Method and device for warehousing sorting and warehousing system

Abstract

The invention relates to a storage sorting method and a storage system. Based on the method and the device, the carrying of the stored goods in the storage and sorting process can be realized by the carrying robot, and on the basis, the dynamic sorting storage location area supporting manual sorting operation is set in the storage space, so that a combined sorting mode of manual sorting and automatic carrying can be realized. Wherein the dynamic sorting storage location area set in the storage space is updatable, and the updating of the dynamic sorting storage location area can be associated with the sorting flow and sorting efficiency of storage sorting, so that the sorting flow can be adjusted to adapt to the flow demand, the sorting efficiency can be optimally controlled, and further, the sorting efficiency can be improved. And the adaptive capacity to the change of the sorting flow and the sorting efficiency can be taken into consideration.

Description

Technical Field

[0001] The present application relates to warehousing technology, and in particular to a method for warehouse picking, a device for warehouse picking, a warehousing system, an electronic device, a non-transitory computer-readable storage medium, and a computer program product. Background Art

[0002] Warehouse picking can realize the entry and exit of warehouse goods, and warehouse picking can be completed manually or automatically based on robots. Among them, warehouse picking can include two operations: transportation and sorting. Manual warehouse picking means that both transportation and sorting are completed by humans, and automatic warehouse picking means that both transportation and sorting are completed by robots.

[0003] The picking efficiency of manual warehouse picking is generally lower than that of automatic warehouse picking. For example, there are usually multiple rows of storage shelves deployed in the storage space. Even with the help of auxiliary tools such as forklifts, the speed of transportation between the storage shelves will still be slower than the driving speed of the robot, resulting in low picking efficiency. For another example, in order to improve the utilization rate of storage space, the shelf height of the storage shelves can be set as high as possible, and much higher than the upper limit of the operating height that can be achieved by manual operation. In this case, the storage goods must be placed on the storage shelves during transportation with the help of auxiliary tools such as ladders or lifts, and this results in low picking efficiency.

[0004] Automatic warehouse picking uses the sorting table as the distribution node, and the sorting table can automatically perform sorting using sorting robots such as robotic arms. Although automatic warehouse picking can use handling robots to improve picking efficiency, the sorting robot's ability to adapt to picking traffic is lower than that of manual methods. For example, if the sales rate of a certain category of warehouse goods suddenly increases, or the demand for picking traffic suddenly increases due to the joint picking of warehouse goods of several categories of goods, the processing traffic of the sorting table is limited by the fixed number and fixed working frequency of the sorting robot, and it cannot adapt to the sudden increase in traffic by increasing manual configuration like the manual method.

[0005] As can be seen from the above, neither manual nor automatic warehouse picking can take into account the adaptability to changes in picking flow and picking efficiency. Summary of the invention

[0006] Embodiments of the present application provide a method for warehouse picking, an apparatus for warehouse picking, a warehouse system, an electronic device, a non-transitory computer-readable storage medium, and a computer program product, which help to balance the adaptability to changes in picking flow and picking efficiency.

[0007] In one embodiment of the present application, a method for warehouse picking is provided, which may include:

[0008] Determine the dynamic picking storage area currently set in the storage space; wherein the storage goods in the storage space are stored and picked in batches, and the storage and picking of any picking batch includes manual sorting operations implemented in the dynamic picking storage area and distribution and handling operations implemented by a handling robot, and the setting of the dynamic picking storage area can be updated before the storage and picking of any picking batch begins, and the update of the dynamic picking storage area is associated with the single-batch picking flow and single-batch picking efficiency of the storage and picking of any picking batch;

[0009] According to the currently set dynamic picking storage area, the transport robot is dispatched for picking;

[0010] Wherein, the picking scheduling includes:

[0011] When the manual sorting operation is performed on any picking batch of stored goods, the transport robot is prohibited from appearing in the currently set dynamic picking storage area;

[0012] When the currently set dynamic picking storage area is in an unmanned state where the manual sorting operation is not performed, the transport robot is dispatched to perform the collection and distribution transport operation, and the collection and distribution transport operation is used to realize the storage transfer of any picking batch of warehouse goods in and out of the currently set dynamic picking storage area.

[0013] In some examples, optionally, the collection and distribution operation occurs between: a storage location in the currently set dynamic picking storage area, and a storage location in the storage space used to store any picked batch of stored goods; the method also includes: dynamically maintaining the storage locations in the storage space used to store stored goods outside the dynamic picking storage area.

[0014] In some examples, optionally, the storage locations in the storage space used for storing warehouse goods are dynamically maintained outside the dynamic picking storage location area, including: in response to the initial setting or setting update of the dynamic picking storage location area, scheduling the handling robot to perform tallying and handling operations, and the tallying and handling operations are used to: transfer the warehouse goods stored in the storage locations allocated to the dynamic picking storage location area through the initial setting or setting update to the storage locations outside the dynamic picking storage location area.

[0015] In some examples, optionally, the scheduling of the handling robot to perform the tallying and handling operation includes: scheduling the handling robot to perform the tallying and handling operation according to a clustering storage strategy; wherein the clustering storage strategy is used to cause warehouse goods of the same or related categories to be clustered and stored in a category clustering storage area outside the dynamic picking storage area.

[0016] In some examples, optionally, the setting parameters of the dynamic picking storage area include: the number of available storage locations in the dynamic picking storage area; wherein the number of available storage locations in the dynamic picking storage area is associated with a single batch picking flow of the warehouse picking of any picking batch.

[0017] In some examples, optionally, the method further includes, before the warehouse picking of any picking batch begins: updating the number of available storage locations in the dynamic picking storage area to control the single batch picking flow.

[0018] In some examples, optionally, any picking batch of stored goods is determined by order screening from a pool of pending orders, and any picking batch of stored goods includes stored goods specified by at least one screened order; the screening conditions of the order screening include: the number of available storage locations in the dynamic picking storage area currently set, and configurable picking wave conditions; wherein: the picking wave conditions are used to characterize: among all the stored goods currently to be picked, the target batch number of picking batches required for the stored goods of at least one selected category of goods to complete the warehouse picking; the goods quantity of all the stored goods currently to be picked, and the target batch number are used to characterize the target demand value for the single batch picking flow for any picking batch determined by order screening.

[0019] In some examples, optionally, the setting parameters of the dynamic picking storage area include: the regional distribution position of the dynamic picking storage area; wherein, the regional distribution position of the dynamic picking storage area is associated with the single batch picking efficiency of the warehouse picking of any picking batch.

[0020] In some examples, optionally, before the warehouse picking of any picking batch begins, the method further includes: updating the regional distribution position of the dynamic picking storage area to control the single batch picking efficiency.

[0021] In some examples, optionally, the storage locations outside the dynamic picking storage area are allocated according to a clustering storage strategy, and the clustering storage strategy is used to cause warehouse goods of the same or related categories to be clustered and stored in a category clustering storage area outside the dynamic picking storage area, and the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category clustering storage area is associated with the single batch picking efficiency; the method updates the regional distribution position of the dynamic picking storage area, and is used to: achieve control of the single batch picking efficiency by adjusting the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category clustering storage area.

[0022] In some examples, optionally, any picking batch of stored goods is determined by screening orders from a pool of pending orders, and any picking batch of stored goods includes stored goods specified by at least one screened order; the screening conditions of the order screening include: picking goods category conditions; wherein the picking goods category conditions are used to characterize: the goods category corresponding to the stored goods that are given priority in implementing the warehouse picking.

[0023] In some examples, optionally, the picking scheduling of the transport robot based on the currently set dynamic picking storage area includes: realizing the picking scheduling of the transport robot by maintaining the area status of the currently set dynamic picking storage area; wherein, the area status of the dynamic picking storage area is used to indicate whether the currently set dynamic picking storage area is implementing the manual sorting operation.

[0024] In some examples, optionally, the picking scheduling of the transport robot is achieved by maintaining the area status of the currently set dynamic picking storage area, including: detecting whether the area status of the dynamic picking storage area is locked as a manual protection state; if the area status of the dynamic picking storage area is locked as the manual protection state, then determining that the currently set dynamic picking storage area is implementing the manual sorting operation; if the manual protection state of the dynamic picking storage area is unlocked, then determining that the currently set dynamic picking storage area is in an unmanned state where the manual sorting operation is not implemented.

[0025] In some examples, optionally, at least one row of storage shelves are deployed in the storage space, and the storage shelves have storage locations. The dynamic picking storage location area includes a storage location array selected from at least one row of the storage shelves, and the row and column directions of the storage location array correspond to the shelf width direction and the shelf height direction of the storage shelves, respectively.

[0026] In some examples, optionally, the dynamic picking storage area includes at least two storage location arrays respectively located in at least two rows of the storage shelves, at least two rows of the storage shelves are arranged in parallel in a direction perpendicular to the shelf height direction and the shelf height direction, and at least two of the storage location arrays are aligned along the shelf arrangement direction.

[0027] In some examples, optionally, the setting conditions of the dynamic picking storage area include a height limit constraint in the shelf height direction, the shelf height of the storage shelf is higher than the upper operating limit height of the manual sorting operation, and the height limit constraint is used to limit the top row of storage locations of the storage location array in the shelf height direction to below the upper operating limit height.

[0028] In some examples, optionally, alleys are further deployed in the storage space, and the alleys are distributed between any two adjacent rows of the at least two rows of the storage shelves, and / or at least two rows of the storage shelves are located outside the outermost row of the storage shelves in the shelf arrangement direction, and the storage positions of any row of the storage shelves are connected to the alleys at the open shelf facades of the row of storage shelves adjacent to the alleys.

[0029] In some examples, optionally, the operating space of the manual sorting operation performed in the dynamic picking storage area covers a target facade area where the storage locations in the dynamic picking storage area are connected to the open shelf facade and the aisle, and a target ground section of the aisle passing through the target facade area along the shelf width direction.

[0030] In some examples, optionally, when the manual sorting operation is performed on any picking batch of stored goods, the transport robot is prohibited from appearing in the currently set dynamic picking storage area and is restricted to move within a range outside the operating space of the manual sorting operation.

[0031] In some examples, optionally, the transport robot includes a track transport robot, which is movably installed on the open shelf facade of any row of the storage shelves, and the track transport robot is used to implement the sorting and transporting operations in the same row of the storage shelves or between two adjacent rows of the storage shelves separated by the aisle, and, when the stored goods of any picking batch are subject to the manual sorting operation, the vertical movement range of the track transport robot that is prohibited from appearing in the currently set dynamic picking storage area on the open shelf facade is limited to outside the target vertical area; the transport robot includes a ground transport robot, which is used to realize free movement on the ground by using the aisle, and the ground transport robot is used to cooperate with the track transport robot to realize the sorting and transporting operations between different rows of the storage shelves, and, when the stored goods of any picking batch are subject to the manual sorting operation, the ground movement range of the ground transport robot that is prohibited from appearing in the currently set dynamic picking storage area is limited to outside the target ground section.

