Warehousing control method and device, related equipment and warehousing system

Abstract

The invention relates to a storage control method and device, related equipment and a storage system, the method and device are applied to a control system, the control system is connected with a mechanical system arranged in a storage space and a storage management system corresponding to the storage space, and a task request sent by the storage management system is obtained; and generating a mechanical control instruction based on the task request, so that the mechanical system performs mechanical operation in the storage space based on the mechanical control instruction to obtain a task execution result. On the basis, the control system is connected with the mechanical system arranged in the storage space and the storage management system corresponding to the storage space, so that the control system, the mechanical system and the storage management system included in the storage system are intercommunicated and interconnected, the automation degree of the storage system is improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of warehouse control technology, and in particular to a warehouse control method, device, related equipment and a warehouse system. Background Art

[0002] As a key link in the logistics chain, warehousing has received increasing attention for its automation and intelligence levels. Traditional warehousing methods mostly rely on manual operations, which have problems such as low efficiency and high error rates. To this end, a warehousing system needs to be designed, but the existing warehousing system has a low degree of automation, resulting in a poor user experience. Summary of the invention

[0003] The embodiments of the present application provide a warehouse control method, device, electronic device, storage medium, computer program product and warehouse system, which interconnect the control system with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space, so that the control system, mechanical system and warehouse management system included in the warehouse system are interconnected, thereby improving the degree of automation of the warehouse system and improving the user experience.

[0004] The embodiment of the present application provides a warehouse control method, which is applied to a control system, wherein the control system is interconnected with a mechanical system arranged in a storage space and a warehouse management system corresponding to the storage space; the method comprises:

[0005] Obtaining the task request sent by the warehouse management system;

[0006] Based on the task request, a mechanical control instruction is generated so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain a task execution result.

[0007] Accordingly, an embodiment of the present application provides a storage control device, which is applied to a control system, wherein the control system is interconnected with a mechanical system arranged in a storage space, and a storage management system corresponding to the storage space; the device comprises:

[0008] A task request acquisition module, used to acquire the task request sent by the warehouse management system;

[0009] The instruction generation module is used to generate a mechanical control instruction based on the task request, so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain a task execution result.

[0010] The embodiment of the present application further provides a warehouse control method, which is applied to a warehouse management system, wherein the warehouse management system corresponds to a storage space, and through the above control system, the warehouse management system is interconnected with a mechanical system arranged in the storage space; the method comprises:

[0011] Receive a warehouse management request for a target item;

[0012] Based on the warehouse management request, a task request for the target item is generated, and the task request is sent to the control system.

[0013] Accordingly, an embodiment of the present application provides a warehouse control device, which is applied to a warehouse management system, wherein the warehouse management system corresponds to a storage space, and through the above control system, the warehouse management system is interconnected with a mechanical system arranged in the storage space; the device comprises:

[0014] A warehouse management request receiving module, used for receiving a warehouse management request for a target item;

[0015] The task request generating module is used to generate a task request for the target item based on the warehouse management request, and send the task request to the control system.

[0016] The embodiment of the present application further provides a warehouse control method, which is applied to a mechanical system, wherein the mechanical system is arranged in a storage space, the mechanical system includes at least one mechanical device, the mechanical system is connected to the control system, and the control system is connected to the warehouse management system; the method includes:

[0017] receiving a mechanical control instruction from the control system through a target mechanical device;

[0018] Obtaining a task execution result by performing mechanical operation in the storage space based on the mechanical control instruction by the target mechanical equipment;

[0019] The task execution result is returned to the control system.

[0020] Accordingly, an embodiment of the present application provides a warehouse control device, which is applied to a mechanical system, wherein the mechanical system is arranged in a storage space, the mechanical system includes at least one mechanical device, the mechanical system is connected to the above control system, and the control system is connected to the above warehouse management system; the device includes:

[0021] A mechanical control instruction receiving module, used for receiving a mechanical control instruction from the control system through a target mechanical device;

[0022] A task execution result generating module, used for obtaining a task execution result by performing mechanical operation in the storage space based on the mechanical control instruction by the target mechanical equipment;

[0023] The task execution result returning module is used to return the task execution result to the control system.

[0024] In addition, an embodiment of the present application also provides an electronic device, including one or more processors and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the warehouse control method provided in the embodiment of the present application.

[0025] In addition, an embodiment of the present application also provides a storage medium, which stores a computer program. When the computer program runs on an electronic device, the computer program is used to enable the electronic device to execute any one of the warehouse control methods provided in the embodiment of the present application.

[0026] In addition, an embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any one of the warehouse control methods provided in the embodiments of the present application.

[0027] In addition, an embodiment of the present application also provides a warehousing system, including a warehousing management system, a control system, and a mechanical system, the control system is interconnected with the mechanical system arranged in the storage space, and the warehousing management system corresponding to the storage space, or the above-mentioned warehousing control device, or the above-mentioned electronic device, or the above-mentioned storage medium, or the above-mentioned computer program product.

[0028] In the embodiment of the present application, the control system is applied to the mechanical system set in the storage space and the warehouse management system corresponding to the storage space, and the control system is interconnected with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space, and the task request sent by the warehouse management system is obtained; based on the task request, a mechanical control instruction is generated, so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction, and obtains the task execution result. Based on this, the control system is interconnected with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space, so that the control system, mechanical system and warehouse management system contained in the storage system are interconnected, thereby improving the automation level of the storage system and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 This is a schematic diagram of an implementation environment scenario of the warehouse control method provided in the embodiments of the present application;

[0031] Figure 2It is a schematic diagram of another implementation environment scenario of the warehouse control method provided in the embodiment of the present application;

[0032] Figure 3 It is a flow chart of a storage control method applied to a control system provided by an embodiment of the present application;

[0033] Figure 4 It is a flowchart of a warehouse control method applied to a warehouse management system provided by an embodiment of the present application;

[0034] Figure 5 It is a flowchart of a storage control method applied to a mechanical system provided by an embodiment of the present application;

[0035] Figure 6 It is a flow chart of a storage control method applied to a mechanical system provided by an embodiment of the present application;

[0036] Figure 7 It is a structural schematic diagram of a storage control device for controlling a system provided by an embodiment of the present application;

[0037] Figure 8 It is a structural schematic diagram of a warehouse control device applied to a warehouse management system provided by an embodiment of the present application;

[0038] Fig. 9 is a structural schematic diagram of a storage control device applied to a mechanical system provided by an embodiment of the present application;

[0039] Fig.10 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0041] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood as implying relative importance.

[0042] The embodiments of the present application provide a warehouse control method, device, electronic device, storage medium, computer program product, and warehouse system. The warehouse control device can be applied to any system in the warehouse system, that is, the warehouse control device can be applied to the control system, the warehouse management system, and the mechanical system. Taking the warehouse control device applied to the control system as an example, the warehouse control device can be integrated in an electronic device, which can be a server, a terminal, and other devices.

[0043] Among them, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), as well as big data and artificial intelligence platforms.

[0044] The terminal may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server may be directly or indirectly connected via wired or wireless communication, and this application does not limit this.

[0045] See also Figure 1 , taking the integration of warehouse control devices into electronic equipment as an example, Figure 1 A schematic diagram of an implementation scenario of the warehouse control method provided in an embodiment of the present application.

