handling equipment, and the vertical distance between the third object to be stored out of the warehouse and the picking and placing device of the first handling equipment.

[0196] In other examples, the outbound priority of each third object to be shipped can be determined according to the priority of the order that hits each third object to be shipped. For example, when the urgency of an order is high, the priority of the order is high, and the priority of the third object to be shipped that hits the order is also high. For example, among multiple third objects to be shipped, the third object to be shipped with the highest priority can be determined as the target outbound object, so that the objects to be shipped corresponding to the orders with high priority can be shipped first.

[0197] In some other examples, when the target outbound object is determined based on the moving distance and the outbound priority, corresponding weight information can be configured for the moving distance and the outbound priority respectively, and then the target outbound object can be determined based on the moving distance and the distance weight, and the outbound priority and the priority weight.

[0198] In some other examples, when the target outbound object is determined based on the moving distance and the outbound priority, the priority outbound object can also be determined among multiple third outbound objects based on the outbound priority. When the number of priority outbound objects is one, the preferred outbound object is determined as the target outbound object; when the number of preferred outbound objects is multiple, the priority outbound object closest to the first handling device can be further determined as the target outbound object based on the distance between each priority outbound object and the first handling device.

[0199] Step 722: Determine whether there is a candidate incoming object in the at least one second incoming object that is located in the same column as the target outgoing object based on the first position information of the at least one second incoming object and the second position information of the target outgoing object.

[0200] In some examples, after the target outbound object is determined, the target inbound object is further determined based on the second position information of the target outbound object and the first position information of each second to-be-inbound object in the first cache area.

[0201] In order to further improve the handling efficiency, it may be preferentially determined whether there are objects to be received in the first buffer area that are located in the same column as the target outbound object (which may be referred to as candidate inbound objects).

[0202] In some examples, the two objects to be transported involved in the embodiments of the present application being located in the same column may include: the two objects to be transported being located in the same column of the same carrier. For example, the horizontal coordinates of the position coordinates of the cargo locations where the two objects to be transported are located are the same.

[0203] Fig. 9 A schematic diagram of a transport process provided in an embodiment of the present application. Fig. 9 As shown, the container A in the storage area 12 and the container B in the buffer area 11 are located in the same column of the carrier 111 (ie, the second column from left to right).

[0204] In other examples, the two objects to be transported involved in the embodiments of the present application being located in the same column may also include: although the two objects to be transported are not located in the same column of the same carrier, the first transport device does not need to move in the lane when picking up and placing the two objects to be transported. For example, when the first transport device performs a pick-and-place operation on the objects to be transported placed on the cargo spaces of two adjacent columns on the carrier, it does not need to move horizontally in the lane. In this case, it can also be determined that the objects to be transported placed on the cargo spaces of the two adjacent columns are located in the same column.

[0205] Continue to refer to Fig. 9 When the first handling device 130 picks and places containers on the cargo spaces in the first and second columns of the carrier 111, it does not need to move in the aisle. Therefore, the containers placed on the cargo spaces in the first and second columns of the carrier 111 can belong to the containers in the same column, that is, container C in the first column and container C in the second column can also be called containers in the same column.

[0206] For example, when there is a candidate inbound object in the same column as the target outbound object in the first buffer area, the candidate inbound object can be preferentially determined as the target inbound object. In this case, when the first handling device is handling the target inbound object and the target outbound object, it does not need to move in the lane (such as in the horizontal direction), and the first handling device can be moved in the vertical direction (including the picking and placing device does not need to move) to perform the picking and placing operation, thereby shortening the handling time of the first handling device and improving the handling efficiency of the first handling device.

[0207] The following describes a case where there is a candidate incoming object in the at least one second to-be-in-warehouse object that is located in the same column as the target out-of-warehouse object.

[0208] Step 723: If there is a candidate entry object in the same column as the target outbound object in at least one of the second objects to be entered, the candidate entry object that is closest to the target outbound object is determined as the target entry object.

[0209] In some examples, when there is a candidate entry object in the same column as the target outbound object in at least one of the second objects to be entered, if the number of candidate entry objects is one, the candidate entry object is determined as the target entry object. If the number of candidate entry objects is multiple, then among the multiple candidate objects, the candidate object that is closest to the target outbound object in the vertical direction is determined as the target entry object.

[0210] It should be noted that when the cache area includes one layer of cache positions, the number of candidate storage objects located in the same column as the target storage-out object is one; when the cache area includes at least two layers of cache positions, the number of candidate storage objects located in the same column as the target storage-out object can be multiple. Among the multiple candidate storage objects, since the candidate storage objects are all located in the same column, the candidate storage object that is closest to the target storage-out object in the vertical direction can be determined as the target storage object.

[0211] In some embodiments, after determining the target storage object, it may be further determined whether there is an idle storage location in the first storage area. If there is at least one idle storage location in the first storage area, the target storage location is determined in the at least one idle storage location.

[0212] Exemplarily, when the first storage area includes one free storage bit, the free storage bit is determined as the target storage bit; when there are multiple free storage bits, the target storage bit can be determined based on the position information of each free storage bit.

[0213] In some examples, since the first handling equipment needs to transport the target incoming object to the target storage location, the vacant storage location in the same column as the target incoming object can be preferentially determined as the target incoming storage location. Therefore, after the first handling equipment takes out the target incoming object, it does not need to move in the aisle, and the target incoming object can be transported to the target storage location by moving the pick-and-place device up and down, thereby further improving the working efficiency of the first handling equipment.

[0214] In some examples, when there are multiple free storage locations in the same column as the target storage object, an free storage location that is closest to the target storage object in the vertical direction may be determined as the target free storage location.

[0215] Continue to refer to Fig. 9 When container B is the target storage object, since container B is located in the second column of carrier 111, and storage area 12 includes two storage positions in the second column, namely storage position B1 and storage position B2. Since storage position B1 is closer to container B in the vertical direction than storage position B2, storage position B1 can be determined as the target storage position of container B.

[0216] In other examples, the storage bits of the first storage area may be single-depth bits or multi-depth bits. When the first storage area is multi-depth bits, the free storage bits without blocking objects outside may be preferentially determined as target storage bits.