[0032] In another embodiment of the present application, a device for warehouse picking is provided, which may include:

[0033] A picking management module, used to determine the dynamic picking storage area currently set in the storage space; wherein the storage goods in the storage space are stored and picked in batches, and the storage picking of any picking batch includes manual sorting operations implemented in the dynamic picking storage area and distribution and handling operations implemented by a handling robot, and the setting of the dynamic picking storage area can be updated before the storage picking of any picking batch begins, and the update of the dynamic picking storage area is associated with the single batch picking flow and single batch picking efficiency of the storage picking of any picking batch;

[0034] A dispatching control module, used for dispatching the transport robot to pick according to the currently set dynamic picking storage area;

[0035] Wherein, the picking scheduling includes:

[0036] When the manual sorting operation is performed on any picking batch of stored goods, the transport robot is prohibited from appearing in the currently set dynamic picking storage area;

[0037] When the currently set dynamic picking storage area is in an unmanned state where the manual sorting operation is not performed, the transport robot is dispatched to perform the collection and distribution transport operation, and the collection and distribution transport operation is used to realize the storage transfer of any picking batch of warehouse goods in and out of the currently set dynamic picking storage area.

[0038] In some examples, optionally, the collection and distribution operation occurs between: a storage location in the currently set dynamic picking storage area and a storage location in the storage space for storing any picked batch of stored goods; the device also includes an inventory management module for dynamically maintaining the storage locations in the storage space for storing stored goods outside the dynamic picking storage area.

[0039] In some examples, optionally, the scheduling control module is also used to: schedule the handling robot to perform a tally handling operation in response to an initial setting or a setting update of the dynamic picking storage area, and the tally handling operation is used to: transfer the warehouse goods stored in the storage location allocated to the dynamic picking storage area through the initial setting or the setting update to a storage location outside the dynamic picking storage area.

[0040] In some examples, optionally, the scheduling control module is specifically configured to: schedule the handling robot to perform the sorting and handling operation according to a cluster storage strategy; wherein the cluster storage strategy is used to cause warehouse goods of the same or related categories to be clustered and stored in a category cluster storage area outside the dynamic picking storage area.

[0041] In some examples, optionally, the setting parameters of the dynamic picking storage area include: the number of available storage locations in the dynamic picking storage area; wherein the number of available storage locations in the dynamic picking storage area is associated with a single batch picking flow of the warehouse picking of any picking batch.

[0042] In some examples, optionally, before the warehouse picking of any picking batch begins, the picking management module is also used to: update the number of available storage locations in the dynamic picking storage area to control the single batch picking flow.

[0043] In some examples, optionally, any picking batch of stored goods is determined by order screening from a pool of pending orders, and any picking batch of stored goods includes stored goods specified by at least one screened order; the screening conditions of the order screening include: the number of available storage locations in the dynamic picking storage area currently set, and configurable picking wave conditions; wherein: the picking wave conditions are used to characterize: among all the stored goods currently to be picked, the target batch number of picking batches required for the stored goods of at least one selected category of goods to complete the warehouse picking; the goods quantity of all the stored goods currently to be picked, and the target batch number are used to characterize the target demand value for the single batch picking flow for any picking batch determined by order screening.

[0044] In some examples, optionally, the setting parameters of the dynamic picking storage area include: the regional distribution position of the dynamic picking storage area; wherein, the regional distribution position of the dynamic picking storage area is associated with the single batch picking efficiency of the warehouse picking of any picking batch.

[0045] In some examples, optionally, before the warehouse picking of any picking batch begins, the picking management module is also used to: update the regional distribution position of the dynamic picking storage area to control the single batch picking efficiency.

[0046] In some examples, optionally, the storage locations outside the dynamic picking storage area are allocated according to a clustering storage strategy, and the clustering storage strategy is used to cause warehouse goods of the same or related categories to be clustered and stored in a category clustering storage area outside the dynamic picking storage area, and the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category clustering storage area is associated with the single batch picking efficiency; the picking management module updates the regional distribution position of the dynamic picking storage area to: achieve control of the single batch picking efficiency by adjusting the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category clustering storage area.

[0047] In some examples, optionally, any picking batch of stored goods is determined by screening orders from a pool of pending orders, and any picking batch of stored goods includes stored goods specified by at least one screened order; the screening conditions of the order screening include: picking goods category conditions; wherein the picking goods category conditions are used to characterize: the goods category corresponding to the stored goods that are given priority in implementing the warehouse picking.

[0048] In some examples, optionally, the scheduling control module is specifically configured to: realize the picking scheduling of the transport robot by maintaining the area status of the currently set dynamic picking storage area; wherein, the area status of the dynamic picking storage area is used to indicate whether the currently set dynamic picking storage area is implementing the manual sorting operation.

[0049] In some examples, optionally, the scheduling control module is specifically configured to: detect whether the area status of the dynamic picking storage area is locked as a manual protection state; if the area status of the dynamic picking storage area is locked as the manual protection state, then, determine that the currently set dynamic picking storage area is implementing the manual sorting operation; if the manual protection state of the dynamic picking storage area is unlocked, then, determine that the currently set dynamic picking storage area is in an unmanned state where the manual sorting operation is not implemented.

[0050] In another embodiment of the present application, a warehousing system is provided, including a control device and a handling robot deployed in a storage space, wherein the control device is used to implement the method described in the above embodiment.

[0051] In another embodiment of the present application, an electronic device is provided, including a processor, wherein the processor is used to implement the method described in the above embodiment.

[0052] In another embodiment of the present application, a non-transitory computer-readable storage medium is provided. The non-transitory computer-readable storage medium stores instructions. When the instructions are executed by a processor, the processor implements the method described in the above embodiment.

[0053] In another embodiment of the present application, a computer program product is provided, including computer executable instructions, which implement the method described in the above embodiment when executed by a processor.

[0054] As can be seen above, based on the embodiments of the present application, the handling of stored goods during the storage picking process can be achieved by a handling robot, so as to avoid storage picking with a picking efficiency lower than that of manual methods. On this basis, by setting a dynamic picking storage area that supports manual sorting operations in the storage space, a combined picking method of manual sorting and automatic handling can be achieved. Among them, the dynamic picking storage area set in the storage space is updateable, and the update of the dynamic picking storage area can be associated with the picking flow and picking efficiency of the storage picking, so that the picking flow can be adjusted to adapt to the flow demand and the picking efficiency can be optimized and controlled through the update of the dynamic picking storage area. Furthermore, the combined picking method of manual sorting and automatic handling implemented by setting a dynamic picking storage area in the storage space helps to take into account both the adaptability to changes in picking flow and the picking efficiency. In addition, the embodiments of the present application can also avoid the risk of human-machine collision in the combined picking method of manual sorting and automatic handling by prohibiting the transport robot from appearing in the dynamic picking storage area during manual sorting. Therefore, the adaptability to changes in picking flow and the consideration of multiple indicators of picking efficiency can be achieved without sacrificing the safety of warehouse picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The following drawings are only used to illustrate and explain the present application, and do not limit the scope of the present application:

[0056] Figure 1 This is a schematic diagram of an exemplary structure of a storage system in an embodiment of the present application;

[0057] Figure 2 This is a schematic diagram of an exemplary distribution of dynamic picking storage areas set in a warehousing system according to an embodiment of the present application;

[0058] Figure 3 A schematic diagram of the expanded distribution of dynamic picking storage areas set in a warehousing system according to an embodiment of the present application;

[0059] Figure 4 This is a schematic diagram of a first update example of a dynamic picking storage area set in a warehousing system according to an embodiment of the present application;

[0060] Figure 5 A schematic diagram of a second update example of a dynamic picking storage area set in a warehousing system according to an embodiment of the present application;

[0061] Figure 6 A schematic diagram of a third update example of a dynamic picking storage area set in a warehousing system according to an embodiment of the present application;

[0062] Figure 7 This is a schematic diagram of a first risk avoidance control example in a warehousing system according to an embodiment of the present application;

[0063] Figure 8 This is a schematic diagram of a second risk avoidance control example in a warehousing system according to an embodiment of the present application;

[0064] Fig. 9 This is an exemplary flowchart of a method for warehouse picking in an embodiment of the present application;

[0065] Fig.10 This is a schematic diagram of an exemplary structure of a device for warehouse picking in an embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0067] Figure 1 This is a schematic diagram of the shelf deployment structure in the storage space in the embodiment of this application. Figure 1 In an embodiment of the present application, the storage system may include storage shelves 10 and a handling robot deployed in a storage space. For example, the storage shelves 10 deployed in the storage space may include at least one row. For another example, the handling robot may include a track handling robot 20 and a ground handling robot 30.

[0068] For example, in an embodiment of the present application, the storage rack 10 may have a storage location 100 , which may be used to place stored goods, and the placement of the stored goods in the storage location 100 may be used to achieve storage of the stored goods.

[0069] For example, in an embodiment of the present application, a handling robot can be used to realize automatic handling of stored goods between different storage locations 100. The automatic handling of stored goods by the handling robot can be coordinated with sorting to realize storage picking of stored goods, and the automatic handling between different storage locations 100 realized by the handling robot can include taking and placing stored goods in the storage locations 100 at the starting position and the ending position of the handling, and the transfer of stored goods between the storage locations 100 at the starting position and the ending position of the handling.

[0070] For example, in the embodiment of the present application, any row of storage shelves 10 may have multiple storage locations 100 in the shelf width direction X and the shelf height direction Y, that is, the storage shelves 10 may include multiple storage locations 100 arranged in multiple rows and columns, and the row and column directions of the storage locations 100 may respectively correspond to the shelf width direction X and the shelf height direction Y of the storage shelves 10. In this case, the automatic handling of the stored goods by the handling robot may occur between different storage locations 100 in the same row of storage shelves 10.

[0071] For example, in the embodiment of the present application, the storage locations 100 of any row of storage shelves 10 can be used to accommodate turnover boxes, and the stored goods can be packaged in the turnover boxes to achieve placement in the storage locations 100 and automatic transportation between different storage locations 100. In this case, the stored goods can be protected by the turnover boxes during storage and automatic transportation.

[0072] Illustratively, in an embodiment of the present application, the storage space dimensions of any row of storage shelves 10 may be standardized. In this case, if turnover boxes are used to package the stored goods, the turnover boxes may have standardized dimensions that are compatible with the storage locations 100. Thus, not only can the turnover boxes be used to protect the stored goods, but the stored goods can also be stored and picked using the turnover boxes as standardized cargo units, thereby simplifying warehouse management.

[0073] For example, in the embodiment of the present application, if the storage management is implemented by taking the turnover box that encapsulates the stored goods as the cargo unit, then a single storage position 100 of the storage shelf 10 can be used to accommodate one or two turnover boxes. Among them, for the storage position 100 that can accommodate two turnover boxes in the storage shelf 10, the storage position 100 can have a storage position depth of accommodating two turnover boxes in the shelf thickness direction of the storage shelf 10, and the shelf thickness direction is perpendicular to the shelf width direction X and the shelf height direction Y, and the storage position 100 that can accommodate two turnover boxes can be called a double-depth storage position.