[0046] The electronic device can be applied to a control system, which is interconnected with a mechanical system set in a storage space and a storage management system corresponding to the storage space. By acquiring a task request sent by the storage management system, a mechanical control instruction is generated based on the task request, so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction, and a task execution result is obtained.

[0047] It should be noted that the control system is interconnected with the mechanical system set up in the storage space and the storage management system corresponding to the storage space. It is used to make the control system, mechanical system and storage management system contained in the storage system interconnected, thereby improving the degree of automation of the storage system and improving the user experience.

[0048] When the warehousing system faces big data, the control system can set up a unified load balancing strategy, data governance system, standardized interface, gateway, data cache and other means. Without adjusting the warehouse management system and mechanical system, the automation level of the warehousing system can be improved, as well as the scalability, flexibility and convenience of the warehousing system, while reducing costs and improving user experience.

[0049] The electronic device can also be applied to a warehouse management system, which corresponds to a warehouse space. Through the above control system, the warehouse management system is connected to a mechanical system set in the warehouse space. By receiving a warehouse management request for a target item, generating a task request for the target item based on the warehouse management request, and sending the task request to the control system.

[0050] It should be noted that the warehouse management system refers to a management system that integrates technologies such as the Internet of Things and big data to achieve real-time monitoring, data analysis, and optimized scheduling of the warehousing process. The warehouse management system includes a data acquisition module, a data analysis module, and an optimized scheduling module. The data acquisition module uses sensors, cameras, and other equipment to collect various types of data at the warehouse site in real time; the data analysis module uses big data technology to process and analyze these data to generate warehouse efficiency reports and optimization suggestions; the optimized scheduling module intelligently schedules the handling tasks of the robotic arm based on the analysis results to improve the overall warehouse efficiency.

[0051] Taking the logistics application field as an example, before warehouse control, it is necessary to select a suitable warehouse management system to realize functions such as automatic material identification, data recording, tracking and management. At the same time, the warehouse management system also needs to record relevant information of the warehouse (such as planning layout, access channels, shelf layout, working area of ​​automation equipment, item information), and automation equipment (such as automated stackers, conveyors, handling robots, RFID readers, barcode scanners, VR glasses, cameras, etc.). The specific content can be adjusted according to the actual scenario.

[0052] The electronic device can also be applied to a mechanical system, which is set in a storage space, includes at least one mechanical device, is connected to the control system, and is connected to the storage management system. The mechanical control instruction from the control system is received through the target mechanical device; the target mechanical device performs mechanical operations in the storage space based on the mechanical control instruction to obtain the task execution result; and the task execution result is returned to the control system.

[0053] It should be noted that the mechanical system refers to an assembly of mechanical equipment used to complete tasks in a storage space. The mechanical system may include manipulators, guide vehicles, robots, automatic palletizers and other equipment, which can be adjusted according to actual conditions and are not limited in the embodiments of this application.

[0054] For example, the manipulator consists of a high-precision servo motor, a visual positioning system, a force sensor, and a controller. The high-precision servo motor provides precise position, speed, and acceleration control to ensure that the movement of the manipulator is accurate. Through the camera and image processing technology, the image information of the target object is captured, and feature extraction, target recognition, and position calculation are performed (such as capturing the image information of the target object through a high-definition camera or other visual equipment installed on the manipulator, and using the image processing algorithm to process the collected image data to identify the characteristics of the object. According to the results of object recognition, the manipulator calculates the appropriate grasping path and angle through the motion planning algorithm). Through the force sensor installed on the end effector of the manipulator, the force feedback during the grasping process is detected in real time to ensure that the grasping force is appropriate (such as after determining the grasping path and angle, the manipulator controls the opening and closing action of the end effector to achieve accurate grasping of the object. At the same time, the force sensor detects the force feedback during the grasping process in real time. If the grasping force is detected to be too large or too small, the control system will adjust the output torque of the servo motor in time to ensure the appropriate grasping force and avoid damage to the object). The overall control of the robotic arm is achieved through a controller that integrates motion planning algorithms, servo control algorithms, etc.

[0055] See also Figure 2 , taking the integration of storage control devices into storage systems as an example, Figure 2 A schematic diagram of another implementation scenario of the warehouse control method provided in an embodiment of the present application.

[0056] The storage system includes a storage management system, a control system, and a mechanical system. The control system is interconnected with the mechanical system arranged in the storage space and the storage management system corresponding to the storage space.

[0057] It should be noted that there are many application fields of the storage system, such as logistics, medical field, etc. It can be adjusted according to actual conditions, and the embodiments of the present application are not limited. The storage space is adjusted according to the specific application field of the storage system. For example, when the specific application field of the storage system is the logistics field, the storage space can be a logistics warehouse. For another example, when the specific application field of the storage system is the medical field, the storage space can be a hospital.

[0058] The control system obtains the task request sent by the warehouse management system; based on the task request, generates a mechanical control instruction so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction, obtains the task execution result, and returns the task execution result to the warehouse management system.

[0059] The warehouse management system receives warehouse management requests from the manufacturing execution system (MES) or manual processing; based on the warehouse management request, it generates a task request and sends the task request to the control system. The manufacturing execution system is interconnected with the application service provider (ASP), and the manufacturing execution system is interconnected with the warehouse management system through the application service provider.

[0060] The mechanical system may include a manipulator and an automated guided vehicle (AGV) working in collaboration. The manipulator and / or the guide vehicle receive mechanical control instructions from the control system; the corresponding manipulator and / or the guide vehicle perform mechanical operations in the storage space based on the mechanical control instructions to obtain task execution results; and the task execution results are returned to the control system so that the control system returns the task execution results to the warehouse management system. Among them, the manipulator can also combine visual technology to improve the accuracy of mechanical operations. For example, a radio frequency identification tag (RFID) is attached to the object, and the object is quickly identified through an RFID reader. At the same time, computer vision technology is used to perform image recognition on the object. Combined with a deep learning algorithm, accurate positioning of the object is achieved, so that the manipulator can accurately grasp the object.

[0061] It should be noted that Figure 1 and Figure 2 The implementation environment scenario diagram of the warehouse control method shown is only an example. The implementation environment scenario of the warehouse control method described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. It is known to those skilled in the art that with the evolution of data processing and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0062] The solutions provided by the embodiments of the present application are specifically described by the following embodiments. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0063] It should be noted that as a key link in the logistics chain, warehousing has received increasing attention for its automation and intelligence level. Traditional warehousing methods mostly rely on manual operations, which have problems such as low efficiency and high error rate. Therefore, developing an efficient, accurate and automated warehousing system is of great significance to improving the overall efficiency of the logistics industry.

[0064] However, the existing automated warehousing systems require advanced automated equipment and software support, such as automated warehouses, AGVs, RFID, etc. The procurement, installation and maintenance costs of these devices are usually high, which may be difficult for some small and medium-sized enterprises to afford. At the same time, due to network delays, equipment failures and other reasons, information transmission delays may still occur, affecting the real-time nature of information. Due to the rigidity of the automated warehousing system design, the automated warehousing system may lack sufficient flexibility to quickly adjust and optimize the operation process when faced with sudden changes in business needs. Once the system fails or crashes, it may lead to problems such as operation interruption and cargo backlog, causing losses to the company.

[0065] In order to solve the above problems, the present application provides a storage control method. The storage control method is applied to a control system, which is interconnected with a mechanical system set up in a storage space and a storage management system corresponding to the storage space. Figure 3 , Figure 3 1 is a flow chart of a warehouse control method applied to a control system provided in an embodiment of the present application. The warehouse control method may include the following steps S101 to S102:

[0066] Step S101: Obtain a task request sent by a warehouse management system.