[0217] like Fig. 9 As shown, the carrier 111 is a double-deep carrier. When container B is the target storage object, storage position B3 is also located in the same column as container B, and compared with storage position B1, storage position B3 is closer to container B in the vertical direction. However, since storage position B3 is located in the inner storage position, and container A is also placed outside storage position B3, when the first handling device 130 carries container B to storage position B3, container A needs to be moved away first, thereby increasing the handling time of the first handling device 130. Therefore, storage position B1 can be determined as the target storage position of container B.

[0218] That is to say, when there are multiple free storage positions in the same column as the target storage object, when considering the distance between each free storage position and the target storage object in the vertical direction, it is also necessary to consider whether there are blocking objects outside each free storage position. The free storage positions without blocking objects can be selected first, and then the free storage positions with the closest distance in the vertical direction can be selected from the free storage positions without blocking objects.

[0219] Exemplarily, if there is no candidate storage location in the same column as the target storage object in at least one free storage location, that is, at least one free storage location is located in a different column from the target storage object, then the target storage location is determined in at least one free storage location in a different column. For example, if there is one free storage location in a different column from the target storage object, then the free storage location is determined as the target storage location.

[0220] In some examples, if there are multiple free storage locations in different columns from the target storage object, the horizontal distance between each free storage location and the target storage object can be determined first, and the free storage location that is closest to the target storage object in the horizontal direction among at least one free storage location is determined as the candidate storage location; then, the candidate storage location that is closest to the target storage object in the vertical direction is determined as the target storage location. Therefore, after the first handling device picks up the target storage object, the target storage object can be transported to the target storage location with the shortest horizontal movement distance and the shortest vertical movement distance of the pick-and-place device, thereby shortening the handling time of the first handling device and improving the handling efficiency of the first handling device.

[0221] It should be noted that if there are two alternative storage locations that are closest to the target storage object in the horizontal direction and the vertical direction, the target storage location can be randomly determined from these two alternative storage locations, or other possible methods can be used to determine the target storage location from these two alternative storage locations. This embodiment of the present application is not limited to this.

[0222] In some embodiments, after determining the target storage location, the first transport device is controlled to transport the target incoming object from the first cache location to the target storage location, and to transport the target outgoing object from the first storage location to the first cache location.

[0223] In some examples, after the first handling device moves the target incoming object from the first cache position to the target storage position, the first cache position of the cache area (i.e., the original cache position of the target incoming object) is in an idle state, so the first handling device can move the target outgoing object from the first storage position to the first cache position.

[0224] For example, after the first handling device transports the target incoming object to the target storage location, if the target storage location is an external storage location and the internal storage location corresponding to the target storage location is idle (that is, no other objects are placed on the internal storage location), the first handling device can push the target incoming object from the target storage location to the internal storage location corresponding to the target storage location.

[0225] Exemplarily, before the first handling device handles the target object to be taken out of the warehouse, it may first determine whether there is an obstructing object outside the target object to be taken out of the warehouse. That is, before the first handling device handles the target object to be taken out of the warehouse, it is first determined whether the first storage location where the target object to be taken out of the warehouse is located is an internal storage location, and if it is an internal storage location, it is determined whether there is an obstructing object placed on the external storage location corresponding to the first storage location.

[0226] In some embodiments, if there is no blocking object outside the target outbound object, the first transport device is controlled to directly transport the target outbound object from the first storage location to the first cache location, wherein the target cache location includes the first cache location.

[0227] In some examples, the fact that there is no blocking object outside the target outbound object includes: the first storage location where the target outbound object is located is an external storage location, or the first storage location is an internal storage location and the external storage location corresponding to the first storage location is in an idle state.

[0228] FIG. 10A to FIG. 10C A scene diagram of a transport process provided in an embodiment of the present application. FIG. 10A to FIG. 10C An example of using storage bits and cache bits to place containers is used for illustrative description.

[0229] like Fig. 10A As shown, after the target outbound object a1 is determined, the object to be stored in the same column as the target outbound object a1 is determined as the target inbound object b1. The vacant storage position A1 that is in the same column as the target inbound object b1 and is closest to it is determined as the target storage position. The first handling device 130 first carries the target inbound object b1 placed on the cache position B upward to the storage position A1. Since there is no blocking object outside the target outbound object a1, the first handling device 130 can carry the target outbound object a1 downward to the cache position B. In this case, the target cache position is the cache position B.

[0230] like Fig. 10A As shown, since the internal storage position A2 corresponding to the storage position A1 is in an idle state (ie, no other container is placed on the storage position A2), the first handling device 130 can push the target storage object b1 from the storage position A1 to the internal storage position A2.

[0231] In some embodiments, if there is a blocking object outside the target outbound object, the first handling device is controlled to move the target inbound object from the first cache position to the target storage position; the first handling device is controlled to move the blocking object to the first temporary storage position of at least one free temporary storage position of the first handling device; the first handling device is controlled to move the target outbound object from the first storage position to the first cache position.

[0232] In some examples, the presence of a blocking object outside the target outbound object includes: the first storage position where the target outbound object is located is an internal storage position, and the external storage position corresponding to the first storage position is in a non-idle state, that is, a blocking object is placed on the external storage position corresponding to the first storage position.

[0233] For example, when there is a blocking object outside the target outbound object, the first handling device needs to move away the blocking object before taking out the target outbound object. For example, the first handling device may first move the blocking object to an idle temporary storage position (such as the first temporary storage position) of the first handling device, and then move the target outbound object to the first cache position after moving the blocking object to the first temporary storage position.

[0234] For example, the first temporary storage location may be any idle temporary storage location of at least one idle temporary storage location of the first handling device, or the first temporary storage location may also be an idle temporary storage location closest to the current position of the pick-and-place device, which is not limited in this embodiment of the present application.

[0235] Continuing to refer to 10A, since there is a blocking object outside the target outbound object a2, after the first handling device 130 transports the target inbound object b1 from the cache position B to the storage position A1, the pick-and-place device 13 of the first handling device 130 can take out the blocking object and place the blocking object in the first temporary storage position, and then take out the target outbound object a2 located on the internal storage position through the pick-and-place device 13, and transport the target outbound object a2 to the cache position B.

[0236] In some embodiments, if there is no free storage location in the first storage area, a second temporary storage location is determined in at least one free temporary storage location of the first handling device. The first handling device is controlled to carry the target incoming object from the first cache location to the second temporary storage location, and the target outgoing object is carried from the first storage location to the first cache location; the first handling device is controlled to carry the target incoming object from the second temporary storage location to the first storage location.