[0074] For example, in the embodiment of the present application, at least two rows of storage shelves 10 may be preferably deployed in the storage space, and the at least two rows of storage shelves 10 may be arranged in parallel in a direction perpendicular to the shelf width direction X and the shelf height direction Y, that is, the shelf arrangement direction Z of the at least two rows of storage shelves 10 may be perpendicular to the shelf width direction X and the shelf height direction Y. In this case, the automatic handling of the stored goods by the handling robot may occur between different storage locations 100 located on different storage shelves 10.

[0075] Exemplarily, in an embodiment of the present application, alleys may also be deployed in the storage space of the storage system. The alleys in the storage space may be distributed between any two adjacent rows of storage shelves 10, and / or at least two rows of storage shelves 10 are located outside the outermost row of storage shelves 10 in the shelf arrangement direction Z. At least one side of the shelf facade of any row of storage shelves 10 in the shelf thickness direction may be an open shelf facade adjacent to the alley, and the storage positions 100 of any row of storage shelves 10 are connected to the alley at the open shelf facade of the row of storage shelves 10 adjacent to the alley.

[0076] For example, in an embodiment of the present application, if the handling robot includes a track handling robot 20, the track handling robot 20 can utilize the space provided by the lane to be movably installed on the open shelf facade of any row of storage shelves 10, and by moving in the position of the open shelf facade of the row of storage shelves 10, automatic handling with the storage location 100 as the starting position or the end position of the handling can be realized (i.e., the picking and placing operation of the stored goods at the storage location 100, and the transfer with the storage location 100 as the starting position or the end position of the handling). Thus, the track handling robot 20 can be used to realize automatic handling between different storage locations 100 in the same row of storage shelves 10.

[0077] Exemplarily, in an embodiment of the present application, the track handling robot 20 in the handling robot may include a pair of horizontal tracks 21, a pair of vertical tracks 22, a handling pallet 23, and an operating arm 25. The horizontal tracks 21 may be arranged in pairs parallel to the shelf width direction X of the storage shelf 10, and the horizontal tracks 21 may be fixedly installed in pairs at the upper and lower edges of the open shelf facade of any row of storage shelves 10; the vertical tracks 22 may be arranged in pairs parallel to the shelf height direction Y of the storage shelves, and the vertical tracks 22 may be arranged in pairs at the open shelf facade of any row of storage shelves 10, and the upper and lower ends of any pair of vertical tracks 22 may be movably installed at the pair of horizontal tracks 21 at the upper and lower edges of the open shelf facade; the handling pallet 23 may be movably installed between the pair of vertical tracks 22. Thus, the vertical track 22 can drive the transport pallet 23 to move horizontally along the horizontal track 21 under the drive of the horizontal driving component 210, and the transport pallet 23 can also move vertically along the vertical track 22 under the drive of the vertical driving component 220. Furthermore, the transport pallet 23 can reach any storage position 100 of the storage shelf 10 through horizontal movement and / or vertical movement on the open shelf facade of the storage shelf 10 where the track transport robot 20 is located.

[0078] For example, in the embodiment of the present application, the robot arm 25 of the rail transport robot 20 can be located at the side of the transport pallet 23, and when the transport pallet 23 is in any storage position 100, the robot arm 25 can be driven by the arm drive assembly 230 to extend into or exit the storage position 100 in the depth direction perpendicular to the shelf facade, so as to realize the pick-and-place operation of the stored goods (such as the goods unit packaged in the turnover box) in the storage position 100. The pick-and-place operation of the stored goods (such as the goods unit packaged in the turnover box) refers to: the placement operation of the stored goods (such as the goods unit packaged in the turnover box) into the storage position 100, or the taking operation of the stored goods (such as the goods unit packaged in the turnover box) from the storage position 100.

[0079] For example, in an embodiment of the present application, if the stored goods are packaged as a cargo unit using a turnover box, the turnover box may have a pick-and-place matching structure that is convenient for being locked and released by the robot arm 25. For example, the box wall of the turnover box may have a suction cup that is convenient for being locked by the robot arm 25 in a magnetic way and released in a demagnetizing way. In addition, the movement stroke of the robot arm 25 in the depth direction of the shelf can be adapted to the depth dimension of the storage location 100, that is, if the storage location 100 of any row of storage shelves 10 is a double-deep storage location, then the robot arm 25 of the track handling robot 20 deployed on the open shelf facade of the row of storage shelves 10 has a movement stroke adapted to the depth dimension of the double-deep storage location.

[0080] For example, in the embodiment of the present application, for a storage space with a sufficiently large space height, the shelf height of the storage shelves 10 deployed therein may be allowed to exceed the vertical travel of the track handling robot 20, and the vertical travel is determined by the track length of the vertical track 22. In this case, the track handling robots 20 may also be deployed successively along the shelf height direction on the open shelf facade of the storage shelf 10, and the automatic transfer of stored goods may be achieved between the track handling robots 20 respectively deployed in the high storage area and the low storage area in the shelf height direction.

[0081] Exemplarily, in an embodiment of the present application, if the handling robot includes a ground handling robot 30, the ground handling robot 30 can use the alleys to realize free movement on the ground, and the ground handling robot 30 can realize automatic handover of stored goods with the rail handling robot 20. Thus, by utilizing the coordinated cooperation of the rail handling robot 20 and the ground handling robot 30, automatic handling between different storage locations 100 of different rows of storage shelves 10 can be realized.

[0082] For example, in an embodiment of the present application, the ground handling robot 30 may include a mobile chassis 31, a lifting and supporting mechanism 33 installed on the top of the mobile chassis 31, and a cargo carrying mechanism 35 supported by the lifting and supporting mechanism 33. The cargo carrying mechanism 35 is used to carry stored goods, and the lifting and supporting mechanism 33 can adjust the height of the cargo carrying mechanism 35. Moreover, through the height adjustment of the cargo carrying mechanism 35, the automatic transfer of stored goods (such as cargo units packaged in turnover boxes) between the rail handling robot 20 and the ground handling robot 30 can be achieved. For example, the specific manner of the automatic transfer of stored goods (such as cargo units packaged in turnover boxes) between the rail handling robot 20 and the ground handling robot 30 may include a direct transfer in which the mechanical arm 25 of the rail handling robot 20 directly picks up and places the stored goods on the cargo carrying mechanism 35 of the ground handling robot 30, or may also include an indirect transfer. Among them, the storage shelf 10 may be additionally provided with a transfer storage position at the bottom of the shelf below all the storage positions 100. In this case, the indirect handover method may refer to: by temporarily storing the stored goods at the transfer storage position at the bottom of the shelf of the storage shelf 10, the stored goods are automatically handed over between the rail handling robot 20 and the ground handling robot 30. The rail handling robot 20 may use the mechanical arm 25 to realize the pick-and-place operation of the automatically handed-over stored goods at the designated or transfer storage position, and the ground handling robot 30 may use the lifting and lowering of the goods carrying mechanism 35 under the transfer storage position to realize the pick-and-place operation of the automatically handed-over stored goods, which is not limited in the embodiment of the present application.

[0083] For example, in an embodiment of the present application, the warehousing system may further include a control device, which may be used to perform scheduling control on a handling robot (e.g., a rail handling robot 20 and a ground handling robot 30), and the scheduling control of the handling robot by the control device may include picking scheduling, and the picking scheduling of the handling robot may be used to realize automatic handling of stored goods (e.g., goods units packaged in turnover boxes) during the warehousing picking process. Since the handling efficiency of automatic handling is higher than that of manual handling, the embodiment of the present application can avoid the picking efficiency of warehousing picking being lower than that of manual methods.

[0084] Figure 2 This is an exemplary distribution diagram of the dynamic picking storage area set in the warehousing system according to the embodiment of the present application. Figure 2 In an embodiment of the present application, the control device can also be used to determine the dynamic picking storage area 50 currently set in the storage space, and the dynamic picking storage area 50 is used to implement manual sorting operations on stored goods, that is, warehouse picking can include manual sorting operations implemented in the dynamic picking storage area 50.

[0085] For example, in the embodiment of the present application, the dynamic picking storage area 50 can cover multiple adjacent storage locations 100 of any storage shelf 10, and the storage locations 100 in the dynamic picking storage area 50 can be used to temporarily store the warehouse goods (e.g., goods units packaged in turnover boxes) that are subject to warehouse picking, so that these warehouse goods can be manually sorted by placing (e.g., temporarily placing) the storage locations 100 in the dynamic picking storage area 50. Thus, the storage locations 100 in the embodiment of the present application can be selectively used to store or sort warehouse goods, that is, when the storage location 100 is located in the set dynamic picking storage area, the storage location 100 is used to sort the warehouse goods placed therein, but not to store the warehouse goods; when the storage location 100 is located outside the set dynamic picking storage area, the storage location 100 is still used to store the warehouse goods placed therein.

[0086] Exemplarily, in an embodiment of the present application, the dynamic picking storage location area can be considered as a virtual area for changing the storage location attributes, that is: the default attribute of each storage location 100 can be to represent a storage location for storing warehouse goods, and the storage location 100 with the default attribute can be called a storage location; when the storage location 100 is located in the set dynamic picking storage location area, the attribute of the storage location 100 can be configured to represent a temporary attribute for manual picking operations, and the storage location 100 that changes from the default attribute to a temporary attribute can be called a sorting storage location.

[0087] For example, in an embodiment of the present application, the setting of the dynamic picking storage area (or the attribute configuration of the storage location 100) can be implemented by using a control device. For example, the control device can provide a software operation interface for human-computer interaction, and the control device uses the human-computer interaction operation generated in the software operation interface to implement the setting of the dynamic picking storage area.

[0088] Exemplarily, in an embodiment of the present application, the human-computer interaction operation generated in the software operation interface can be used to input the storage shelf 10 where the dynamic picking storage area is located, and the distribution range (e.g., row and column range) of the storage locations 10 selected in the storage shelf 10 for implementing manual sorting operations.

[0089] Exemplarily, in an embodiment of the present application, a plurality of adjacent storage locations 100 covered by a dynamic picking storage location area 50 on any storage shelf 10 may be distributed in an array, that is, the dynamic picking storage location area 50 may include a storage location array selected from at least one row of storage shelves 100, and the row and column directions of the storage location array correspond to the shelf width direction X and the shelf height direction Y of the storage shelf 10, respectively.

[0090] Exemplarily, in an embodiment of the present application, if storage shelves 10 with as high a shelf height as possible are deployed in order to improve the space utilization of the storage space, that is, the shelf height of the storage shelf 10 is higher than the upper operating height limit of the manual sorting operation, then the setting conditions configured by the control device for the dynamic picking storage area 50 may include a height limit constraint condition in the shelf height direction Y, and the height limit constraint condition is used to limit the top row of storage locations of the storage location array of the dynamic picking storage area 50 in the shelf height direction Y to below the upper operating height limit of the manual picking operation.

[0091] Exemplarily, in an embodiment of the present application, if the control device configures a set condition for the dynamic picking storage area 50, then the set condition may not limit the distribution range of the storage location array of the dynamic picking storage area 50 in the shelf width direction X, that is, the two outermost columns of storage locations of the storage location array of the dynamic picking storage area 50 in the shelf width direction X may be allowed to be located at the shelf boundary of the storage shelf 10 in the shelf width direction X.