[0067] Among them, the task request refers to a request initiated by the warehouse management system in the warehouse system that requires the mechanical system to cooperate in executing the task.

[0068] There may be many types of task requests, which may be adjusted according to actual conditions, and are not limited in the embodiments of the present application. For example, task requests include item inbound task requests, item outbound task requests, warehouse transfer requests, and inventory requests.

[0069] There are many ways to obtain the task request sent by the warehouse management system, which can be adjusted according to the actual situation, and the embodiments of the present application do not limit it. For example, the warehouse management system is monitored by the control system, and when the control system monitors that the warehouse management system receives the warehouse management request, the task request generated by the warehouse management system based on the warehouse management request is obtained. For another example, the task request initiated by the warehouse management system to the control system is received through a certain interface of the control system.

[0070] Step S102: Generate a mechanical control instruction based on the task request, so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain a task execution result.

[0071] Among them, the mechanical control instruction refers to the instruction used to control the mechanical system to perform mechanical operations.

[0072] There are many types of mechanical control instructions, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit them. For example, mechanical control instructions include guide vehicle motion control instructions, manipulator motion control instructions, manipulator grabbing instructions, manipulator placement instructions, etc.

[0073] The warehouse control method applied to the control system in the embodiment of the present application is adopted. The control system is interconnected with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space, and the task request sent by the warehouse management system is obtained; based on the task request, a mechanical control instruction is generated so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain the task execution result. Based on this, the control system is interconnected with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space, so that the control system, mechanical system and warehouse management system contained in the storage system are interconnected, thereby improving the automation level of the storage system and improving the user experience.

[0074] In some optional embodiments, the mechanical system is provided with a plurality of mechanical devices. The mechanical devices may be a plurality of mechanical devices of the same type or a plurality of mechanical devices of different types, which may be adjusted according to actual conditions and are not limited in the embodiments of the present application.

[0075] In this embodiment, the process of generating a mechanical control instruction based on a task request includes: based on the task request, determining at least one target mechanical device required to execute the task corresponding to the task request from multiple mechanical devices in the mechanical system; generating a mechanical control instruction based on the task request and the target mechanical device.

[0076] The target mechanical device refers to the mechanical device in the mechanical system that executes the task request. The mechanical control instruction may be a specific instruction for controlling the target mechanical device.

[0077] Among them, the number of target mechanical equipment can be only one or more, which is adjusted according to the task request corresponding to the task, and the embodiment of the present application does not limit it. When there are multiple target mechanical equipment, a mechanical control instruction can be used only to control one target mechanical equipment. A mechanical control instruction can also be used to control multiple target mechanical equipment at the same time. A mechanical control instruction can also be used to control a target mechanical equipment, and when the target mechanical equipment fails, switch to control other spare target performance equipment to perform mechanical operations.

[0078] It should be noted that the target mechanical equipment may include necessary mechanical equipment or alternative mechanical equipment, wherein the alternative mechanical equipment refers to the mechanical equipment that can replace the target mechanical equipment to complete the task corresponding to the task request when a certain target mechanical equipment is occupied by a process and cannot complete the task corresponding to the task request.

[0079] There are many ways to determine the target mechanical equipment, which can be adjusted according to actual conditions and are not limited in the embodiments of the present application.

[0080] For example, based on a task request, the process of determining at least one target mechanical device required to execute the task corresponding to the task request from multiple mechanical devices of a mechanical system may be: obtaining idle mechanical devices of the mechanical system and the execution priority of the idle mechanical devices, and based on the task request and the priority of the idle mechanical devices, selecting at least one target mechanical device required to execute the task corresponding to the task request from the idle mechanical devices.

[0081] For another example, based on a task request, the process of determining, from among the multiple mechanical devices of the mechanical system, at least one target mechanical device required to execute the task corresponding to the task request may also be: parsing the task request to obtain multiple subtasks; and determining, from among the multiple mechanical devices of the mechanical system, the target mechanical device required to execute each subtask.

[0082] The subtasks may be obtained by splitting the task corresponding to the task request, that is, the task corresponding to the task request may include multiple subtasks, and each subtask may correspond to one or more mechanical operations to be performed.

[0083] Furthermore, according to the mechanical operations executable by the mechanical devices of the mechanical system and the mechanical operation to be executed corresponding to the subtask, a target mechanical device required to execute the subtask is determined from the multiple mechanical devices of the mechanical system.

[0084] In some optional embodiments, there are multiple ways to generate mechanical control instructions based on the task request and the target mechanical equipment, which can be adjusted according to actual conditions and are not limited in the embodiments of the present application.

[0085] For example, based on the task request and the target mechanical equipment, determine the control method for the target mechanical equipment (such as open-loop control, closed-loop control, etc.), and based on the selected control method, design a control algorithm to achieve the required motion and behavior (such as motion planning, trajectory tracking, force control), and convert the designed control algorithm into mechanical control instructions.

[0086] For another example, the process of generating mechanical control instructions based on a task request and a target mechanical equipment may include: determining the task execution order of each subtask based on the task request; determining the device execution order of multiple target mechanical equipment based on the task execution order and the target mechanical equipment; and generating mechanical control instructions corresponding to each subtask based on the subtask, the target mechanical equipment, and the device execution order.

[0087] The task execution order is used to indicate the execution order of the subtasks in the task corresponding to the task request. The equipment execution order is used to indicate the execution order of the target mechanical equipment in the task corresponding to the task request.

[0088] For example, assume that the task request corresponds to a task that includes 5 subtasks: subtask A, subtask B, subtask C, subtask D, and subtask E. Among them, the task execution order is (subtask A, subtask E, subtask B, subtask C, subtask D), which means that the execution order of subtask B is 3, and the others are similar and will not be repeated here.

[0089] In this example, if subtasks A and B are executed by target mechanical device B, subtask C is executed by target mechanical device A, subtask D is executed by target mechanical device C, and subtask E is executed by target mechanical device D. Among them, the device execution order is (target mechanical device B, target mechanical device D, target mechanical device B, target mechanical device A, target mechanical device C), then the execution order of target mechanical device B is 1 and 3, and the others are similar, which will not be repeated here.

[0090] In some optional embodiments, the target mechanical device includes a target manipulator and a target guided vehicle.

[0091] In this embodiment, the process of determining the equipment execution order of multiple target mechanical equipment based on the task execution order and the target mechanical equipment includes: determining the first equipment execution order of the target manipulator based on the task execution order and the target manipulator; determining the second equipment execution order of the target guide vehicle based on the task execution order and the target guide vehicle; and obtaining the equipment execution order based on the first equipment execution order and the second equipment execution order.

[0092] The first device execution order is used to indicate the execution order of the manipulator, the second device execution order is used to indicate the execution order of the guide vehicle, and the device execution order is used to indicate the execution order of all types of target mechanical devices in the mechanical system.

[0093] It should be noted that the execution order of the first device and the execution order of the second device are set only because the target mechanical equipment includes a target manipulator and a target guide vehicle. If the target mechanical equipment includes three types of mechanical equipment, three types of device execution orders can also be set. The specific execution orders can be adjusted according to actual conditions, and the embodiments of the present application are not limited.

[0094] In some optional embodiments, the control system is provided with multiple servers.