[0237] For example, after the first handling device carries the target incoming object from the first cache position to the second temporary storage position, the first cache position is in an idle state, so the first handling device can carry the target outgoing object from the first storage position to the first cache position. After carrying the target outgoing object to the first cache position, the first storage position is in an idle state, and the first handling device can carry the target incoming object placed on the second temporary storage position to the first storage position. In this case, the target storage position is the first storage position.

[0238] In some examples, when there is no free storage position in the first storage area, the first handling device cannot carry the target storage object to the first storage area. In this case, the first handling device can carry the target storage object to the second temporary storage position of the first handling device. The second temporary storage position can be any free temporary storage position among at least one free temporary storage position on the first handling device, or the second temporary storage position can also be a free temporary storage position closest to the current position of the pick-and-place device, which is not limited in the embodiments of the present application.

[0239] like Fig. 10B As shown, after determining the target storage-in object and the target storage-out object located in the same column, since there is no free storage position in the first storage area, the first handling device 130 takes out the target storage-in object through the pick-and-place device 13 and places the target storage-in object on the second temporary storage position; then, the first handling device 130 transports the target storage-out object from storage position A to cache position B through the pick-and-place device 13. When the first storage position A is in an idle state, the first handling device 130 transports the target storage-in container placed on the second temporary storage position to storage position A.

[0240] In some examples, when there is a free storage location in the first storage area, but the free storage location and the target storage object are located in different columns, and the horizontal distance exceeds a preset distance threshold, the first handling device can also be controlled to move the target storage object to the second temporary storage location.

[0241] In some embodiments, when the target incoming object is located at the second temporary storage location, if the target incoming object is hit by any outbound task, the first transport device is controlled to transport the target incoming object from the second temporary storage location to any free cache location in the first cache area.

[0242] Exemplarily, after the target outbound object is moved from the first storage location to the first cache location, although the first storage location is released and is in an idle state, it is not necessary to immediately move the target inbound object from the second temporary storage location to the first storage location, but the target inbound object can continue to be placed in the second temporary storage location.

[0243] In some examples, when the target incoming object is placed in the second temporary storage location, according to the status of the pending tasks acquired by the control device, if the target incoming object located in the second temporary storage location is hit by any other outbound task within a preset time range, the first handling device is controlled to carry the target incoming object from the second temporary storage location to any free cache location in the first cache area. The free cache location may be the free cache location closest to the current position of the first handling device.

[0244] In other examples, if the target storage object located at the second temporary storage location is not hit by other outbound tasks within a preset time range, the first handling device is controlled to carry the target storage object from the second temporary storage location to any free storage location in the first storage area, wherein the free storage location may be the free storage location closest to the current location of the first handling device.

[0245] The transport method provided in the embodiment of the present application can give priority to transporting target inbound objects and target outbound objects located in the same column during the execution of a complex operation task by the first transport equipment, thereby avoiding the first transport equipment from moving in the aisle, shortening the transport time of the first transport equipment, and improving the transport efficiency of the first transport equipment.

[0246] The following describes a situation where there is no candidate incoming object in the at least one second to-be-in-warehouse object that is located in the same column as the target out-of-warehouse object.

[0247] In some embodiments, if there is no object to be entered in the same column as the target outbound object among at least one second object to be entered, the first handling device is controlled to move the target incoming object from the first cache position to a third temporary storage position among at least one free temporary storage position of the first handling device, and move the target outbound object to the target cache position.

[0248] In some examples, when there is no object to be shipped out in the same column as the target outbound object in at least one second object to be shipped in the first cache area, the target inbound object is determined in at least one second object to be shipped in a different column from the target outbound object. The target inbound object may be a second object to be shipped in that is closest to the target outbound object.

[0249] For example, the first handling device may carry the target storage object to the third temporary storage position of the first handling device. The third temporary storage position may be any idle temporary storage position among at least one idle temporary storage position of the first handling device, or the third temporary storage position may also be an idle temporary storage position closest to the current position of the pick-and-place device, which is not limited in the embodiments of the present application.

[0250] In some examples, the target cache position may be any free cache position in the first cache area, or the target cache position may be the free cache position corresponding to the first handling device when the moving distance is the shortest. For example, the target cache position may be the first cache position, or it may not be the first cache position. When the target cache position is the first cache position, after the first handling device moves the target incoming object to the third temporary storage position, the first cache position is in an idle state, and the first handling device may move the target outgoing object to the first cache position. Since the first cache position and the target outgoing object are not in the same column, the first handling device needs to move horizontally in the lane after taking out the target outgoing object, and place the target outgoing object on the target cache position when moving to the target cache position.

[0251] In some embodiments, based on the position information of the first handling device, a target storage location is determined in the free storage locations of the first storage area; and the first handling device is controlled to carry the target storage object from the third temporary storage location to the target storage location.

[0252] In some examples, when the target storage object is transported to the third temporary storage location, the target storage location can be determined from the free storage locations in the first storage area based on the current location information of the first transport device, wherein the target storage location can be a free storage location closest to the current location of the first transport device.

[0253] For example, the distance between the target storage location and the first handling device may include: when the pick-and-place device of the first handling device reaches the target storage location, the horizontal distance moved by the first handling device in the horizontal direction and / or the vertical distance moved by the pick-and-place device of the first handling device in the vertical direction.

[0254] like Fig. 10C As shown, after determining the target outbound object and the target inbound object, since the target outbound object and the target inbound object are not located in the same column, the first handling device 130 can take out the target inbound object and place it in the third temporary storage position, and then the first handling device 130 moves in the lane in the horizontal direction, and after moving to the position corresponding to the target outbound object, the pick-and-place device 13 moves up and down in the vertical direction to take out the target outbound object from the first storage position, and transport the target outbound object to the cache position C1 (i.e., the target cache position). Among them, the cache position C1 is the idle cache position in the first cache area that is closest to the target outbound object.

[0255] like Fig. 10C As shown, since the target incoming object has been moved to the third temporary storage position, cache position C3 is also in an idle state, but since cache position C1 is closer to the target outgoing object than cache position C3, cache position C1 can be determined as the target cache position, and the first handling device 130 moves the target outgoing object to cache position C1.