[0092] Figure 3 This is a schematic diagram of the expanded distribution of the dynamic picking storage area set in the warehousing system in the embodiment of the present application. Figure 3 In an embodiment of the present application, if at least two rows of storage shelves 10 are deployed in the storage space of the storage system, the dynamic picking storage area 50 may include or cover at least two storage location arrays respectively located at the at least two rows of storage shelves 10, and the at least two storage location arrays included or covered by the dynamic picking storage area 50 may be aligned along the shelf arrangement direction.

[0093] For example, in the embodiment of the present application, the operation space for implementing manual sorting operation in the dynamic picking storage area 50 may include or cover: the target facade area where the storage location 100 (i.e., the sorting storage location) in the dynamic picking storage area 50 is connected to the open shelf facade of the storage shelf 10 and the lane, and the target ground section of the lane passing through the target facade area along the shelf width direction X. Thus, the personnel performing the manual sorting operation can stand on the target ground section, and perform manual sorting operation on the stored goods through the storage location 100 (i.e., the sorting storage location) in the dynamic picking storage area 50 through the target facade area.

[0094] Illustratively, in an embodiment of the present application, the dynamic picking storage area 50 implements a deployment method for manual sorting operations, and can implement a combined picking method of manual sorting and automatic handling.

[0095] Exemplarily, in an embodiment of the present application, the stored goods in the storage space can be picked in batches, and the storage picking of any picking batch may include manual sorting operations implemented in the dynamic picking storage area 50, and collection and distribution operations implemented by a handling robot, that is, the storage picking of any batch can be achieved based on the coordination of collection and distribution operations and manual sorting operations implemented on the stored goods of the picking batch.

[0096] Exemplarily, in an embodiment of the present application, the automatic transportation implemented by the handling robot in the combined picking method may include a collection and distribution handling operation with each storage location 100 in the dynamic picking storage area 50 as the starting position or the end position of the transportation, that is, the dispatching control of the handling robot by the control device may include: controlling the handling robot (for example, controlling the track handling robot 20, or controlling the track handling robot 20 and the ground handling robot 30) to perform a collection and distribution handling operation with each storage location 100 in the dynamic picking storage area 50 as the starting position or the end position of the transportation, and the collection and distribution handling operation is used to realize the storage location transfer of any picking batch of stored goods into and out of the currently set dynamic picking storage area 50, and the collection and distribution handling operation can occur between: the storage location 100 (that is, the sorting storage location) in the currently set dynamic picking storage area 50, and the storage location 100 (that is, the storage location) in the storage space for storing stored goods (for example, the storage goods of the current picking batch).

[0097] For example, in an embodiment of the present application, the storage locations 100 in the storage space (e.g., the storage locations 100 outside the dynamic picking storage location area 50) can be allocated according to a cluster storage strategy, and the cluster storage strategy is used to cause the storage goods of the same or related goods categories to be clustered and stored in a category cluster storage location area outside the dynamic picking storage location area 50. The category cluster storage location area is a dynamic virtual partition, and the category cluster storage location area may include multiple storage locations allocated to the same or at least two related goods categories, and the multiple storage locations in the category cluster storage location area are preferably adjacent to each other, or partially discrete distribution is also allowed. Assuming that after a storage location is allocated to a stored good of a certain goods category, when subsequently allocating storage locations for other stored goods of the goods category or at least one other goods category associated with the goods category, the adjacent free storage locations or the interval free storage locations that are closest to the storage locations of the same goods category or the associated goods category may be preferentially selected. Thus, all the stored goods corresponding to the goods category or at least two associated goods categories of the goods category may be stored in a plurality of relatively concentrated (e.g., adjacent to each other or partially discrete) storage locations, i.e., a category clustered storage location area of ​​the goods category or at least two associated goods categories of the goods category may be dynamically formed.

[0098] Exemplarily, in an embodiment of the present application, for a case where the control device allocates storage locations 100 for warehouse goods according to a cluster storage strategy, it can be considered that the collection and distribution handling operation performed by the handling robot occurs between: the storage location 100 (i.e., the sorting storage location) in the currently set dynamic picking storage area 50, and the warehouse goods (e.g., the warehouse goods of the current picking batch) in the category cluster storage area of ​​the corresponding goods category. Storage location 100 (i.e., storage location).

[0099] For example, in an embodiment of the present application, the storage space can be zoned according to SKU (Stock Keeping Unit), and a category of stored goods of the same category, or at least two categories of stored goods associated with the category, can correspond to the same SKU, that is, the category of the stored goods can be represented by the SKU. In this case, the control device can allocate storage locations 100 for the stored goods according to the cluster storage strategy and SKU, so that the storage location 100 (i.e., storage location) for storing any stored goods in the storage space can be located in the category cluster storage location area of ​​the corresponding category of goods.

[0100] For example, in an embodiment of the present application, the setting of the dynamic picking storage area 50 can be updated before the storage picking of any picking batch begins. Figure 2 or Figure 3 As shown, the area boundary of the dynamic picking storage area 50 represented by the dotted box is variable in both the shelf width direction X and the shelf height direction Y.

[0101] For example, in the embodiment of the present application, the control device can also be used to dynamically maintain the storage locations 100 (i.e., storage locations) for storing stored goods in the storage space outside the updateable dynamic picking storage area 50. For example, the control device can be used to dynamically maintain each category cluster storage area to avoid the dynamic picking storage area 50, that is, there is no reused storage location 100 between any category cluster storage area and the dynamic picking storage area 50. Thus, the storage locations 100 included in or covered by the dynamic picking storage area 50 can be used to implement manual sorting operations.

[0102] Exemplarily, in an embodiment of the present application, the control device's dispatching control of the handling robot may also include a tally handling operation of clearing the dynamic picking storage area 50 before storage picking. For example, the control device may be used to: in response to the initial setting or setting update of the dynamic picking storage area 50, dispatch the handling robot to perform the tally handling operation, and the tally handling operation may be used to: transfer the warehouse goods stored in the storage location 100 (i.e., the storage location is changed from a storage location to a sorting location) allocated to the dynamic picking storage area 50 by the initial setting or setting update (e.g., the latest allocation due to this setting or this update) to the dynamic picking storage area 50 through the initial setting or setting update, to the storage location 100 (i.e., the storage location) outside the dynamic picking storage area 50.

[0103] Exemplarily, in an embodiment of the present application, the storage location 100 (i.e., storage location) outside the dynamic picking storage area 50, which is the end position of the handling operation of the tallying and handling operation, can be located in the category clustering storage area of ​​the corresponding goods category of the stored goods, that is, the control device can be specifically used to: dispatch the handling robot to perform the tallying and handling operation according to the clustering storage strategy; wherein the clustering storage strategy is used to cause the stored goods of the same or related goods category to be clustered and stored in the category clustering storage area outside the dynamic picking storage area. Thus, the stored goods stored in the storage location 100 of the dynamic picking storage area 50 allocated by initial setting or setting update (for example, the latest allocation due to this setting or this update) can be transferred to the storage location 100 (i.e., storage location) in the category clustering storage area corresponding to the corresponding goods category of the stored goods outside the dynamic picking storage area 50.

[0104] For example, in an embodiment of the present application, the setting of the dynamic picking storage area 50 can be updated before the start of storage picking of any picking batch, and the update of the dynamic picking storage area 50 can be associated with the single-batch picking flow and single-batch picking efficiency of storage picking of any picking batch. Thus, the picking flow can be adjusted to adapt to the flow demand and the picking efficiency can be optimized and controlled by updating the dynamic picking storage area 50. Furthermore, the combined picking method of manual sorting and automatic handling realized by setting the dynamic picking storage area 50 in the storage space helps to take into account both the adaptability to the changes in the picking flow and the picking efficiency.

[0105] Exemplarily, in an embodiment of the present application, the setting parameters of the control device for the dynamic picking storage area 50 may include: the number of available storage locations in the dynamic picking storage area 50. Among them, the number of available storage locations in the dynamic picking storage area 50 may be associated with (e.g., proportional to) the single batch picking flow of the storage picking of any picking batch. In this case, the control device may update (e.g., update based on human-computer interaction operations) the number of available storage locations in the dynamic picking storage area 50 before the storage picking of any picking batch begins, so as to control the single batch picking flow of the picking batch that is about to start storage picking.

[0106] Exemplarily, in an embodiment of the present application, the control device can also be used to determine any picking batch of stored goods using orders. For example, any picking batch of stored goods can be determined by screening orders from a pool of pending orders, and any picking batch of stored goods includes stored goods specified by at least one screened order.

[0107] For example, in an embodiment of the present application, if the control device uses an order to determine any picking batch of warehouse goods, the screening conditions for order screening may include: the number of available storage locations in the currently set dynamic picking storage area 50, and configurable picking wave conditions. The configuration of the picking wave conditions can be achieved through human-computer interaction, and the picking wave conditions are used to characterize: the target number of picking batches required to complete warehouse picking for warehouse goods corresponding to at least one selected category of goods among all warehouse goods currently to be picked; the quantity of all warehouse goods currently to be picked, and the target number of batches can be used to characterize the target demand value for single batch picking flow for any picking batch determined by order screening.

[0108] Exemplarily, in an embodiment of the present application, if the control device uses an order to determine any picking batch of warehouse goods, the control device may first determine whether the corresponding goods category of the warehouse goods specified in the order has a wave condition set. For example, the warehouse goods of the goods category with a wave condition may belong to the hot-selling goods with a current high sales rate, and orders for warehouse goods of the goods category with a wave condition may be given priority. The control device may give priority to screening orders in a manner that meets the wave conditions, so that the hot-selling goods with the maximum batch quantity requirement for the target demand value of the single-batch picking flow are given priority in warehouse picking.

[0109] Figure 4 This is a schematic diagram of a first update example of a dynamic picking storage area set in a warehousing system according to an embodiment of the present application. Figure 4 , assuming that the orders for warehouse goods corresponding to at least one category of goods suddenly increase in a certain period of time, then it can be considered that the warehouse goods are currently hot-selling goods, and wave conditions can be set for the goods category with sudden increase in orders through human-machine operation, and the update of the number of available storage locations in the dynamic picking storage area 50 can be triggered (it may simultaneously trigger the dynamic maintenance of the category cluster storage area). Figure 4 In the example, all storage locations in the category cluster storage area 61 corresponding to the goods category with a sudden increase in orders in the storage space are adjacent to each other, and the category cluster storage area 61 and the currently set dynamic picking storage area 50 are located in the same row of storage shelves 10.

[0110] like Figure 4 As shown, updating the number of available storage locations in the dynamic picking storage area 50 can increase the number of available storage locations in the dynamic picking storage area 50, so that the number of warehouse goods transported per unit time in the collection and distribution operation between the category clustering storage area 61 and the dynamic picking storage area 50 can be increased due to the increase in the number of available storage locations in the dynamic picking storage area 50, that is, the transportation flow of the collection and distribution operation between the category clustering storage area 61 and the dynamic picking storage area 50 can be increased. On this basis, as long as the personnel configuration for performing manual sorting operations is increased, the sorting flow of manual sorting operations can be increased. Furthermore, the increase in the transportation flow of the collection and distribution operation and the sorting flow of the manual sorting operation can improve the picking efficiency of warehouse picking.