[0095] In this embodiment, before generating mechanical control instructions based on the task request, the warehouse control method also includes: determining a target server for processing the task request from multiple servers in the control system according to a preset load balancing strategy; writing the task request into the first storage space of the target server, so that the target server generates mechanical control instructions based on the task request in the first storage space.

[0096] The preset load balancing strategy refers to a pre-configured strategy for managing and controlling the servers of the control system so as to achieve load balancing among the servers.

[0097] There are many ways to implement the preset load balancing strategy, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it. For example, requests can be distributed through the configuration and algorithm of the software (such as Nginx, HAProxy, etc.) deployed on each server, thereby achieving load balancing. For another example, the load balancing strategy is dynamically adjusted in combination with the real-time load request of the server to perform request distribution.

[0098] The target server refers to the server currently suitable for processing the task request in the control system. The first storage space refers to the storage space associated with the target server, which can be a database, a cache space, or a thread, which is adjusted according to the actual situation.

[0099] In some optional embodiments, a main thread and a slave thread are provided in the target server.

[0100] In this embodiment, after generating a mechanical control instruction based on a task request, the warehouse control method further includes: determining the instruction type of the mechanical control instruction; if the instruction type is a critical instruction type, storing the mechanical control instruction in the second storage space of the main thread, so that the main thread can obtain the mechanical control instruction in the second storage space and control the mechanical system to perform mechanical operations in the storage space; if the instruction type is a non-critical instruction type, storing the mechanical control instruction in the third storage space of the slave thread, so that the slave thread can obtain the mechanical control instruction in the third storage space and control the mechanical system to perform mechanical operations in the storage space.

[0101] There are many ways to determine the instruction type of the mechanical control instruction, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it. For example, determine whether there is a strong correlation between adjacent mechanical control instructions in the execution order (for example, the next mechanical control instruction must be based on the completion of the previous mechanical control instruction before it can be executed). If so, determine that the instruction type of the adjacent mechanical control instruction is a critical instruction type, otherwise, determine that the instruction type of the adjacent mechanical control instruction is a non-critical instruction type.

[0102] The main thread refers to a thread for processing mechanical control instructions whose instruction type is a key instruction type. The second storage space refers to a storage space associated with the main thread. The second storage space can be a cache space or a database, which is adjusted according to actual conditions.

[0103] The slave thread refers to a thread whose instruction type is a non-critical instruction type and is used to process the mechanical control instruction. The third storage space refers to a storage space associated with the slave thread. The third storage space can be a cache space or a database, which is adjusted according to the actual situation.

[0104] It is understandable that the slave thread is one or more threads asynchronous to the main thread. By storing the mechanical control instructions of the non-critical instruction type in the third storage space of the slave thread, it is convenient to implement asynchronous processing of the mechanical control instructions of the critical instruction type and the mechanical control instructions of the non-critical instruction type, thereby reducing the blocking time of the main thread or the main process and improving the mechanical execution efficiency.

[0105] In some optional embodiments, the storage control method further includes: acquiring the task execution result sent by the mechanical system; and returning the task execution result to the warehouse management system so that the warehouse management system performs processing based on the task execution result.

[0106] There are many ways to process the above, which can be adjusted according to actual conditions, and the embodiments of this application do not limit them. For example, the above processing includes but is not limited to data processing (such as data update, data correction, etc.), planning and updating processing for the motion path of the guide vehicle or manipulator, and updating processing of task requests.

[0107] It should be noted that through the control system, large applications can be split into multiple small, independent services, each responsible for a specific business function. This can reduce the coupling between various systems (warehouse management system, mechanical system) and improve the scalability and maintainability of the system. At the same time, microservices interact through lightweight communication protocols (such as RESTful API) to achieve interoperability between various systems. Through the control system, multiple computers or multiple servers can be used to complete data processing tasks together, and large amounts of data can be distributed to multiple nodes for parallel processing. This can significantly improve the speed and efficiency of data processing, while enhancing the fault tolerance and stability of the system. By establishing a unified data governance system in the control system, including management of data standards, data quality, data security, etc. Through data governance, ensure that the data exchanged between systems is accurate, reliable, and secure, thereby improving the overall efficiency of data processing. By formulating unified data interface standards and transmission protocols (such as RESTful API, SOAP, etc.) in the control system. Ensure that each system can exchange data according to unified standards and reduce additional development work caused by interface incompatibility. In the microservice architecture of the control system, a gateway (Application Programming Interface, API) can be used as an intermediary between all external requests and internal services. The API gateway is responsible for routing, filtering, current limiting, authentication and other functions, reducing the complexity of direct interaction between the client and microservices, and improving the maintainability and security of the system. In the control system, for data exchange scenarios that require asynchronous processing, message queues (such as RabbitMQ, Kafka, etc.) can be used as middleware. Message queues can decouple the direct call relationship between systems, realize asynchronous transmission and processing of data, and improve the concurrent processing capability and response speed of the system. For frequently accessed hot data, cache technology can be used for storage. Cache can reduce the number of visits to the database and increase the speed of data reading. At the same time, through a reasonable cache strategy, it can be ensured that the data in the cache is always up to date. For large-scale data processing tasks, parallel computing and distributed computing technologies can be used. Decompose large tasks into multiple small tasks for parallel execution, or distribute tasks to multiple nodes for distributed processing. This can significantly improve the speed and efficiency of data processing. For data tables in the database, appropriate indexes can be established to optimize query performance. Indexes can speed up data retrieval and reduce the time required for queries. Monitor the system's performance indicators (such as CPU usage, memory usage, network bandwidth, etc.) in real time to promptly identify and resolve performance bottlenecks. Use professional performance monitoring tools (such as Prometheus, Grafana, etc.) for monitoring and alerting. Establish a complete log management system to record the system's operation logs and error logs.Log analysis can be used to locate the cause of problems, evaluate system performance, and optimize system configuration. At the same time, log data can be stored and analyzed to discover potential security threats and business trends. Regularly maintain and upgrade the system, including data backup, system updates, security checks, etc. Regular maintenance can ensure the stability and security of the system and improve the overall performance of the system. Encrypt the transmitted data to ensure the security of the data during transmission. Encryption protocols such as SSL / TLS can be used to encrypt data transmission. Establish a complete identity authentication and authorization mechanism to ensure that only legitimate users can access system resources. Identity authentication and authorization management can be performed using identity authentication frameworks such as OAuth2 and JWT. Establish a complete security audit and monitoring mechanism to monitor and record security events of the system in real time. Security audits can discover potential security threats and take timely countermeasures. At the same time, regularly scan the system for security vulnerabilities and conduct penetration tests to evaluate the security of the system.

[0108] In order to solve the above problems, the present application also provides a storage control method. The storage control method is applied to a storage management system, which corresponds to a storage space. Through the above control system, the storage management system is interconnected with a mechanical system set in the storage space. Figure 4 , Figure 4 2 is a flow chart of a warehouse control method applied to a warehouse management system provided by an embodiment of the present application. The warehouse control method may include the following steps S201 to S202:

[0109] Step S201: receiving a warehouse management request for a target item.

[0110] The storage management request refers to a request for storage management of a target item. The target item may be an item that has been placed in the storage space. The target item may also be an item that has not been placed in the storage space and is waiting to be placed in the storage space. The specific requirements may be adjusted according to actual conditions and are not limited in the embodiments of the present application.