[0256] like Fig. 10C As shown, after the first handling device 130 places the target outbound object at the cache position C1, since the storage position C2 is an idle storage position in the first storage area that is closest to the current position of the first handling device, the storage position C3 can be determined as the target storage position, and the first handling device 130 transports the target inbound object on the third temporary storage position to the storage position C2. The current position of the first handling device may be the position when the first handling device places the target outbound object at the storage position C1.

[0257] Step 724: If there is no object to be stored in the same column as the target outbound object in at least one second object to be stored, then in at least one free cache position in the first cache area, a free cache position whose distance to the target outbound object is less than a first preset threshold is determined as the target cache position.

[0258] In some examples, when there is no object to be stored in the same column as the target outbound object in at least one of the second objects to be stored, the target cache position can be first determined in the first cache area. The target cache position is an idle cache position whose distance from the target outbound object is less than a first preset threshold. The first preset threshold can be set according to demand, and the embodiment of the present application does not limit this.

[0259] For example, the distance between the target cache location and the target outbound object may include at least one of the straight-line distance between the target outbound object and the target cache location, the vertical distance between the target outbound object and the target cache location, and the horizontal distance between the target outbound object and the target cache location.

[0260] In some examples, when there are multiple free cache locations whose distance to the target outbound object is less than a first preset threshold, the free cache location closest to the target outbound container can be determined as the target cache location. For example, the free cache location closest to the target outbound object in the horizontal direction can be determined as the target cache location. The shortest distance in the horizontal direction can ensure that the first handling device moves the shortest distance in the first lane, thereby improving the handling efficiency of the first handling device.

[0261] Continue to refer to Fig. 10C Cache position C1 is the idle cache position that is closest to the target outbound object in the horizontal direction among the multiple idle cache positions in the first cache area. Therefore, cache position C1 can be determined as the target cache position, and the first handling device 130 handles the target outbound object to cache position C1.

[0262] Step 725: Based on the position information of the target cache location, determine the target storage object from the second to-be-stored object whose distance to the target cache location is less than a second preset threshold among the at least one second to-be-stored object.

[0263] In some examples, after determining the target cache location, based on the location information of the target cache location, the second object to be stored whose distance from the target cache location is less than a second preset threshold is determined as the target storage object. The second preset threshold can be set according to demand, and the embodiment of the present application does not limit this.

[0264] For example, the second object to be stored that is closest to the target cache position in the horizontal direction can be determined as the target storage object. When the target storage object is closest to the target cache position in the horizontal direction, after the first handling device carries the target outbound object to the target cache position, it can move a shorter distance to reach the position of the target storage object, thereby performing the storage operation on the target storage object, thereby improving the handling efficiency of the first handling device.

[0265] In some examples, after determining the target cache position and the target incoming object, the first handling device carries the target outbound object to the target cache position. The first handling device moves horizontally in the lane to the position of the target incoming object, takes out the target incoming object, and carries the target incoming object to the target storage position. The target storage position is the vacant storage position closest to the target incoming object. The distance between the target storage position and the target incoming object includes: when the pick-and-place device of the first handling device carries the target incoming object to the target storage position, the horizontal distance moved by the first handling device and / or the vertical distance moved by the pick-and-place device of the first handling device.

[0266] In the handling method provided in the embodiment of the present application, during the process of the first handling device executing a complex operation task, when there are no target incoming objects and target outgoing objects located in the same column, the first handling device can handle the target outgoing object to the target cache position closest to it, and handle the target incoming object to the target storage position closest to it, thereby minimizing the distance moved by the first handling device in the alley, shortening the handling time of the first handling device, and improving the handling efficiency of the first handling device.

[0267] In some embodiments, when there is no free storage position in the first storage area and no free temporary storage position in the first handling device, a second lane is determined in the storage system; a target storage position is determined in at least one free storage position in the second storage area; the first handling device is controlled to carry the target incoming object from the first cache position in the first cache area corresponding to the first lane to the target storage position in the second storage area; and the first handling device is controlled to carry the target outgoing object to the first cache position. The target cache position includes the first cache position.

[0268] For example, when there is no free storage space in the first storage area and no free temporary storage space in the first handling device, the first handling device can perform cross-lane warehousing operations. In other words, the first handling device needs to transport the objects to be stored in the first buffer area to the storage areas corresponding to other lanes for warehousing.

[0269] In some examples, the second lane may be a lane closest to the first lane, or the second lane may be in the same partition as the first lane. The second lane corresponds to a second storage area and a second cache area, wherein the second storage area includes at least one free storage bit.

[0270] For example, after determining the second lane, a target storage location is determined in at least one free storage location in the second storage area, and the target storage location may be the free storage location closest to the first handling device among the at least one free storage location. Wherein, being closest to the first handling device may include: the first handling device moves the shortest distance when moving from the first lane to the target storage location in the second lane, and / or the first handling device moves the shortest distance when the pick-and-place device reaches the target storage location.

[0271] In some examples, after determining the second lane and the target storage location, the first handling device is controlled to take out the target storage object from the first cache location of the first lane, and move the target storage object from the first lane to the second lane, so as to move the target storage object to the target storage location of the second storage area. After placing the target storage object at the target storage location, the first handling device can move from the second lane to the first lane to take out the target storage object from the first storage location of the first storage area, and move the target storage object to the first cache location, thereby realizing the cross-lane storage operation of the target storage object.

[0272] In some embodiments, a second cache position is determined in at least one free cache position in the second cache area; a third handling device is controlled to carry the target incoming object from the first cache position in the first cache area corresponding to the first lane to the second cache position in the second cache area corresponding to the second lane; a fourth handling device corresponding to the second lane is controlled to carry the target incoming object from the second cache position to the target storage position in the second storage area; and the first handling device is controlled to carry the target outgoing object to the first cache position.

[0273] For example, when there is no free storage space in the first storage area and no free temporary storage space in the first handling device, the cross-lane warehousing operation can also be performed by the third handling device. The third handling device can be any free handling device in the storage system. Figure 1 The second transport device 140 is a transport device of the same type and performs the same function.