[0111] Exemplarily, in an embodiment of the present application, the setting parameters of the dynamic picking storage area 50 may include: the regional distribution position of the dynamic picking storage area 50. Among them, the regional distribution position of the dynamic picking storage area 50 may be associated with the single batch picking efficiency of the warehouse picking of any picking batch. In this case, the control device may update (for example, update based on human-computer interaction operation) the regional distribution position of the dynamic picking storage area 50 before the warehouse picking of any picking batch begins, so as to control the single batch picking efficiency of the picking batch that is about to start warehouse picking. Among them, the regional distribution position may refer to the distribution position set of all storage locations included or covered by the dynamic picking storage area 50.

[0112] Exemplarily, in an embodiment of the present application, if the storage locations 100 in the storage space are allocated according to the cluster storage strategy, then the position deviation between the regional distribution position of the dynamic picking storage area 50 and the regional distribution position of the category cluster storage area of ​​any goods category is associated with (for example, inversely proportional to) the single batch picking efficiency of the picking batch of the warehouse goods including the goods category. In this case, the control device updates the regional distribution position of the dynamic picking storage area 50, which can be used to: by adjusting the position deviation between the regional distribution position of the dynamic picking storage area 50 and the regional distribution position of the category cluster storage area of ​​any goods category, to achieve control of the single batch picking efficiency of any picking batch of the warehouse goods including the goods category.

[0113] Exemplarily, in an embodiment of the present application, if the control device determines any picking batch of warehouse goods using an order, the screening conditions for order screening may include: a picking goods category condition. The picking goods category condition may be used to characterize: the goods category of the warehouse goods that are prioritized for warehouse picking. For example, the picking goods category condition may be configured through human-computer interaction, that is, the goods category indicated in the picking goods category condition that is prioritized for warehouse picking may be configured through human-computer interaction, such as using SKU configuration.

[0114] Exemplarily, in the implementation of the present application, if the control device uses an order to determine any picking batch of stored goods, and gives priority to selecting the stored goods indicated by the picking goods category conditions when determining the picking batch of stored goods, then by adjusting (or limiting) the position deviation between the regional distribution position of the dynamic picking storage area 50 and the regional distribution position of the category clustering storage area of ​​the goods category specified by the picking goods category conditions, the single batch picking efficiency of any picking batch of stored goods including the goods category can be improved.

[0115] Figure 5 This is a schematic diagram of a second update example of a dynamic picking storage area set in a warehousing system according to an embodiment of the present application. Figure 5, assuming that the orders for warehouse goods of at least one category of goods suddenly increase in a certain period of time, then it can be considered that the warehouse goods are currently hot-selling goods, and the warehouse goods of at least one category of goods can be given priority in warehouse picking by configuring the picking category conditions, and trigger the update of the regional distribution position of the dynamic picking storage area 50 (which may simultaneously trigger the dynamic maintenance of the category cluster storage area). Figure 5 In the example, all storage locations in the category cluster storage area 62 corresponding to at least one category of goods with a sudden increase in orders in the storage space are adjacent to each other, and the category cluster storage area 62 and the currently set dynamic picking storage area 50 are located in the same row of storage shelves 10.

[0116] like Figure 5 As shown, the adjustment of the regional distribution position of the dynamic picking storage area 50 can make the dynamic picking storage area 50 closer to the category cluster storage area 62 of the goods category indicated by the picked goods category condition to be prioritized for storage picking, and away from the category cluster storage area 63 corresponding to another goods category on the same row of storage shelves 10. Therefore, for the goods category indicated by the picked goods category condition to be prioritized for storage picking, the handling stroke of the collection and distribution handling operation implemented by the handling robot can be limited to as small as possible to improve the handling efficiency, and then, the single batch picking efficiency of storage picking can be improved.

[0117] Figure 6 This is a schematic diagram of a third update example of a dynamic picking storage area set in a warehousing system according to an embodiment of the present application. Figure 6 , the regional distribution position update of the dynamic picking storage area 50 is also applicable to different storage shelves 10, that is, Figure 6 In the embodiment, the adjustment of the regional distribution position of the dynamic picking storage area 50 can make the dynamic picking storage area 50 closer to the category cluster storage area 64 of the goods category indicated by the picked goods category condition to be prioritized for storage picking, and away from the category cluster storage area 65 corresponding to another goods category on a different storage shelf 10. Figure 5 Similar, for Figure 6 The condition of the category of goods to be picked indicates the category of goods that are given priority for warehouse picking. The handling stroke of the distribution and handling operation implemented by the handling robot can be limited to as small as possible to improve the handling efficiency, and then the single batch picking efficiency of warehouse picking can be improved.

[0118] Illustratively, in an embodiment of the present application, warehouse picking is achieved by using a combined picking method of manual sorting and automatic handling, and it is also necessary to avoid the risk of human-machine collision between personnel performing manual picking operations and handling robots.

[0119] Figure 7This is a schematic diagram of a first risk avoidance control example in a warehousing system according to an embodiment of the present application. Figure 8 This is a schematic diagram of a second risk avoidance control example in a warehousing system according to an embodiment of the present application. Figure 7 and Figure 8 In an embodiment of the present application, in order to avoid the risk of human-machine collision, the control device may perform picking scheduling on the transport robot according to the currently set dynamic picking storage area 50, and the picking scheduling of the transport robot by the control device may include:

[0120] When the warehouse goods of any picking batch are manually sorted, the transport robots (such as the track transport robot 20 and the ground transport robot 30) are prohibited from appearing in the currently set dynamic picking storage area 50;

[0121] When the currently set dynamic picking storage area is in an unmanned state where no manual sorting operation is performed, the dispatching handling robots (such as the rail handling robot 20 and the ground handling robot 30) are configured to perform the collection and distribution handling operation, and the collection and distribution handling operation is used to realize the storage transfer of any picking batch of warehouse goods in and out of the currently set dynamic picking storage area 50.

[0122] Thus, the embodiments of the present application can avoid the risk of human-machine collision in the combined picking method of manual sorting and automatic handling by prohibiting the handling robots (such as the rail handling robot 20 and the ground handling robot 30) from appearing in the dynamic picking storage area 50 during manual sorting, thereby achieving the adaptability to the changes in picking flow and the consideration of multiple indicators of picking efficiency without sacrificing the safety of warehouse picking.

[0123] Exemplarily, in an embodiment of the present application, the control device may include the following steps for scheduling the picking of the transport robot according to the currently set dynamic picking storage area 50: by maintaining the area status of the currently set dynamic picking storage area 50, thereby achieving the picking scheduling of the transport robot; wherein, the area status of the dynamic picking storage area may be used to characterize whether the currently set dynamic picking storage area 50 is implementing manual sorting operations.

[0124] Exemplarily, in the embodiments of the present application, the control device can maintain the regional state of the currently set dynamic picking storage area 50 by maintaining the preset manual protection state. For example, the control device can be specifically used to: detect whether the regional state of the dynamic picking storage area 50 is locked as the manual protection state; if the regional state of the dynamic picking storage area 50 is currently locked as the manual protection state, then it is determined that the currently set dynamic picking storage area 50 is implementing a manual sorting operation; if the manual protection state of the dynamic picking storage area is currently unlocked, then it is determined that the currently set dynamic picking storage area 50 is in an unmanned state where no manual sorting operation is being implemented.

[0125] Exemplarily, in an embodiment of the present application, the maintenance of the regional status of the dynamic picking storage area (such as locking and unlocking the manual protection status) can be controlled by human-computer interaction. For example, the human-computer interaction can be implemented by a warehouse picking administrator.

[0126] Exemplarily, in an embodiment of the present application, prohibiting the handling robots (such as the rail handling robots 20 and the ground handling robots 30) from appearing in the currently set dynamic picking storage area 50 may mean that the moving range of the handling robots (such as the rail handling robots 20 and the ground handling robots 30) is restricted to outside the operating space of the manual sorting operation at the dynamic picking storage area 50, that is, the handling robots (such as the rail handling robots 20 and the ground handling robots 30) are restricted to move within the range outside the operating space of the manual sorting operation at the dynamic picking storage area 50.

[0127] Exemplarily, in an embodiment of the present application, the operating space of the manual sorting operation may include or cover: the target facade area where the storage location 100 (i.e., the sorting storage location) in the dynamic picking storage area 520 is connected to the open shelf facade of the storage shelf 10 and the aisle, and the target ground section of the aisle passing through the target facade area along the shelf width direction X.

[0128] Exemplarily, in an embodiment of the present application, if the transport robot includes a track transport robot 20, then, when any picking batch of stored goods is subject to manual sorting operations, the track transport robot 20 that is prohibited from appearing in the currently set dynamic picking storage area 50 can be restricted to a target facade area. The vertical movement range of the open shelf facade of the storage shelf 10 can be limited.

[0129] Exemplarily, in an embodiment of the present application, if the handling robot includes a ground handling robot, then when any picking batch of stored goods is subjected to manual sorting operations, the ground movement range of the ground handling robot 30 that is prohibited from appearing in the currently set dynamic picking storage area 50 can be restricted outside the target ground section.

[0130] For example, in an embodiment of the present application, warehouse picking may include inbound picking and outbound picking. Inbound picking refers to the warehouse picking process of storing goods from outside the storage space into the storage space, and in the process of inbound picking of any picking batch of goods, the collection and distribution operation implemented by the handling robot can be triggered and executed in an unmanned state after the manual picking operation of the dynamic picking storage area 50 is completed; outbound picking refers to the warehouse picking process of transferring goods from the storage space to outside the storage space, and in the process of outbound picking of any picking batch of goods, the collection and distribution operation implemented by the handling robot can be triggered and executed in an unmanned state before the manual picking operation of the dynamic picking storage area 50 begins.

[0131] For example, in an embodiment of the present application, if a turnover box is used to package the stored goods, then:

[0132] In the process of warehousing picking of any picking batch of stored goods, the manual sorting operation may include the manual box sealing operation of packaging the stored goods into an empty turnover box, and the manual placement operation of placing the loaded turnover box with the stored goods packaged into the storage position 100 (i.e., the sorting storage position) of the dynamic picking storage area 50, and the picking and transporting operation performed by the transport robot may occur during: the unmanned state of the currently set dynamic picking storage area 50 after all the manual placement operations of the stored goods of the picking batch are completed;

[0133] In the process of outbound picking of stored goods of any picking batch, the manual sorting operation may include the manual taking operation of taking out the cargo turnover box packaged with the stored goods from the storage location 100 (i.e., the sorting storage location) of the dynamic picking storage area 50, and the manual unsealing operation of unsealing and taking out the stored goods in the cargo turnover box, and the picking and handling operation performed by the handling robot may occur during the unmanned state of the currently set dynamic picking storage area 50 before the manual taking operation of the stored goods of the picking batch is implemented.