[0111] The specific content of the warehouse management request can be adjusted according to the actual situation, and the embodiment of the present application does not limit it. For example, the warehouse management request includes but is not limited to a warehouse entry request, a warehouse exit request, a warehouse transfer request, and a warehouse inventory request.

[0112] There are several ways to receive a storage management request for a target item. Figure 2 , such as receiving a warehouse management request initiated by a production execution system. Another example is receiving a warehouse management request initiated after manual processing.

[0113] Step S202: Generate a task request for the target item based on the warehouse management request, and send the task request to the control system.

[0114] The warehouse control method applied to the warehouse management system in the embodiment of the present application is adopted. The warehouse management system corresponds to the storage space. Through the above control system, the warehouse management system is interconnected with the mechanical system set in the storage space, and receives the warehouse management request for the target item; based on the warehouse management request, a task request for the target item is generated, and the task request is sent to the control system. Based on this, the control system is interconnected with the mechanical system set in the storage space, and the warehouse management system corresponding to the storage space, so that the control system, mechanical system and warehouse management system contained in the warehouse system are interconnected, thereby improving the automation degree of the warehouse system and improving the user experience.

[0115] In some optional embodiments, there are multiple ways to generate a task request for a target item based on a warehouse management request, which can be adjusted according to the actual request and are not limited in the embodiments of the present application.

[0116] For example, the process of generating a task request for a target item based on a warehouse management request includes: determining the request type of the warehouse management request; generating a task request for the target item based on the request type of the warehouse management request, the warehouse information of the warehouse management system, and the warehouse demand information of the target item.

[0117] Among them, the request types of warehouse management requests include but are not limited to inbound requests, outbound requests, warehouse transfer requests, and inventory count requests.

[0118] Among them, the storage information of the warehouse management system refers to the information related to the storage space managed by the warehouse management system. The specific content of the storage information can be adjusted according to the actual situation, and the embodiments of the present application are not limited. For example, the storage information includes but is not limited to the relevant information of the warehouse (such as planning layout, access channels, shelf layout, working area of ​​automated equipment, item information), and the relevant information of automated equipment (such as automated stackers, conveyors, handling robots, RFID readers, barcode scanners, VR glasses, cameras, etc.).

[0119] The storage demand information refers to the demand information for the target item in the storage management request. There are many sources of storage demand information. For example, the storage demand information can be the demand information for the target item extracted from the storage management request. For another example, the storage demand information can be the demand information for the target item determined based on the storage management request and the storage information.

[0120] In this embodiment, the process of generating a task request for a target item based on the request type of the warehouse management request, the warehouse information of the warehouse management system, and the warehouse demand information of the target item includes: based on the request type, performing a task analysis on the warehouse management request to obtain multiple subtasks for the target item and a task execution order for each subtask; generating a task request for the target item based on each subtask, the task execution order, the warehouse information of the warehouse management system, and the warehouse demand information of the target item.

[0121] Furthermore, the above-mentioned process of generating a task request for the target item based on each subtask, the task execution order, the storage information of the warehouse management system, and the storage demand information of the target item may include: determining the location information of the target item in the storage space based on the storage information of the warehouse management system and the storage demand information of the target item; generating a task request for the target item based on each subtask, the task execution order, and the location information of the target item.

[0122] Among them, the location information of the target item in the storage space can have multiple meanings, which are specifically limited in combination with specific application scenarios, and the embodiments of the present application do not limit it. For example, when the warehouse management request is a warehouse entry request, the location information of the target item in the storage space can be the location information of the target item to be stored in the storage space. For another example, when the warehouse management request is a warehouse exit request, the location information of the target item in the storage space can be the storage location information of the target item in the storage space.

[0123] The following uses the logistics application field as an example to explain the relevant content of the warehouse management system. Among them, the relevant content of the warehouse management system involves the preliminary preparation of the warehouse management system, the automated operation process of incoming goods, the automated operation process of outgoing goods, and other processes.

[0124] Among them, the preliminary preparation of the warehouse management system at least includes system planning and design, equipment installation and debugging, and data entry and initialization. In the process of system planning and design, it is necessary to plan a reasonable warehouse layout according to the actual situation and storage needs of the warehouse, including shelf arrangement, channel setting, automated equipment working area, etc., to plan and design the warehouse layout and system selection. At the same time, it is also necessary to select a suitable automated warehouse management system (such as WMS system) and automated equipment (such as stackers, handling robots, RFID readers, barcode scanners, etc.). In the process of equipment installation and debugging, the selected automated equipment is installed in the planned location and debugged to ensure that the equipment can operate normally and integrate seamlessly with the WMS system. In the process of data entry and initialization, it is necessary to enter the basic information of the warehouse in the WMS system, including shelf layout, product category, product name, specification, supplier information, etc. Assign a unique identification code (such as RFID tag or barcode) to each material and enter it into the WMS system for automatic identification and management.

[0125] Among them, the warehouse management system's automated warehousing operation process at least includes the processes of receiving and identifying goods, automatically allocating storage locations, and automatically handling and storing. Among them, in the process of receiving and identifying goods, when the goods arrive at the warehouse, an RFID reader or barcode scanner is used to automatically identify the identification code of the goods. The WMS system automatically records the name, quantity, specifications and other information of the goods, and verifies it with the order information to ensure accuracy. In the process of automatically allocating storage locations, the WMS system automatically allocates a suitable storage location for the goods based on the attributes of the goods and the storage strategy of the warehouse (such as first-in-first-out, partitioned storage, etc.). In the process of automatic handling and storage, automated equipment (such as stackers and handling robots) automatically transports the goods from the warehouse entrance to the designated storage location according to the instructions of the WMS system. During the handling process, the equipment will update the inventory information in real time to ensure the accuracy of the data.

[0126] Among them, the warehouse management system's outbound automated operation process at least includes order processing, picking task allocation, automatic picking and verification, packaging and delivery, etc. In the order processing process, after the user submits the order, the WMS system automatically generates an outbound task order, including the name, quantity, specifications and other information of the goods to be shipped. In the picking task allocation process, the WMS system allocates the picking task to the automated equipment or manual pickers, and plans the optimal picking path in the storage space. In the automatic picking and verification process, the automated equipment or manual pickers pick the goods according to the instructions, and verify the quantity and quality through the RFID reader or barcode scanner. In the packaging and delivery process, the picked goods are packaged to meet the requirements of transportation and delivery. After packaging, the goods are loaded onto the transport and sent to the customer. At the same time, the WMS system automatically updates the inventory information and records the outbound status of the goods.

[0127] The warehouse management system also has real-time monitoring and exception handling functions. The WMS system monitors the warehouse's in and out conditions, equipment operating status, inventory changes, and other information in real time. Once an abnormal situation is found (such as equipment failure, insufficient inventory, etc.), the WMS system immediately triggers the alarm mechanism and automatically or manually adjusts the scheduling strategy to deal with the abnormal situation.

[0128] Among them, the warehouse management system also has data statistics and analysis functions. The WMS system automatically collects various data in the process of warehousing, including time, quantity, efficiency, etc. The collected data is statistically analyzed and various reports and charts are generated to help managers understand the warehouse operation and make decisions.

[0129] Through the above content, the warehouse management system can realize the automated operation of inbound and outbound storage, improve the warehouse's operational efficiency and management level. At the same time, the real-time monitoring and exception handling functions of the automated system can also ensure the stability and security of warehouse operations.