[0274] In some examples, when performing a cross-lane warehousing operation by a third handling device, it is necessary to determine a second cache position in a second cache area of ​​a second lane. The second cache position may be any idle cache position in the second cache area, or an idle cache position that is closest to the first cache position. The closest distance includes the shortest distance moved by the third handling device from the first cache position to the second cache position.

[0275] In some examples, after determining the second cache position, the third handling device moves to the first cache position and carries the target storage object on the first cache position to the second cache position of the second cache area. After carrying the target storage object to the second cache position, the fourth handling device of the second lane can carry the target storage object in the second cache position to the target storage position in the second storage area. The second lane includes the fourth handling device, and the fourth handling device is connected to the storage device. Figure 1 The first handling device 130 in the embodiment is a handling device of the same type and can realize the same functions. The target storage location can be an idle storage location in the second storage area that is closest to the second cache location. In other words, the present application can also realize the cross-lane storage operation of the target storage object by the third handling device and the fourth handling device in a relay manner.

[0276] For example, after the third handling device moves the target incoming object out of the first cache location, the first handling device in the first lane may move the target outgoing object in the first storage area to the first cache location.

[0277] The handling method provided in the embodiment of the present application can perform cross-aisle warehousing operations on the target warehousing object through the first handling equipment when there are no free storage positions in the first storage area and no free temporary storage positions in the first handling equipment, and can also perform cross-aisle warehousing operations on the target warehousing object through the third handling equipment and the fourth handling equipment. Cross-aisle warehousing can be achieved by relaying, which can shorten the handling time of the first handling equipment and improve the handling efficiency of the warehousing system.

[0278] Fig.11 This is a schematic diagram of a transport device provided in an embodiment of the present application. Fig.11 As shown, the transport device 1100 includes a determination module 1110, an adjustment module 1120 and a control module 1130. Among them:

[0279] The determination module 1110 is configured to: determine the number of first objects to be inbound and / or the number of first objects to be outbound corresponding to at least one task to be processed; and determine the occupancy ratio of cache locations in the cache area of ​​the warehousing system.

[0280] The adjustment module 1120 is configured to adjust the ratio threshold corresponding to the cache area according to at least one of the number of first objects to be stored in and the number of first objects to be stored out, as well as the first number; wherein the first number is related to the number of cache bits in the cache area.

[0281] The control module 1130 is configured to: control the first handling device to carry the target outbound object stored in the storage area of ​​the storage system to the buffer area according to the occupancy ratio and the ratio threshold, and / or to carry the target inbound object stored in the buffer area to the storage area.

[0282] In some embodiments, the adjustment module 1120 is configured to: when at least one of the number of the first objects to be entered and the first number to be exited, and the first number satisfy a preset condition, adjust the ratio threshold corresponding to the cache area to the first ratio threshold; wherein, at least one of the number of the first objects to be entered and the first number to be exited, and the first number satisfy the preset condition, including: the number of the first objects to be entered is greater than or equal to the first number, and the first duration is greater than the first duration, wherein the first duration is the duration during which the number of the first objects to be entered is greater than or equal to the first number; or, the number of the first objects to be exited is less than the first number, and the second duration is greater than the second duration, wherein the second duration is the duration during which the number of the first objects to be exited is less than the first number; or, the number of the first objects to be entered is greater than or equal to the first number, the first duration is greater than the first duration, the number of the first objects to be exited is less than the first number, and the second duration is greater than the second duration.

[0283] In some embodiments, the control module 1130 is configured to: when the occupancy ratio is less than a first ratio threshold and the storage area includes the target outbound object, control the first transport device to transport the target outbound object from the first storage location to the target cache location in the cache area.

[0284] In some embodiments, the control module 1130 is configured to: when the occupancy ratio is greater than or equal to a first ratio threshold and the cache area includes the target incoming object, control the first transport device to transport the target incoming object from the first cache position to the target storage position in the storage area.

[0285] In some embodiments, the control module 1130 is configured to: when the occupancy ratio is greater than or equal to a first ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, control the first handling device to handle the target incoming object from the first cache position to the target storage position of the storage area, and handle the target outgoing object from the first storage position to the target cache position of the cache area.

[0286] In some embodiments, the adjustment module 1120 is configured to: when at least one of the number of the first objects to be in and the first number to be out of the warehouse, and the first number do not satisfy the preset condition, adjust the ratio threshold corresponding to the cache area to the second ratio threshold; wherein the second ratio threshold is greater than the first ratio threshold. Wherein, at least one of the number of the first objects to be in and the first number to be out of the warehouse, and the first number do not satisfy the preset condition, including at least one of the following situations: the number of the first objects to be in is less than the first number; the first duration is less than or equal to the first duration, wherein the first duration is the duration during which the number of the first objects to be in is greater than or equal to the first number; the number of the first objects to be out of the warehouse is greater than or equal to the first number; the second duration is less than or equal to the second duration, wherein the second duration is the duration during which the number of the first objects to be out of the warehouse is less than the first number.

[0287] In some embodiments, the control module 1130 is configured to: when the occupancy ratio is less than a second ratio threshold and the storage area includes the target outbound object, control the first transport device to transport the target outbound object from the first storage location to the target cache location in the cache area.

[0288] In some embodiments, the determination module 1110 is further configured to: determine the number of the second objects to be shipped out; wherein the second objects to be shipped out include the objects to be shipped out on the cache position of the cache area. The control module 1130 is configured to: when the occupancy ratio is less than the second ratio threshold and the cache area includes the target incoming object, if the number of the second objects to be shipped out is greater than or equal to the second number, then control the first handling device to transport the target incoming object from the first cache position to the target storage position of the storage area; wherein the second number is related to the number of second handling devices in the warehousing system, and the second handling device is used to move the objects to be shipped out of the cache area or transport the objects to be shipped in to the cache position.

[0289] In some embodiments, the control module 1130 is configured to: when the occupancy ratio is greater than or equal to a second ratio threshold and the cache area includes the target incoming object, control the first transport device to transport the target incoming object from the first cache position to the target storage position in the storage area.

[0290] In some embodiments, the control module 1130 is configured to: when the occupancy ratio is greater than or equal to a second ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, control the first handling device to carry the target incoming object from the first cache position to the target storage position of the storage area, and carry the target outgoing object from the first storage position to the target cache position of the cache area.