[0134] Exemplarily, in an embodiment of the present application, if turnover boxes are used to package stored goods, any storage space 100 in the storage space can store empty turnover boxes when it is in an empty state without stored goods, rather than having to be completely empty without any items.

[0135] For example, in an embodiment of the present application, if a turnover box is used to package the stored goods, then:

[0136] In the process of warehousing and picking of any picking batch of warehouse goods, the manual box sealing operation in the manual sorting operation can occur in the dynamic picking storage area 50, and the manual box sealing operation in the manual sorting operation can also be used to take out the empty turnover box in any storage position 100 (i.e., the sorting storage position) of the dynamic picking storage area 50, and the manual placement operation in the manual sorting operation can also be used to put the cargo turnover box obtained by the manual box sealing operation back to any storage position 100 (i.e., the sorting storage position) in the dynamic picking storage area 50 without a turnover box (for example, taken out by the manual box sealing operation);

[0137] During the outbound picking process of any picking batch of warehouse goods, the manual unsealing operation in the manual sorting operation can occur in the dynamic picking storage area 50, and the manual unsealing operation in the manual sorting operation can be used to put the empty turnover boxes after the manual unsealing operation back to any storage location 100 (i.e., the sorting storage location) in the dynamic picking storage area 50 where there is no turnover box (for example, taken out by manual picking operation).

[0138] For example, in the embodiments of the present application, if the warehouse goods are packaged in turnover boxes, then, as an alternative:

[0139] In the process of warehousing and picking of any picking batch of stored goods, the manual box sealing operation in the manual sorting operation can occur outside the storage space, and the manual placement operation in the manual sorting operation can replace the empty box in any storage position 100 (i.e., the sorting storage position) of the dynamic picking storage area 50 by replacing the cargo turnover box obtained by the manual box sealing operation with the empty turnover box in the dynamic picking storage area 50, so as to realize the placement of the cargo turnover box in the storage position 100 (i.e., the sorting storage position) of the dynamic picking storage area 50;

[0140] During the outbound picking process of any picking batch of stored goods, the manual unsealing operation in the manual sorting operation can occur outside the storage space, and the manual taking operation in the manual sorting operation can use the empty turnover box to replace the loaded turnover box in any storage location 100 (i.e., the sorting storage location) of the dynamic picking storage area 50, so as to realize the removal of the loaded turnover box from any storage location 100 (i.e., the sorting storage location) of the dynamic picking storage area 50.

[0141] For example, in the embodiments of the present application, the combined picking method of manual sorting and automatic handling may not require the deployment of sorting platforms in the storage space. In this case, the storage system may not need to deploy sorting platforms in the storage space, thereby avoiding the decrease in storage space utilization due to the deployment of sorting platforms, and further taking into account the adaptability to changes in picking flow and multiple indicators of picking efficiency while further taking into account storage space utilization.

[0142] For example, in the embodiments of the present application, even if the combined picking method of manual sorting and automatic handling does not require the deployment of a sorting platform in the storage space, the storage system may allow the deployment of a sorting platform in the storage space. In this case, the combined picking method of manual sorting and automatic handling can coexist with the automatic storage picking based on the sorting platform. For example, if the picking flow of the storage space in a certain period of time is lower than or equal to the processing flow of the sorting platform, then only the automatic storage picking based on the sorting platform can be used; if the picking flow of the storage space in a certain period of time is higher than the processing flow of the sorting platform, then the combined picking method of manual sorting and automatic handling and the automatic storage picking based on the sorting platform are used at the same time. For another example, if one or several categories of stored goods are hot-selling goods at any time period, then, regardless of whether the picking flow of the storage space at a certain time period exceeds the processing flow of the sorting table, a combination of manual sorting and automatic handling, as well as automatic warehouse picking based on the sorting table are used simultaneously during the time period, wherein the combination of manual sorting and automatic handling is used for picking hot-selling goods, and the picking of non-hot-selling goods adopts automatic warehouse picking based on the sorting table. It can be understood that the examples given here are intended to indicate that the combination of manual sorting and automatic handling does not exclude automatic warehouse picking based on the sorting table, and are not intended to make unnecessary restrictions on the coexistence of the combination of manual sorting and automatic handling and the automatic warehouse picking based on the sorting table.

[0143] Fig. 9 This is an exemplary flow chart of the method for warehouse picking in the embodiment of the present application. Fig. 9 In an embodiment of the present application, a method for warehouse picking is provided, which may be similar to the working method of the control device in the warehouse system described above, and the method may include:

[0144] S910: Determine the dynamic picking storage area currently set in the storage space; wherein, the storage goods in the storage space are stored and picked in batches, and the storage and picking of any picking batch includes manual sorting operations implemented in the dynamic picking storage area, and distribution and handling operations implemented by a handling robot. The setting of the dynamic picking storage area can be updated before the start of storage and picking of any picking batch, and the update of the dynamic picking storage area is related to the single-batch picking flow and single-batch picking efficiency of the storage and picking of any picking batch.

[0145] For example, in the embodiments of the present application, the explanation of the dynamic picking storage area determined by S910 can be found in the previous description of the warehousing system, which will not be repeated here.

[0146] Exemplarily, in an embodiment of the present application, the transport robot may include a rail transport robot and a ground transport robot. For details, please refer to the above description of the warehousing system, which will not be repeated here.

[0147] S930: According to the currently set dynamic picking storage area, the handling robot is picked and scheduled; wherein, the picking and scheduling of the handling robot includes: when the warehouse goods of any picking batch are subject to manual sorting operations, the handling robot is prohibited from appearing in the currently set dynamic picking storage area; and when the currently set dynamic picking storage area is in an unmanned state where no manual sorting operations are performed, the handling robot is scheduled to perform collection and distribution operations, and the collection and distribution operations are used to realize the storage transfer of warehouse goods of any picking batch into and out of the currently set dynamic picking storage area.

[0148] For example, in an embodiment of the present application, the stored and transported warehouse goods can be packaged into cargo units by turnover boxes. For the explanation of the cargo units, please refer to the above description of the warehouse system, which will not be repeated here.

[0149] For example, in the embodiments of the present application, prohibiting a transport robot (such as a track transport robot and a ground transport robot) from appearing in a currently set dynamic picking storage area may mean that the movement range of the transport robot (such as a track transport robot and a ground transport robot) is limited outside the operating space of the manual sorting operation at the dynamic picking storage area. In addition, the description of the operating space of the manual sorting operation can refer to the description of the warehousing system above, which will not be repeated here.

[0150] Exemplarily, in an embodiment of the present application, warehouse picking may include inbound picking and outbound picking, and the order in which manual sorting operations and distribution and handling operations occur during inbound picking and outbound picking can be found in the previous description of the warehousing system and will not be repeated here.

[0151] Based on the above method of the embodiment of the present application, the handling of stored goods during the storage picking process can be achieved by a handling robot, so as to avoid storage picking with a picking efficiency lower than that of manual methods. On this basis, by setting a dynamic picking storage area that supports manual sorting operations in the storage space, a combined picking method of manual sorting and automatic handling can be achieved. Among them, the dynamic picking storage area set in the storage space is updateable, and the update of the dynamic picking storage area can be associated with the picking flow and picking efficiency of the storage picking, so that the picking flow can be adjusted to adapt to the flow demand and the picking efficiency can be optimized and controlled through the update of the dynamic picking storage area. Furthermore, the combined picking method of manual sorting and automatic handling implemented by setting a dynamic picking storage area in the storage space helps to take into account the adaptability to changes in picking flow and picking efficiency. In addition, the embodiments of the present application can also avoid the risk of human-machine collision in the combined picking method of manual sorting and automatic handling by prohibiting the transport robot from appearing in the dynamic picking storage area during manual sorting. Therefore, the adaptability to changes in picking flow and the consideration of multiple indicators of picking efficiency can be achieved without sacrificing the safety of warehouse picking.

[0152] Exemplarily, in an embodiment of the present application, a combined picking method of manual sorting and automatic handling may not require the deployment of a sorting table in the storage space, or may coexist with automatic storage picking based on a sorting table. Therefore, the method for storage picking in an embodiment of the present application can support the independent use of a combined picking method of manual sorting and automatic handling, as well as the coexistence of the combined picking method and automatic storage picking based on a sorting table.

[0153] Exemplarily, in an embodiment of the present application, the collection and distribution handling operation performed by the handling robot may occur between: the storage location in the currently set dynamic picking storage area and the storage location in the storage space for storing any picking batch of storage goods. In this case, the method for storage picking in the embodiment of the present application may also include: dynamically maintaining the storage location in the storage space for storing the storage goods outside the dynamic picking storage area. For example, if, as described above, the storage locations in the storage space are allocated according to the clustering storage strategy, then dynamically maintaining the storage locations in the storage space for storing the storage goods outside the dynamic picking storage area may include: dynamically maintaining the category clustering storage area of ​​each category of goods to avoid outside the dynamic picking storage area, that is, there is no reused storage location between the category clustering storage area of ​​each category of goods and the dynamic picking storage area. Thus, the storage locations included or covered by the dynamic picking storage area can be used to implement manual sorting operations.

[0154] Exemplarily, in an embodiment of the present application, the method for warehouse picking can dynamically maintain the category clustering storage area of ​​each cargo category to avoid the dynamic picking storage area in the following manner: in response to the initial setting or setting update of the dynamic picking storage area, the handling robot is dispatched to perform the tallying and handling operation, and the tallying and handling operation is used to: transfer the warehouse goods stored in the storage location allocated to the dynamic picking storage area by the initial setting or setting update (for example, the latest allocation due to this setting or this update) to the storage location outside the dynamic picking storage area.

[0155] Exemplarily, in an embodiment of the present application, the method for warehouse picking can schedule a handling robot to perform tallying and handling operations based on a clustering storage strategy, and the clustering storage strategy is used to cause warehouse goods of the same or related goods categories to be clustered and stored in a category clustering storage area outside the dynamic picking storage area. Thus, the tallying and handling operation initiated according to the clustering storage strategy can transfer the warehouse goods stored in the storage locations in the dynamic picking storage area that are allocated by initial setting or setting update (for example, the latest allocation due to this setting or this update) to the storage locations in the category clustering storage area corresponding to the corresponding goods category of the warehouse goods outside the dynamic picking storage area.

[0156] For example, in an embodiment of the present application, the setting parameters of the dynamic picking storage area may include: the number of available storage locations in the dynamic picking storage area, and at least one of the regional distribution positions. The number of available storage locations in the dynamic picking storage area may be associated with (e.g., proportional to) the single-batch picking flow rate of storage picking of any picking batch; the regional distribution position of the dynamic picking storage area may be associated with the single-batch picking efficiency of storage picking of any picking batch.

[0157] Illustratively, in an embodiment of the present application, the method for warehouse picking may further include: updating a dynamic picking storage area before starting warehouse picking of any picking batch.