[0130] In order to solve the above problems, the present application also provides a warehouse control method. The warehouse control method is applied to a mechanical system, which is arranged in a storage space, and includes at least one mechanical device. The mechanical system is connected to the above control system, and the control system is connected to the above warehouse management system. Figure 5 , Figure 5 : is a flow chart of a storage control method applied to a mechanical system provided by an embodiment of the present application. The storage control method may include the following steps S301 to S303:

[0131] Step S301: receiving a mechanical control instruction from a control system through a target mechanical device.

[0132] Step S302: Perform mechanical operations in the storage space through the target mechanical equipment based on the mechanical control instructions to obtain the task execution result.

[0133] Step S303: Return the task execution result to the control system.

[0134] The warehouse control method applied to the mechanical system in the embodiment of the present application is adopted. The mechanical system is set in the storage space. The mechanical system includes at least one mechanical device. The mechanical system is connected to the above-mentioned control system, and the control system is connected to the above-mentioned warehouse management system. The mechanical control instructions from the control system are received through the target mechanical device; the mechanical operation is performed in the storage space based on the mechanical control instructions by the target mechanical device to obtain the task execution result; and the task execution result is returned to the control system. Based on this, the control system is interconnected with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space, so that the control system, mechanical system and warehouse management system contained in the storage system are interconnected, thereby improving the automation level of the storage system and improving the user experience.

[0135] In some embodiments, the mechanical equipment includes a manipulator and a guide vehicle. The specific structure of the mechanical equipment can be adjusted according to actual conditions, and the embodiments of the present application are not limited thereto.

[0136] For example, the manipulator consists of a high-precision servo motor, a visual positioning system, a force sensor, and a controller. The high-precision servo motor provides precise position, speed, and acceleration control to ensure that the movement of the manipulator is accurate. Through the camera and image processing technology, the image information of the target object is captured, and feature extraction, target recognition, and position calculation are performed (such as capturing the image information of the target object through a high-definition camera or other visual equipment installed on the manipulator, and using the image processing algorithm to process the collected image data to identify the characteristics of the object. According to the results of object recognition, the manipulator calculates the appropriate grasping path and angle through the motion planning algorithm). Through the force sensor installed on the end effector of the manipulator, the force feedback during the grasping process is detected in real time to ensure that the grasping force is appropriate (such as after determining the grasping path and angle, the manipulator controls the opening and closing action of the end effector to achieve accurate grasping of the object. At the same time, the force sensor detects the force feedback during the grasping process in real time. If the grasping force is detected to be too large or too small, the control system will adjust the output torque of the servo motor in time to ensure the appropriate grasping force and avoid damage to the object). The overall control of the robotic arm is achieved through a controller that integrates motion planning algorithms, servo control algorithms, etc.

[0137] The following is an explanation of the mechanical system using an embodiment. Figure 6 , Figure 6FIG. 1 is a flow chart of a storage control method applied to a mechanical system provided by an embodiment of the present application. Figure 6 As shown, the mechanical system includes a guide vehicle and a manipulator, and the execution object of the mechanical system is the items on the shelf. The guide vehicle can carry a manipulator, and the manipulator works in collaboration with the guide vehicle. According to the mechanical control instructions of the guide vehicle, the guide vehicle is controlled to drive to the shelf to perform loading and unloading operations. According to the mechanical control instructions of the manipulator, the manipulator is controlled to perform placing or clamping operations in front of the shelf.

[0138] In order to facilitate better implementation of the warehouse control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above warehouse control method. The meanings of the terms are the same as those in the above warehouse control method, and the specific implementation details can refer to the description in the method embodiment.

[0139] For example, Figure 7 As shown, the warehouse control device is applied to the control system, and the control system is connected with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space. The warehouse control device may include a task request acquisition module 401 and an instruction generation module 402, which are as follows:

[0140] The task request acquisition module 401 is used to acquire the task request sent by the warehouse management system;

[0141] The instruction generation module 402 is used to generate mechanical control instructions based on the task request, so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instructions to obtain the task execution result.

[0142] In some optional embodiments, the mechanical system is provided with a plurality of mechanical devices.

[0143] In this embodiment, the instruction generation module 402 generates a mechanical control instruction based on the task request, including:

[0144] A target mechanical device determining unit, configured to determine, based on the task request, from a plurality of mechanical devices in the mechanical system, at least one target mechanical device required to perform the task corresponding to the task request;

[0145] The instruction generation unit is used to generate mechanical control instructions according to the task request and the target mechanical equipment.

[0146] In some optional embodiments, the target mechanical equipment determination unit specifically includes:

[0147] A parsing subunit, used to parse the task request to obtain multiple subtasks;

[0148] The target mechanical device determination subunit is used to determine the target mechanical device required to execute each subtask from the multiple mechanical devices of the mechanical system.

[0149] In some optional embodiments, the instruction generation unit specifically includes:

[0150] The task execution order determination subunit is used to determine the task execution order of each subtask according to the task request;

[0151] The device execution order determination subunit is used to determine the device execution order of multiple target mechanical devices based on the task execution order and the target mechanical devices;

[0152] The instruction generation subunit is used to generate a mechanical control instruction corresponding to each subtask according to the subtask, the target mechanical equipment, and the equipment execution sequence.

[0153] In some optional embodiments, the target mechanical device includes a target manipulator and a target guided vehicle.

[0154] In this embodiment, the above-mentioned device execution order determination subunit specifically includes:

[0155] Based on the task execution order and the target manipulator, determining a first device execution order of the target manipulator;

[0156] Determining a second device execution order of the target guided vehicle based on the task execution order and the target guided vehicle;

[0157] A device execution order is obtained according to the first device execution order and the second device execution order.

[0158] In some optional embodiments, the control system is provided with multiple servers.

[0159] In this embodiment, before the instruction generation module 402 generates the mechanical control instruction based on the task request, the following steps are also included:

[0160] A target server determination module is used to determine a target server for processing a task request from multiple servers in the control system according to a preset load balancing strategy;

[0161] The first storage module is used to write the task request into the first storage space of the target server, so that the target server generates a mechanical control instruction based on the task request in the first storage space.

[0162] In some optional embodiments, a main thread and a slave thread are provided in the target server.

[0163] In this embodiment, after the instruction generation module 402 generates the mechanical control instruction based on the task request, the following further includes:

[0164] An instruction type determination module, used to determine the instruction type of the mechanical control instruction;

[0165] A second storage module is used to store the mechanical control instruction in the second storage space of the main thread if the instruction type is a key instruction type, so that the main thread can obtain the mechanical control instruction in the second storage space and control the mechanical system to perform mechanical operations in the storage space;

[0166] The third storage module is used to store the mechanical control instruction in the third storage space of the slave thread if the instruction type is a non-critical instruction type, so as to facilitate the slave thread to obtain the mechanical control instruction in the third storage space and control the mechanical system to perform mechanical operations in the storage space.

[0167] In some optional embodiments, the warehouse control further includes:

[0168] A result acquisition module, used to obtain the task execution results sent by the mechanical system;

[0169] The result returning module is used to return the task execution result to the warehouse management system so that the warehouse management system can process the task based on the task execution result.