[0291] In some embodiments, the target outbound object and the target inbound object are both located in the first lane, and the first lane corresponds to the first storage area and the first buffer area; the handling device 1100 also includes an acquisition module, which is configured to: when the first buffer area includes at least one second object to be inbound, and the first storage area includes at least one third object to be outbound, acquire the first position information of the at least one second object to be inbound in the first buffer area, and the second position information of the at least one third object to be outbound in the first storage area. The determination module 1110 is also configured to: determine the target inbound object in the at least one second object to be inbound according to the first position information and the second position information, and determine the target outbound object in the at least one third object to be outbound.

[0292] In some embodiments, the determination module 1110 is configured to: determine the target outbound object among at least one third object to be outbound; determine whether there is a candidate inbound object in the at least one second object to be inbound that is located in the same column as the target outbound object based on the first position information of at least one second object to be inbound and the second position information of the target outbound object; if there is a candidate inbound object in the same column as the target outbound object among at least one second object to be inbound that is located in the same column as the target outbound object, determine the candidate inbound object that is closest to the target outbound object as the target inbound object.

[0293] In some embodiments, the determination module 1110 is further configured to: if there is at least one free storage location in the first storage area, determine the target storage location in the at least one free storage location; determine whether there is a blocking object outside the target outbound object. The control module 1130 is configured to: if there is no blocking object outside the target outbound object, control the first handling device to carry the target inbound object from the first cache location to the target storage location; control the first handling device to carry the target outbound object from the first storage location to the first cache location; wherein the target cache location includes the first cache location.

[0294] In some embodiments, the control module 1130 is further configured to: if there is a blocking object outside the target outbound object, control the first handling device to move the target inbound object from the first cache position to the target storage position; control the first handling device to move the blocking object to the first temporary storage position of at least one free temporary storage position of the first handling device; control the first handling device to move the target outbound object from the first storage position to the first cache position.

[0295] In some embodiments, the determination module 1110 is further configured to: if there is no free storage position in the first storage area, determine a second temporary storage position in at least one free temporary storage position of the first handling device. The control module 1130 is further configured to: control the first handling device to carry the target incoming object from the first cache position to the second temporary storage position, and to carry the target outgoing object from the first storage position to the first cache position; control the first handling device to carry the target incoming object from the second temporary storage position to the first storage position; wherein the target storage position includes the first storage position.

[0296] In some embodiments, the control module 1130 is further configured to: when the target incoming object is located in the second temporary storage location, if the target incoming object is hit by any outbound task, control the first handling device to transport the target incoming object from the second temporary storage location to any free cache location in the first cache area.

[0297] In some embodiments, the control module 1130 is configured as follows: if there is no object to be entered in the same column as the target outbound object in at least one second object to be entered, then control the first handling device to move the target incoming object from the first cache position to a third temporary storage position in at least one free temporary storage position of the first handling device, and move the target outbound object to the target cache position; wherein the target cache position includes the first cache position; based on the position information of the first handling device, determine the target storage position in the free storage positions in the first storage area; and control the first handling device to move the target incoming object from the third temporary storage position to the target storage position.

[0298] In some embodiments, the determination module 1110 is further configured to: if there is no incoming object in the same column as the target out-of-warehouse object among at least one second incoming object, then, in at least one free cache bit in the first cache area, a free cache bit whose distance to the target out-of-warehouse object is less than a first preset threshold is determined as the target cache bit; based on the position information of the target cache bit, a second incoming object in at least one second incoming object whose distance to the target cache bit is less than a second preset threshold is determined as the target in-warehouse object.

[0299] In some embodiments, the determination module 1110 is further configured to: determine a second lane in the storage system when there is no free storage position in the first storage area and there is no free temporary storage position in the first handling device; wherein the second lane corresponds to the second storage area and the second cache area; and determine the target storage position in at least one free storage position in the second storage area. The control module 1130 is configured to: control the first handling device to transport the target incoming object from the first cache position of the first cache area corresponding to the first lane to the target storage position of the second storage area; control the first handling device to transport the target outgoing object to the first cache position; wherein the target cache position includes the first cache position.

[0300] In some embodiments, the determination module 1110 is further configured to: determine the second cache position in at least one free cache position in the second cache area. The control module 1130 is configured to: control the third handling device in the storage system to carry the target storage object from the first cache position of the first cache area corresponding to the first lane to the second cache position of the second cache area corresponding to the second lane; control the fourth handling device corresponding to the second lane to carry the target storage object from the second cache position to the target storage position of the second storage area; control the first handling device to carry the target storage object to the first cache position.

[0301] In some embodiments, the first objects to be stored in the warehouse include the objects to be stored in the warehouse after being picked up by the workstation in the warehousing system, the objects to be stored in the warehouse transported by the second transport equipment, and the objects to be stored in the cache position in the cache area; the first objects to be shipped out of the warehouse include the objects to be shipped out of the warehouse at the storage position in the storage area.

[0302] Fig.12 A schematic diagram of an electronic device provided in an embodiment of the present application. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the transport method in the above embodiment.

[0303] like Fig.12 As shown, the electronic device 1000 includes: a processor (processor) 1001 and a memory 1002. Exemplarily, the electronic device 1000 may also include: a communication interface (Communications Interface) 1003 and a communication bus 1004.

[0304] The processor 1001, the memory 1002 and the communication interface 1003 communicate with each other via the communication bus 1004. The communication interface 1003 is used to communicate with other devices such as client or other server network elements.

[0305] In some embodiments, the processor 1001 is used to execute the program 1005, and specifically can execute the relevant steps in the above-mentioned transport method embodiment. Specifically, the program 1005 can include program code, and the program code includes computer executable instructions.

[0306] Exemplarily, the processor 1001 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The electronic device 1000 may include one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0307] In some embodiments, the memory 1002 is used to store the program 1005. The memory 1002 may include a high-speed RAM memory, and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0308] Program 1005 can be specifically called by processor 1001 to enable electronic device 1000 to execute operations of the transport method.

[0309] An embodiment of the present application provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on the electronic device 1000, the electronic device 1000 executes the transport method in the above embodiment.

[0310] The executable instructions may be specifically used to enable the electronic device 1000 to execute the operations of the transport method.

[0311] For example, the computer readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0312] In some embodiments, an embodiment of the present application provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the transport method described in any of the above embodiments.