[0158] Exemplarily, in an embodiment of the present application, the method for warehouse picking may update the dynamic picking storage area by at least one of the following:

[0159] Before the storage picking of any picking batch begins, the number of available storage locations in the dynamic picking storage area is updated to control the single batch picking flow of the storage picking of the picking batch;

[0160] Before the start of warehouse picking for any picking batch, the regional distribution position of the dynamic picking storage area is updated to control the single batch picking efficiency of the warehouse picking for the picking batch.

[0161] Exemplarily, in an embodiment of the present application, any picking batch of stored goods can be determined by order screening from a pool of pending orders, and any picking batch of stored goods includes stored goods specified by at least one screened order. In this case, the screening conditions for order screening may include: the number of available storage locations in the currently set dynamic picking storage area, and configurable picking wave conditions. Furthermore, if storage locations are allocated to stored goods in the storage space based on a clustering storage strategy, the picking wave conditions can be used to characterize: among all the stored goods currently to be picked, the target number of picking batches required to complete the storage picking of stored goods corresponding to at least one selected category of goods, and the quantity of all the stored goods currently to be picked, and the target batch number can be used to characterize the target demand value for a single batch picking flow for any picking batch determined by order screening.

[0162] Exemplarily, in an embodiment of the present application, if the control device uses an order to determine any picking batch of warehouse goods, then the method for warehouse picking can first determine whether the corresponding goods category of the warehouse goods specified in the order is set with a wave condition. For example, the warehouse goods of the goods category with a wave condition may belong to the hot-selling goods with a current high sales rate, and orders for warehouse goods of the goods category with a wave condition can be given priority. The method for warehouse picking can give priority to screening orders in a manner that meets the wave conditions, so that the hot-selling goods with the maximum batch quantity requirement for the target demand value of the single batch picking flow are given priority for warehouse picking.

[0163] Exemplarily, in an embodiment of the present application, the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category clustering storage area of ​​any goods category is associated with (for example, inversely proportional to) the single batch picking efficiency of the picking batch of the warehouse goods including the goods category. In this case, the update of the regional distribution position of the dynamic picking storage area by the method for warehouse picking in the embodiment of the present application can be used to: by adjusting the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category clustering storage area of ​​any goods category, achieve control of the single batch picking efficiency of any picking batch of the warehouse goods including the goods category.

[0164] Exemplarily, in an embodiment of the present application, if any picking batch of stored goods is determined by order screening from a pool of pending orders, and any picking batch of stored goods includes stored goods specified by at least one screened order, then the screening conditions of the order screening include: picking goods category conditions. Among them, the picking goods category conditions can be used to characterize: the corresponding goods category of the stored goods that are given priority for warehouse picking. For example, the picking goods category conditions can be configured through human-computer interaction, that is, the goods category indicated in the picking goods category conditions that are given priority for warehouse picking can be configured by human-computer interaction (for example, using SKU configuration).

[0165] Exemplarily, in an embodiment of the present application, S930 of the method for warehouse picking may include: realizing picking scheduling of a handling robot by maintaining the regional status of a currently set dynamic picking storage area; wherein the regional status of the dynamic picking storage area may be used to indicate whether the currently set dynamic picking storage area is implementing a manual sorting operation. wherein the regional status of the dynamic picking storage area may be used to indicate whether the currently set dynamic picking storage area is implementing a manual sorting operation.

[0166] Exemplarily, in an embodiment of the present application, S930 of the method for warehouse picking realizes the process of picking scheduling by maintaining the area status of the currently set dynamic picking storage area, and may include: detecting whether the area status of the dynamic picking storage area 50 is locked as a manual protection state; if the area status of the dynamic picking storage area is currently locked as a manual protection state, then it is determined that the currently set dynamic picking storage area is implementing a manual sorting operation; if the manual protection state of the dynamic picking storage area is currently unlocked, then it is determined that the currently set dynamic picking storage area is in an unmanned state where no manual sorting operation is implemented.

[0167] Fig.10 This is an exemplary structural diagram of a device for warehouse picking in an embodiment of the present application. Fig.10 In an embodiment of the present application, a device for warehouse picking is provided, which may include a picking management module 1010 and a scheduling control module 1030.

[0168] Exemplarily, in an embodiment of the present application, the picking management module 1010 can be used to: determine the dynamic picking storage area currently set in the storage space; wherein, the stored goods in the storage space are picked in batches, and the storage picking of any picking batch includes manual sorting operations implemented in the dynamic picking storage area, and distribution and handling operations implemented by a handling robot. The setting of the dynamic picking storage area can be updated before the start of storage picking of any picking batch, and the update of the dynamic picking storage area is associated with the single batch picking flow and single batch picking efficiency of the storage picking of any picking batch.

[0169] For example, in the embodiment of the present application, the explanation of the dynamic picking storage area determined by the picking management module 1010 can be found in the previous description of the warehousing system, which will not be repeated here.

[0170] Exemplarily, in an embodiment of the present application, the transport robot may include a rail transport robot and a ground transport robot. For details, please refer to the above description of the warehousing system, which will not be repeated here.

[0171] Exemplarily, in an embodiment of the present application, the scheduling control module 1030 may include: scheduling the picking of the handling robot according to the currently set dynamic picking storage area; wherein, the picking scheduling of the handling robot includes: when any picking batch of stored goods is subject to manual sorting operations, prohibiting the handling robot from appearing in the currently set dynamic picking storage area; and, when the currently set dynamic picking storage area is in an unmanned state where no manual sorting operations are performed, scheduling the handling robot to perform collection and distribution operations, and the collection and distribution operations are used to realize the storage transfer of any picking batch of stored goods into and out of the currently set dynamic picking storage area.

[0172] For example, in an embodiment of the present application, the stored and transported warehouse goods can be packaged into cargo units by turnover boxes. For the explanation of the cargo units, please refer to the above description of the warehouse system, which will not be repeated here.

[0173] For example, in the embodiments of the present application, prohibiting a transport robot (such as a track transport robot and a ground transport robot) from appearing in a currently set dynamic picking storage area may mean that the movement range of the transport robot (such as a track transport robot and a ground transport robot) is limited outside the operating space of the manual sorting operation at the dynamic picking storage area. In addition, the description of the operating space of the manual sorting operation can refer to the description of the warehousing system above, which will not be repeated here.

[0174] Exemplarily, in an embodiment of the present application, warehouse picking may include inbound picking and outbound picking, and the order in which manual sorting operations and distribution and handling operations occur during inbound picking and outbound picking can be found in the previous description of the warehousing system and will not be repeated here.

[0175] Based on the above-mentioned device of the embodiment of the present application, the transportation of stored goods during the storage picking process can be achieved by a transport robot, so as to avoid storage picking with a picking efficiency lower than that of manual methods. On this basis, by setting a dynamic picking storage area that supports manual sorting operations in the storage space, a combined picking method of manual sorting and automatic transportation can be achieved. Among them, the dynamic picking storage area set in the storage space is updateable, and the update of the dynamic picking storage area can be associated with the picking flow and picking efficiency of the storage picking, so that the picking flow can be adjusted to adapt to the flow demand and the picking efficiency can be optimized and controlled through the update of the dynamic picking storage area. Furthermore, the combined picking method of manual sorting and automatic transportation implemented by setting a dynamic picking storage area in the storage space helps to take into account the adaptability to changes in picking flow and picking efficiency. In addition, the embodiments of the present application can also avoid the risk of human-machine collision in the combined picking method of manual sorting and automatic handling by prohibiting the transport robot from appearing in the dynamic picking storage area during manual sorting. Therefore, the adaptability to changes in picking flow and the consideration of multiple indicators of picking efficiency can be achieved without sacrificing the safety of warehouse picking.

[0176] Exemplarily, in an embodiment of the present application, a combined picking method of manual sorting and automatic handling may not require the deployment of a sorting table in the storage space, or may coexist with automatic storage picking based on a sorting table. Therefore, the device for storage picking in an embodiment of the present application can support the independent use of a combined picking method of manual sorting and automatic handling, as well as the coexistence of the combined picking method and automatic storage picking based on a sorting table.

[0177] Exemplarily, in an embodiment of the present application, the collection and distribution handling operation performed by the handling robot may occur between: a storage location in the currently set dynamic picking storage location area and a storage location in the storage space for storing any picking batch of stored goods. In this case, the device for storage picking in the embodiment of the present application may also include an inventory management module 1050, which is used to: dynamically maintain the storage location in the storage space for storing stored goods outside the dynamic picking storage location area. For example, if, as described above, the inventory management module 1050 implements the allocation of storage locations in the storage space according to the cluster storage strategy, then, dynamically maintaining the storage location in the storage space for storing stored goods outside the dynamic picking storage location area may include: dynamically maintaining the category clustering storage location area of ​​each category of goods to avoid outside the dynamic picking storage location area, that is, there is no reused storage location in the category clustering storage location area and the dynamic picking storage location area of ​​any category of goods. Thereby, all storage locations included or covered by the dynamic picking storage area can be used to implement manual sorting operations.

[0178] Exemplarily, in an embodiment of the present application, the scheduling control module 1030 can dynamically maintain the category clustering storage area of ​​each cargo category to avoid the dynamic picking storage area in the following manner: in response to the initial setting or setting update of the dynamic picking storage area, the handling robot is scheduled to perform the tallying and handling operation, and the tallying and handling operation is used to: transfer the warehouse goods stored in the storage location allocated to the dynamic picking storage area by the initial setting or setting update (for example, the latest allocation due to this setting or this update) to the storage location outside the dynamic picking storage area.

[0179] Exemplarily, in an embodiment of the present application, the scheduling control module 1030 can schedule the handling robot to perform the sorting and handling operation according to the clustering storage strategy, and the clustering storage strategy is used to cause the warehouse goods of the same or related categories to be clustered and stored in the category clustering storage area outside the dynamic picking storage area. Thus, the sorting and handling operation initiated according to the clustering storage strategy can transfer the warehouse goods stored in the storage location of the dynamic picking storage area allocated by initial setting or setting update (for example, the latest allocation due to this setting or this update) to the storage location of the corresponding category of the warehouse goods in the category clustering storage area outside the dynamic picking storage area.

[0180] Exemplarily, in an embodiment of the present application, the picking management module 1010 may also be used to update the dynamic picking storage area before the warehouse picking of any picking batch begins.

[0181] Exemplarily, in an embodiment of the present application, the setting parameters of the dynamic picking storage area may include: the number of available storage locations in the dynamic picking storage area, and the number of available storage locations in the dynamic picking storage area may be associated with (for example, proportional to) the single batch picking flow of storage picking of any picking batch. In this case, the collection and distribution handling operation performed by the handling robot may occur between: the storage locations in the currently set dynamic picking storage area and the storage locations in the storage space for storing the storage goods of any picking batch; and the scheduling control module 1030 of the device for storage picking may also be used to: update the number of available storage locations in the dynamic picking storage area before the storage picking of any picking batch begins, so as to control the single batch picking flow of storage picking of the picking batch.