[0170] In the warehouse control device applied to the control system provided in the embodiment of the present application, the control system is interconnected with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space, and the task request sent by the warehouse management system is obtained through the task request acquisition module 401; the instruction generation module 402 generates a mechanical control instruction based on the task request, so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain the task execution result. Based on this, by interconnecting the control system with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space, the control system, mechanical system and warehouse management system contained in the storage system are interconnected, thereby improving the automation level of the storage system and improving the user experience.

[0171] For example, Figure 8 As shown, the warehouse control device is applied to a warehouse management system, which corresponds to a warehouse space. Through the above control system, the warehouse management system is connected to a mechanical system arranged in the warehouse space. The warehouse control device may include a warehouse management request receiving module 501 and a task request generating module 502, which are specifically as follows:

[0172] A warehouse management request receiving module 501 is used to receive a warehouse management request for a target item;

[0173] The task request generation module 502 is used to generate a task request for a target item based on a warehouse management request, and send the task request to a control system.

[0174] In some optional embodiments, the task request generation module 502 generates a task request for a target item based on a warehouse management request, including:

[0175] A request type determination unit, used to determine the request type of the warehouse management request;

[0176] The task request generating unit is used to generate a task request for a target item based on a request type of the warehouse management request, warehouse information of the warehouse management system, and warehouse demand information of the target item.

[0177] In some optional embodiments, the task request generating unit includes:

[0178] The task analysis subunit is used to perform task analysis on the warehouse management request based on the request type, and obtain multiple subtasks for the target item and the task execution order of each subtask;

[0179] The task request generation subunit is used to generate a task request for a target item based on each subtask, the task execution order, the storage information of the warehouse management system, and the storage demand information of the target item.

[0180] In some optional embodiments, the task request generating subunit specifically includes:

[0181] Based on the storage information of the warehouse management system and the storage demand information of the target item, determine the location information of the target item in the storage space;

[0182] Based on each subtask, the task execution order, and the location information of the target object, a task request for the target object is generated.

[0183] In the warehouse control device applied to the warehouse management system provided in the embodiment of the present application, the warehouse management system corresponds to the warehouse space. Through the above control system, the warehouse management system is interconnected with the mechanical system set in the warehouse space, and the warehouse management request receiving module 501 receives the warehouse management request for the target item; the task request generating module 502 generates the task request for the target item based on the warehouse management request, and sends the task request to the control system. Based on this, the control system is interconnected with the mechanical system set in the warehouse space, and the warehouse management system corresponding to the warehouse space, so that the control system, mechanical system and warehouse management system contained in the warehouse system are interconnected, thereby improving the automation degree of the warehouse system and improving the user experience.

[0184] For example, Fig. 9 As shown, the warehouse control device is applied to a mechanical system, the mechanical system is set in a storage space, the mechanical system includes at least one mechanical device, the mechanical system is connected to the above control system, and the control system is connected to the above warehouse management system. The warehouse control device may include a mechanical control instruction receiving module 601, a task execution result generating module 602 and a task execution result returning module 603, which are as follows:

[0185] A mechanical control instruction receiving module 601 is used to receive a mechanical control instruction from a control system through a target mechanical device;

[0186] The task execution result generating module 602 is used to obtain the task execution result by performing mechanical operation in the storage space based on the mechanical control instruction by the target mechanical equipment;

[0187] The task execution result returning module 603 is used to return the task execution result to the control system.

[0188] In the warehouse control device applied to the mechanical system provided in the embodiment of the present application, the mechanical system is arranged in the storage space, the mechanical system includes at least one mechanical device, the mechanical system is connected to the above-mentioned control system, and the control system is connected to the above-mentioned warehouse management system. The mechanical control instruction receiving module 601 receives the mechanical control instruction from the control system through the target mechanical device; the task execution result generating module 602 performs mechanical operation in the storage space based on the mechanical control instruction through the target mechanical device to obtain the task execution result; the task execution result returning module 603 returns the task execution result to the control system. Based on this, the control system is interconnected with the mechanical system arranged in the storage space, and the warehouse management system corresponding to the storage space, so that the control system, mechanical system and warehouse management system contained in the storage system are interconnected, thereby improving the automation degree of the storage system and improving the user experience.

[0189] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0190] The embodiment of the present application also provides an electronic device, wherein the operating system of the electronic device includes a first operating system and a second operating system. Fig.10 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0191] The electronic device may include components such as a processor 701 with one or more processing cores, a memory 702 with one or more storage media, a power supply 703, and an input unit 704. Those skilled in the art will appreciate that Fig.10 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0192] in:

[0193] The processor 701 is the control center of the electronic device, which uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions of the electronic device and processes data by running or executing computer programs and / or modules stored in the memory 702, and calling data stored in the memory 702. Optionally, the processor 701 may include one or more processing cores; preferably, the processor 701 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 701.

[0194] The memory 702 can be used to store computer programs and modules. The processor 701 executes various functional applications and data processing by running the computer programs and modules stored in the memory 702. The memory 702 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 702 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 702 may also include a memory controller to provide the processor 701 with access to the memory 702.

[0195] The electronic device also includes a power supply 703 for supplying power to each component. Preferably, the power supply 703 can be logically connected to the processor 701 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 703 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0196] The electronic device may further include an input unit 704, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0197] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 701 in the electronic device will load the executable files corresponding to the processes of one or more computer programs into the memory 702 according to the following instructions, and the processor 701 will run the computer programs stored in the memory 702, thereby realizing various functions, such as:

[0198] Get the task request sent by the warehouse management system;

[0199] Based on the task request, a mechanical control instruction is generated so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain the task execution result.

[0200] It can be seen that the electronic device provided in the embodiment of the present application obtains the task request sent by the warehouse management system; based on the task request, it generates a mechanical control instruction so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain the task execution result. Based on this, the control system is connected with the mechanical system set in the storage space, and the warehouse management system corresponding to the storage space, so that the control system, mechanical system and warehouse management system contained in the storage system are interconnected, thereby improving the automation level of the storage system and improving the user experience.

[0201] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the warehouse control method above, which will not be elaborated here.

[0202] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a storage medium and loaded and executed by a processor.

[0203] To this end, an embodiment of the present application provides a storage medium in which a computer program is stored. The computer program can be loaded by a processor to execute the steps in any one of the warehouse control methods provided in the embodiments of the present application. For example, the computer program can execute the following steps:

[0204] Get the task request sent by the warehouse management system;

[0205] Based on the task request, a mechanical control instruction is generated so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain the task execution result.

[0206] It can be seen that the storage medium provided in the embodiment of the present application obtains the task request sent by the warehouse management system; based on the task request, a mechanical control instruction is generated, so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction, and obtains the task execution result. Based on this, the control system is connected with the mechanical system set in the storage space, and the warehouse management system corresponding to the storage space, so that the control system, mechanical system and warehouse management system contained in the storage system are interconnected, thereby improving the automation level of the storage system and improving the user experience.

[0207] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0208] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0209] Since the computer program stored in the storage medium can execute the steps in any warehouse control method provided in the embodiments of the present application, the beneficial effects that can be achieved by any warehouse control method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0210] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, and the computer instructions are stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned warehouse control method.

[0211] An embodiment of the present application also provides a warehousing system, which includes a warehousing management system, a control system, and a mechanical system. The control system is interconnected with the mechanical system arranged in the storage space, and the warehousing management system corresponding to the storage space, or the above-mentioned warehousing control device, or the above-mentioned electronic device, or the above-mentioned computer program product.