[0313] In some embodiments, the embodiments of the present application further provide a computer program, which, when executed by a processor, can implement the transport method described in any of the above embodiments.

[0314] The beneficial effects that can be achieved by the transport device, electronic device, computer-readable storage medium, computer program product and computer program provided in the embodiments of the present application can be referred to the beneficial effects of the transport method provided above, and will not be repeated here.

[0315] It should be noted that, in the application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0316] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0317] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0318] For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by an instruction execution system, apparatus, or device or in conjunction with such instruction execution system, apparatus, or device.

[0319] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection having one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM).

[0320] In addition, the computer readable medium can even be a paper or other suitable medium on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, and then editing, interpreting or processing in other suitable ways as necessary, and then storing it in the computer memory. It should be understood that various parts of the present application can be implemented in hardware, software, firmware or a combination thereof.

[0321] In the above embodiments, multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it may be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0322] The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A method for transporting, characterized in that: Applied to a control device, the method comprises: Determine the number of first objects to be inbound and / or the number of first objects to be outbound corresponding to at least one task to be processed; According to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, and the first number, adjusting the ratio threshold corresponding to the buffer area of ​​the storage system; wherein the first number is related to the number of cache locations in the buffer area; Determining the occupancy ratio of cache bits in the cache area; According to the occupancy ratio and the ratio threshold, the first handling device is controlled to carry the target outbound object stored in the storage area of ​​the storage system to the buffer area, and / or to carry the target inbound object stored in the buffer area to the storage area.

2. The method according to claim 1, characterized in that The adjusting the ratio threshold corresponding to the buffer area of ​​the storage system according to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, as well as the first number, includes: When at least one of the first number of objects to be stored in and the first number of objects to be stored out, and the first number satisfy a preset condition, adjusting the ratio threshold corresponding to the buffer area to a first ratio threshold; Among them, at least one of the quantity of the first objects to be stored in and the first quantity to be stored out, and the first quantities satisfying a preset condition include: The number of the first objects to be stored is greater than or equal to the first number, and the first duration is greater than the first duration, wherein the first duration is the duration during which the number of the first objects to be stored is greater than or equal to the first number; or The number of the first objects to be shipped out is less than the first number, and the second duration is greater than the second duration, wherein the second duration is the duration during which the number of the first objects to be shipped out is less than the first number; or The number of the first objects to be stored in is greater than or equal to the first number, the first duration is greater than the first duration, the number of the first objects to be stored out is less than the first number, and the second duration is greater than the second duration.

3. The method according to claim 2, characterized in that According to the occupancy ratio and the ratio threshold, controlling the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area includes: When the occupancy ratio is less than the first ratio threshold and the storage area includes the target outbound object, the first transport device is controlled to transport the target outbound object from the first storage location to the target cache location of the cache area.

4. The method according to claim 2, characterized in that: The step of moving the target storage object stored in the buffer area to the storage area includes: When the occupancy ratio is greater than or equal to the first ratio threshold and the cache area includes the target storage object, the first transport device is controlled to transport the target storage object from the first cache location to the target storage location of the storage area.

5. The method according to claim 2, characterized in that: According to the occupancy ratio and the ratio threshold, controlling the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area includes: When the occupancy ratio is greater than or equal to the first ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, the first handling device is controlled to carry the target incoming object from the first cache position to the target storage position of the storage area, and to carry the target outgoing object from the first storage position to the target cache position of the cache area.

6. The method according to claim 1, characterized in that The adjusting the ratio threshold corresponding to the buffer area of ​​the storage system according to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, as well as the first number, includes: When at least one of the first number of objects to be stored in and the first number of objects to be stored out, and the first number do not satisfy a preset condition, adjusting the ratio threshold corresponding to the cache area to a second ratio threshold; wherein the second ratio threshold is greater than the first ratio threshold; Wherein, at least one of the first quantity of objects to be stored in and the first quantity to be stored out, and the first quantity do not satisfy a preset condition, including at least one of the following situations: The quantity of the first objects to be stored is less than the first quantity; The first duration is less than or equal to the first duration, wherein the first duration is the duration during which the number of the first objects to be stored is greater than or equal to the first number; The quantity of the first objects to be shipped out is greater than or equal to the first quantity; The second duration is less than or equal to a second duration, wherein the second duration is a duration during which the number of the first objects to be shipped out is less than the first number.

7. The method according to claim 6, characterized in that According to the occupancy ratio and the ratio threshold, controlling the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area includes: When the occupancy ratio is less than the second ratio threshold and the storage area includes the target outbound object, the first transport device is controlled to transport the target outbound object from the first storage location to the target cache location of the cache area.

8. The method according to claim 6, characterized in that The method further comprises: Determine the number of second objects to be shipped out; wherein the second objects to be shipped out include objects to be shipped out in the cache position of the cache area; The step of moving the target storage object stored in the buffer area to the storage area includes: When the occupancy ratio is less than the second ratio threshold and the cache area includes the target incoming object, if the number of the second objects to be out of the warehouse is greater than or equal to the second number, control the first handling device to carry the target incoming object from the first cache position to the target storage position of the storage area; The second number is related to the number of second handling equipment in the warehousing system, and the second handling equipment is used to move the objects to be shipped out of the buffer area or to move the objects to be shipped in to the buffer area.

9. The method according to claim 6, characterized in that The step of moving the target storage object stored in the buffer area to the storage area includes: When the occupancy ratio is greater than or equal to the second ratio threshold and the cache area includes the target storage object, the first transport device is controlled to transport the target storage object from the first cache location to the target storage location of the storage area.

10. The method according to claim 9, characterized in that The step of moving the target storage object stored in the buffer area to the storage area includes: When the occupancy ratio is greater than or equal to the second ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, the first handling device is controlled to carry the target incoming object from the first cache position to the target storage position of the storage area, and to carry the target outgoing object from the first storage position to the target cache position of the cache area.

11. The method according to claim 5 or 10, characterized in that: The target outbound object and the target inbound object are both located in a first lane, and the first lane corresponds to a first storage area and a first cache area; the method further includes: When the first cache area includes at least one second object to be stored in, and the first storage area includes at least one third object to be stored out, obtaining first position information of the at least one second object to be stored in the first cache area, and second position information of the at least one third object to be stored out in the first storage area; According to the first position information and the second position information, the target inbound object is determined from the at least one second object to be inbound, and the target outbound object is determined from the at least one third object to be outbound.