[0182] Exemplarily, in an embodiment of the present application, any picking batch of stored goods can be determined by order screening from a pool of pending orders (for example, determined by the inventory management module 1050), and any picking batch of stored goods includes stored goods specified by at least one screened order. In this case, the screening conditions for order screening may include: the number of available storage locations in the currently set dynamic picking storage area, and configurable picking wave conditions. Furthermore, if storage locations are allocated to stored goods in the storage space according to a clustering storage strategy, the picking wave conditions can be used to characterize: among all the stored goods currently to be picked, the target number of picking batches required for the storage goods corresponding to at least one selected category of goods to complete the storage picking, and the quantity of all the stored goods currently to be picked, and the target number of batches can be used to characterize the target demand value for a single batch picking flow for any picking batch determined by order screening.

[0183] Exemplarily, in an embodiment of the present application, if the control device uses an order to determine any picking batch of warehouse goods, then the inventory management module 1050 of the device for warehouse picking can: first determine whether the corresponding goods category of the warehouse goods specified in the order is set with a wave condition. For example, the warehouse goods of the goods category with a wave condition may belong to the hot-selling goods with a higher current sales rate, and orders for warehouse goods of the goods category with a wave condition can be given priority. The inventory management module 1050 can give priority to screening orders in a manner that meets the wave conditions, so that the hot-selling goods with the maximum batch quantity requirement for the target demand value of the single batch picking flow are given priority for warehouse picking.

[0184] Exemplarily, in an embodiment of the present application, the setting parameters of the dynamic picking storage area may include: the regional distribution position of the dynamic picking storage area, and the regional distribution position of the dynamic picking storage area can be associated with the single batch picking efficiency of warehouse picking of any picking batch.

[0185] Exemplarily, in an embodiment of the present application, the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category clustering storage area of ​​any goods category is associated with (for example, inversely proportional to) the single batch picking efficiency of the picking batch of the warehouse goods including the goods category. In this case, the updating of the regional distribution position of the dynamic picking storage area by the picking management module 910 can be used to: by adjusting the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category clustering storage area of ​​any goods category, realize the control of the single batch picking efficiency of any picking batch of the warehouse goods including the goods category.

[0186] Exemplarily, in an embodiment of the present application, if the inventory management module 1050 determines any picking batch of stored goods by screening orders from the pool of pending orders, and any picking batch of stored goods includes stored goods specified by at least one screened order, then the screening conditions of the order screening include: picking goods category conditions. Among them, the picking goods category conditions can be used to characterize: the corresponding goods category of the stored goods that are given priority for warehouse picking. For example, the picking goods category conditions can be configured through human-computer interaction, that is, the goods category indicated in the picking goods category conditions that are given priority for warehouse picking can be configured by human-computer interaction (for example, using SKU configuration).

[0187] For example, in an embodiment of the present application, the scheduling control module 1030 can be specifically configured to: realize the picking scheduling of the handling robot by maintaining the regional status of the currently set dynamic picking storage area; wherein the regional status of the dynamic picking storage area can be used to indicate whether the currently set dynamic picking storage area is implementing a manual sorting operation. wherein the regional status of the dynamic picking storage area can be used to indicate whether the currently set dynamic picking storage area is implementing a manual sorting operation.

[0188] Exemplarily, in an embodiment of the present application, the scheduling control module 1030 can be specifically configured to: detect whether the area status of the dynamic picking storage area 50 is locked as a manual protection state; if the area status of the dynamic picking storage area is currently locked as a manual protection state, then it is determined that the currently set dynamic picking storage area is implementing a manual sorting operation; if the manual protection state of the dynamic picking storage area is currently unlocked, then it is determined that the currently set dynamic picking storage area is in an unmanned state where no manual sorting operation is implemented.

[0189] In another embodiment of the present application, a warehousing system is provided, including a control device and a handling robot deployed in a storage space, wherein the control device is used to implement the method described in the above embodiment.

[0190] In another embodiment of the present application, an electronic device is provided, including a processor, wherein the processor is used to implement the method described in the above embodiment.

[0191] In another embodiment of the present application, a non-transitory computer-readable storage medium is provided. The non-transitory computer-readable storage medium stores instructions. When the instructions are executed by a processor, the processor implements the method described in the above embodiment.

[0192] In another embodiment of the present application, a computer program product is provided, including computer executable instructions, which implement the method described in the above embodiment when executed by a processor.

[0193] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for warehouse picking, characterized in that: include: Determine the dynamic picking storage area currently set in the storage space; wherein the storage goods in the storage space are stored and picked in batches, and the storage and picking of any picking batch includes manual sorting operations implemented in the dynamic picking storage area and distribution and handling operations implemented by a handling robot, and the setting of the dynamic picking storage area can be updated before the storage and picking of any picking batch begins, and the update of the dynamic picking storage area is associated with the single-batch picking flow and single-batch picking efficiency of the storage and picking of any picking batch; According to the currently set dynamic picking storage area, the transport robot is dispatched for picking; Wherein, the picking scheduling includes: When the manual sorting operation is performed on any picking batch of stored goods, the transport robot is prohibited from appearing in the currently set dynamic picking storage area; When the currently set dynamic picking storage area is in an unmanned state where the manual sorting operation is not performed, the transport robot is dispatched to perform the collection and distribution transport operation, and the collection and distribution transport operation is used to realize the storage transfer of any picking batch of warehouse goods in and out of the currently set dynamic picking storage area.

2. The method according to claim 1, characterized in that The collection and distribution handling operation occurs between: the storage location in the currently set dynamic picking storage area and the storage location in the storage space for storing any picked batch of storage goods; The method further includes: dynamically maintaining storage locations in the storage space for storing stored goods outside the dynamic picking storage location area.

3. The method according to claim 2, characterized in that The storage locations in the storage space used for storing warehouse goods are dynamically maintained outside the dynamic picking storage location area, including: in response to the initial setting or setting update of the dynamic picking storage location area, scheduling the handling robot to perform tallying and handling operations, and the tallying and handling operations are used to: transfer the warehouse goods stored in the storage locations allocated to the dynamic picking storage location area through initial setting or setting update to storage locations outside the dynamic picking storage location area.

4. The method according to claim 3, characterized in that The scheduling of the transport robot to perform the tallying and handling operation includes: scheduling the transport robot to perform the tallying and handling operation according to a clustering storage strategy; wherein the clustering storage strategy is used to cause warehouse goods of the same or related categories to be clustered and stored in a category clustering storage area outside the dynamic picking storage area.

5. The method according to claim 1, characterized in that The setting parameters of the dynamic picking storage area include: the number of available storage spaces in the dynamic picking storage area; Among them, the number of available storage locations in the dynamic picking storage area is associated with the single batch picking flow of the warehouse picking of any picking batch.

6. The method according to claim 5, characterized in that Before the warehouse picking of any picking batch begins, the method further includes: The number of available storage locations in the dynamic picking storage area is updated to control the single batch picking flow.

7. The method according to claim 6, characterized in that The storage goods of any picking batch are determined by screening orders from a pool of pending orders, and the storage goods of any picking batch include the storage goods specified by at least one screened order; The screening conditions of the order screening include: the number of available storage locations in the currently set dynamic picking storage area, and the configurable picking wave conditions; in: The picking wave condition is used to represent: among all the warehouse goods to be picked, the target number of picking batches required for completing the warehouse picking corresponding to the warehouse goods of at least one selected category of goods; The goods quantity of all stored goods to be picked currently and the target batch quantity are used to characterize the target demand value for the single batch picking flow of any picking batch determined by the order screening.

8. The method according to claim 1, characterized in that The setting parameters of the dynamic picking storage area include: the regional distribution position of the dynamic picking storage area; Among them, the regional distribution position of the dynamic picking storage area is associated with the single batch picking efficiency of the warehouse picking of any picking batch.

9. The method according to claim 8, characterized in that Before the warehouse picking of any picking batch begins, the method further includes: Update the regional distribution position of the dynamic picking storage area to control the single batch picking efficiency.

10. The method according to claim 9, characterized in that The storage locations outside the dynamic picking storage area are allocated according to a cluster storage strategy, and the cluster storage strategy is used to cause warehouse goods of the same or related categories to be clustered and stored in a category cluster storage area outside the dynamic picking storage area, and the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category cluster storage area is associated with the single batch picking efficiency; The method updates the regional distribution position of the dynamic picking storage area, and is used to: control the single batch picking efficiency by adjusting the position deviation between the regional distribution position of the dynamic picking storage area and the regional distribution position of the category clustering storage area.

11. The method according to claim 10, characterized in that The storage goods of any picking batch are determined by screening orders from a pool of pending orders, and the storage goods of any picking batch include the storage goods specified by at least one screened order; The screening conditions of the order screening include: picking goods category conditions; The picking goods category condition is used to represent: the goods category corresponding to the warehouse goods that are preferentially subject to the warehouse picking.

12. The method according to claim 1, characterized in that The picking and dispatching of the transport robot according to the currently set dynamic picking storage area includes: The picking scheduling of the transport robot is realized by maintaining the regional status of the currently set dynamic picking storage area; Among them, the area status of the dynamic picking storage area is used to indicate whether the currently set dynamic picking storage area is implementing the manual sorting operation.

13. The method according to claim 12, characterized in that The picking scheduling of the transport robot is realized by maintaining the regional status of the currently set dynamic picking storage area, including: Detecting whether the area status of the dynamic picking storage area is locked as a manual protection state; If the area state of the dynamic picking storage area is locked as the manual protection state, it is determined that the currently set dynamic picking storage area is implementing the manual sorting operation; If the manual protection state of the dynamic picking storage area is unlocked, it is determined that the currently set dynamic picking storage area is in an unmanned state where the manual sorting operation is not performed.

14. A device for warehouse picking, characterized in that: include: A picking management module, used to determine the dynamic picking storage area currently set in the storage space; wherein the storage goods in the storage space are stored and picked in batches, and the storage picking of any picking batch includes manual sorting operations implemented in the dynamic picking storage area and distribution and handling operations implemented by a handling robot, and the setting of the dynamic picking storage area can be updated before the storage picking of any picking batch begins, and the update of the dynamic picking storage area is associated with the single batch picking flow and single batch picking efficiency of the storage picking of any picking batch; A dispatching control module, used for dispatching the transport robot to pick according to the currently set dynamic picking storage area; Wherein, the picking scheduling includes: When the manual sorting operation is performed on any picking batch of stored goods, the transport robot is prohibited from appearing in the currently set dynamic picking storage area; When the currently set dynamic picking storage area is in an unmanned state where the manual sorting operation is not performed, the transport robot is dispatched to perform the collection and distribution transport operation, and the collection and distribution transport operation is used to realize the storage transfer of any picking batch of warehouse goods in and out of the currently set dynamic picking storage area.

15. A storage system, characterized in that: It comprises a control device and a handling robot deployed in a storage space, wherein the control device is used to implement the method as claimed in any one of claims 1 to 13.

16. An electronic device, characterized in that: The method comprises a processor configured to implement the method according to any one of claims 1 to 13.

17. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium stores instructions which, when executed by a processor, cause the processor to implement the method of any one of claims 1 to 13.

18. A computer program product, characterized in that The method comprises computer executable instructions which, when executed by a processor, implement the method according to any one of claims 1 to 13.

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