[0212] For example, see Figure 1 , Figure 1 It is a specific structural diagram of the warehousing system, such as Figure 1The warehouse system shown includes a warehouse management system, a control system, and a mechanical system. The control system is interconnected with the mechanical system set in the storage space and the warehouse management system corresponding to the storage space. The control system obtains the task request sent by the warehouse management system; based on the task request, it generates a mechanical control instruction so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain a task execution result. The warehouse management system receives a warehouse management request for a target item; based on the warehouse management request, it generates a task request for the target item and sends the task request to the control system. The mechanical system receives the mechanical control instruction from the control system through the target mechanical equipment; performs mechanical operations in the storage space based on the mechanical control instruction through the target mechanical equipment to obtain a task execution result; and returns the task execution result to the control system so that the control system returns the task execution result to the warehouse management system.

[0213] The specific structure of the storage system is not limited in this application. The specific implementation methods and corresponding beneficial effects of the above operations of the electronic device are also applicable to the storage system. For details, please refer to the detailed description of the storage system and the storage control method above, which will not be repeated here.

[0214] The above is a detailed introduction to a warehouse control method, device, electronic device, storage medium and warehouse system provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A warehouse control method, characterized in that: Applied to a control system, the control system is interconnected with a mechanical system arranged in a storage space, and a storage management system corresponding to the storage space; the method comprises: Obtaining the task request sent by the warehouse management system; Based on the task request, a mechanical control instruction is generated so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain a task execution result.

2. The storage control method according to claim 1, characterized in that: The mechanical system is provided with a plurality of mechanical devices; the generating of mechanical control instructions based on the task request comprises: Based on the task request, determining at least one target mechanical device required to perform the task corresponding to the task request from a plurality of mechanical devices of the mechanical system; A mechanical control instruction is generated according to the task request and the target mechanical equipment.

3. The warehouse control method according to claim 2, characterized in that: The determining, based on the task request, from a plurality of mechanical devices in the mechanical system, at least one target mechanical device required to perform the task corresponding to the task request comprises: Parsing the task request to obtain multiple subtasks; A target mechanical device required to execute each of the subtasks is determined from a plurality of mechanical devices of the mechanical system.

4. The storage control method according to claim 3, characterized in that: Generating a mechanical control instruction according to the task request and the target mechanical equipment includes: Determining the task execution order of each of the subtasks according to the task request; Based on the task execution order and the target mechanical equipment, determining the equipment execution order of the plurality of target mechanical equipment; A mechanical control instruction corresponding to each subtask is generated according to the subtask, the target mechanical device, and the device execution order.

5. The storage control method according to claim 4, characterized in that: The target mechanical equipment includes a target manipulator and a target guided vehicle, and the determining of the equipment execution order of the plurality of target mechanical equipment based on the task execution order and the target mechanical equipment includes: Based on the task execution order and the target manipulator, determining a first device execution order of the target manipulator; Based on the task execution order and the target guided vehicle, determining a second device execution order of the target guided vehicle; A device execution order is obtained according to the first device execution order and the second device execution order.

6. The warehouse control method according to claim 1, characterized in that: The control system is provided with a plurality of servers; before generating a mechanical control instruction based on the task request, it also includes: Determining a target server for processing the task request from a plurality of servers in the control system according to a preset load balancing strategy; The task request is written into a first storage space of the target server so that the target server generates a mechanical control instruction based on the task request in the first storage space.

7. The storage control method according to claim 6, characterized in that: The target server is provided with a main thread and a slave thread; after generating a mechanical control instruction based on the task request, it also includes: Determining the instruction type of the mechanical control instruction; If the instruction type is a critical instruction type, the mechanical control instruction is stored in the second storage space of the main thread, so that the main thread can obtain the mechanical control instruction in the second storage space and control the mechanical system to perform mechanical operations in the storage space; If the instruction type is a non-critical instruction type, the mechanical control instruction is stored in the third storage space of the slave thread, so that the slave thread can obtain the mechanical control instruction in the third storage space and control the mechanical system to perform mechanical operations in the storage space.

8. The warehouse control method according to any one of claims 1 to 7, characterized in that: The method further comprises: Obtaining the task execution result sent by the mechanical system; The task execution result is returned to the warehouse management system so that the warehouse management system performs processing based on the task execution result.

9. A warehouse control method, characterized in that: Applied to a warehouse management system, the warehouse management system corresponds to a storage space, and the warehouse management system is interconnected with a mechanical system arranged in the storage space through the control system according to any one of claims 1 to 8; the method comprises: Receive a warehouse management request for a target item; Based on the warehouse management request, a task request for the target item is generated, and the task request is sent to the control system.

10. The warehouse control method according to claim 9, characterized in that: The step of generating a task request for the target item based on the warehouse management request includes: Determining a request type of the warehouse management request; A task request for the target item is generated based on the request type of the warehouse management request, the warehouse information of the warehouse management system, and the warehouse demand information of the target item.

11. The warehouse control method according to claim 10, characterized in that: The generating a task request for the target item based on the request type of the warehouse management request, the warehouse information of the warehouse management system, and the warehouse demand information of the target item includes: Based on the request type, performing task analysis on the warehouse management request to obtain a plurality of subtasks for the target item and a task execution order of each subtask; A task request for the target item is generated based on each of the subtasks, the task execution order, the warehouse information of the warehouse management system, and the warehouse demand information of the target item.

12. The warehouse control method according to claim 11, characterized in that: The generating a task request for the target item based on each of the subtasks, the task execution order, the warehouse information of the warehouse management system, and the warehouse demand information of the target item includes: Determining the location information of the target item in the storage space based on the storage information of the storage management system and the storage demand information of the target item; A task request for the target object is generated based on each of the subtasks, the task execution order, and the location information of the target object.

13. A warehouse control method, characterized in that: Applied to a mechanical system, the mechanical system is arranged in a storage space, the mechanical system includes at least one mechanical device, the mechanical system is connected to the control system according to any one of claims 1 to 8, the control system is connected to the warehouse management system according to any one of claims 9 to 12, the method includes: receiving a mechanical control instruction from the control system through a target mechanical device; Obtaining a task execution result by performing mechanical operation in the storage space based on the mechanical control instruction by the target mechanical equipment; The task execution result is returned to the control system.

14. A storage control device, characterized in that: Applied to a control system, the control system is interconnected with a mechanical system arranged in a storage space, and a storage management system corresponding to the storage space; the device comprises: A task request acquisition module, used to acquire the task request sent by the warehouse management system; The instruction generation module is used to generate a mechanical control instruction based on the task request, so that the mechanical system performs mechanical operations in the storage space based on the mechanical control instruction to obtain a task execution result.

15. An electronic device, characterized in that: It comprises one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the warehouse control method according to any one of claims 1 to 13.

16. A storage medium, characterized in that: It comprises a computer program, which, when running on an electronic device, is used to cause the electronic device to execute the steps of the warehouse control method according to any one of claims 1 to 13.

17. A computer program product, characterized in that The method comprises a computer program or instructions, which, when executed by a processor, implements the steps of the warehouse control method described in any one of claims 1 to 13.

18. A storage system, characterized in that: The warehouse system includes a warehouse management system, a control system, and a mechanical system. The control system is interconnected with the mechanical system arranged in the storage space and the warehouse management system corresponding to the storage space, or a warehouse control device as described in claim 14, or an electronic device as described in claim 15, or a storage medium as described in claim 16, or a computer program product as described in claim 17.

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