12. The method according to claim 11, characterized in that The step of determining the target inbound object from the at least one second inbound object according to the first position information and the second position information, and determining the target outbound object from the at least one third outbound object comprises: Determining the target outbound object from the at least one third outbound object; Determine, according to the first position information of the at least one second object to be in-warehouse and the second position information of the target out-warehouse object, whether there is a candidate in-warehouse object in the at least one second object to be in-warehouse and located in the same column as the target out-warehouse object; If there is a candidate entry object in the at least one second to-be-entered object that is located in the same column as the target out-of-stock object, the candidate entry object that is closest to the target out-of-stock object is determined as the target entry object.

13. The method according to claim 12, characterized in that The method further comprises: If there is at least one free storage bit in the first storage area, determining the target storage bit in the at least one free storage bit; Determine whether there is an obstructing object outside the target outbound object; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: If the blocking object does not exist outside the target outbound object, controlling the first transport device to transport the target inbound object from the first cache location to the target storage location; Control the first transport device to transport the target inventory object from the first storage location to the first cache location; wherein the target cache location includes the first cache location.

14. The method according to claim 13, characterized in that The controlling the first transport device to transport the target incoming object from the first cache position to the target storage position of the storage area, and transporting the target outgoing object from the first storage position to the target cache position of the cache area, further includes: If the blocking object exists outside the target outbound object, controlling the first transport device to transport the target inbound object from the first cache location to the target storage location; Controlling the first transport device to transport the blocking object to a first temporary storage location among at least one idle temporary storage location of the first transport device; The first transport device is controlled to transport the target outbound object from the first storage location to the first cache location.

15. The method according to claim 12, characterized in that The method further comprises: If there is no free storage location in the first storage area, determining a second temporary storage location in at least one free temporary storage location of the first handling device; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: Control the first transport device to transport the target incoming object from the first cache location to the second temporary storage location, and transport the target outgoing object from the first storage location to the first cache location; Control the first transport device to transport the target storage object from the second temporary storage location to the first storage location; wherein the target storage location includes the first storage location.

16. The method according to claim 15, characterized in that The method further comprises: When the target incoming object is located in the second temporary storage location, if the target incoming object is hit by any outbound task, the first transport device is controlled to transport the target incoming object from the second temporary storage location to any free cache location in the first cache area.

17. The method according to claim 12, characterized in that The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: If there is no object to be entered in the at least one second object to be entered that is located in the same column as the target object to be exited, control the first handling device to transport the target object to be entered from the first cache position to a third temporary storage position in at least one free temporary storage position of the first handling device, and transport the target object to be exited to the target cache position; Based on the position information of the first handling device, determining the target storage location in the free storage locations of the first storage area; The first transport device is controlled to transport the target storage object from the third temporary storage location to the target storage location.

18. The method according to claim 12, characterized in that The method further comprises: If there is no object to be stored in the same column as the target outbound object in the at least one second object to be stored, then, in at least one free cache position in the first cache area, a free cache position whose distance to the target outbound object is less than a first preset threshold is determined as the target cache position; Based on the position information of the target cache location, a second object to be stored in the at least one second object to be stored whose distance to the target cache location is less than a second preset threshold is determined as the target storage object.

19. The method according to claim 12, characterized in that The method further comprises: In the case where there is no free storage position in the first storage area and no free temporary storage position in the first handling device, determining a second lane in the storage system; wherein the second lane corresponds to the second storage area and the second buffer area; determining the target storage bit in at least one free storage bit in the second storage area; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: Controlling the first transport device to transport the target storage object from the first cache position of the first cache area corresponding to the first lane to the target storage position of the second storage area; Control the first transport device to transport the target outbound object to the first cache location; wherein the target cache location includes the first cache location.

20. The method according to claim 19, characterized in that The method further comprises: determining a second cache bit in at least one free cache bit of the second cache area; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: Controlling a third handling device in the storage system to carry the target storage object from a first cache position of the first cache area corresponding to the first lane to the second cache position of the second cache area corresponding to the second lane; Controlling a fourth transport device corresponding to the second lane to transport the target storage object from the second cache location to the target storage location in the second storage area; The first transport device is controlled to transport the target outbound object to the first cache location.

21. The method according to any one of claims 1 to 10, characterized in that The first objects to be warehoused include the objects to be warehoused after being picked up by the workstation in the warehousing system, the objects to be warehoused transported by the second transport equipment, and the objects to be warehoused in the cache position in the cache area; the first objects to be shipped out include the objects to be shipped out in the storage position of the storage area.

22. A transport device, characterized in that: include: A determination module is configured to: determine the number of first objects to be in-warehouse and / or first objects to be out-warehouse corresponding to at least one task to be processed; Determine the occupancy ratio of cache slots in the cache area of ​​the storage system; The adjustment module is configured to: adjust the ratio threshold corresponding to the buffer area according to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, and the first number; wherein the first number is related to the number of cache bits in the buffer area; The control module is configured to: control the first handling device to carry the target outbound object stored in the storage area of ​​the storage system to the cache area, and / or to carry the target inbound object stored in the cache area to the storage area according to the occupancy ratio and the ratio threshold.

23. A storage system, characterized in that: include: The control device is configured to: determine a first object to be stored in and / or a first object to be stored out corresponding to at least one task to be processed; According to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, and the first number, adjusting a ratio threshold value corresponding to a buffer area of ​​a storage system; wherein the first number is related to the number of buffer locations in the buffer area; determining an occupancy ratio of buffer locations in the buffer area, and generating a transport instruction according to the occupancy ratio and the ratio threshold value; The first handling device is configured to: according to the handling instruction, carry the target outbound object stored in the storage area of ​​the warehousing system to the buffer area, and / or carry the target inbound object stored in the buffer area to the storage area.

24. An electronic device, characterized in that: include: one or more processors and memory; The memory is configured to: store one or more programs; Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the transport method according to any one of claims 1-21.

25. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the transport method according to any one of claims 1 to 21 is implemented.

26. A computer program product, characterized in that The invention comprises a computer program, and when the computer program is executed by a processor, the handling method according to any one of claims 1 to 21 is implemented.

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