Warehousing system, goods carrying method, device and equipment and medium

Abstract

The embodiment of the invention provides a warehousing system, a goods carrying method, device and equipment and a medium, and relates to the technical field of warehousing, the warehousing system comprises control equipment and robots, and the control equipment responds to the condition that first goods meet replenishment conditions; the dispatching work bin carrying robot carries the first work bin loaded with the first goods from the storage goods shelf to a working area of the sorting robot, the dispatching sorting robot sorts the first goods from the first work bin, and the dispatching goods carrying robot carries the sorted first goods to the replenishment goods shelf; and the control equipment dispatches the goods carrying robot to take off the second goods required by the order from the replenishment goods shelf for warehouse-out in response to the warehouse-out demand of the second goods. The robot is introduced, so that the manual operation link is greatly reduced, and a large number of cargoes can be quickly processed. When the order is generated, the goods required by the order are directly carried from the replenishment shelf for delivery, and the work bin does not need to be carried in real time and the goods are not required to be sorted from the work bin, so that the goods carrying efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of warehousing technology, and in particular to a warehousing system, a cargo handling method, a device, equipment and a medium. Background Art

[0002] In the field of warehousing technology, traditional cargo handling methods have many links that rely on manual operations. Specifically, when an order is generated, the staff will select the boxes containing the required goods from the shelves according to the order information, and then move them to the outbound work area. In the outbound work area, the staff must further select the goods required for the order from the boxes to complete the outbound delivery of the goods.

[0003] However, the above-mentioned method of manual handling is not only time-consuming and labor-intensive, but also the efficiency of manual handling is difficult to meet the needs of fast and accurate cargo handling when faced with large-scale cargo handling. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a warehousing system, a cargo handling method, a device, a equipment and a medium to improve the efficiency of cargo handling. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a warehousing system, the warehousing system comprising: a control device, a material box handling robot, a sorting robot and a cargo handling robot;

[0006] The control device, in response to the first goods stored on the replenishment shelf satisfying the replenishment condition, dispatches the material box transporting robot to transport the first material box, wherein the first material box is a material box loaded with the first goods;

[0007] The material box handling robot is used to carry the first material box from the storage shelf to the working area of ​​the sorting robot;

[0008] The control device, in response to the first material box arriving at the working area, dispatches the sorting robot to pick up the goods;

[0009] The sorting robot is used to pick the first goods from the first material box according to the picking instruction of the control device;

[0010] The control device, in response to completion of picking of the first cargo, dispatches the cargo handling robot to handle the cargo;

[0011] The cargo handling robot is used to carry the picked first cargo from the working area to the replenishment shelf;

[0012] The control device, in response to a demand for the second cargo stored on the replenishment shelf to be shipped out of the warehouse, dispatches the cargo handling robot to transport the second cargo, wherein the second cargo is cargo required for the order;

[0013] The cargo handling robot is also used to remove the second cargo from the replenishment shelf for shipment.

[0014] Optionally, the storage shelf includes: a first cache position and a first storage bin, and the replenishment shelf includes: a second cache position and a second storage bin, and the first cache position and the second cache position are located in the working area of ​​the sorting robot;

[0015] The material box transport robot is specifically used to transport the first material box from the first storage location to the first cache location;

[0016] The sorting robot is specifically used to pick out the first goods from the first material box and place them on the second cache position according to the scheduling instruction of the control device;

[0017] The cargo handling robot is specifically used to transport the first cargo stored in the second cache location to the second storage location.

[0018] Optionally, in response to the completion of picking of the first cargo, the control device sends a first dispatching instruction to the container handling robot when the first container after picking is still loaded with cargo, and sends a second dispatching instruction to the container handling robot when the first container after picking is not loaded with cargo;

[0019] The material box handling robot, in response to the first scheduling instruction, transports the first material box after picking from the working area to the storage shelf, and in response to the second scheduling instruction, transports the first material box after picking from the working area to the empty material box temporary storage area or sends the first material box out of the warehouse after picking.

[0020] Optionally, the warehousing system further comprises: a first conveying device, wherein a starting position of the first conveying device is located in a working area of ​​the cargo handling robot;

[0021] The cargo handling robot is specifically used to transport the second cargo from the replenishment shelf to the first conveying device;

[0022] The first conveying equipment is used to convey the second cargo to the workstation for shipment.

[0023] Optionally, some storage locations of the replenishment shelf are arranged above the first conveying device;

[0024] and / or,

[0025] Some storage locations of the replenishment shelf and / or the storage shelf are arranged above the working area of ​​the sorting robot.

[0026] Optionally, the warehousing system further comprises: a second conveying device, wherein the end position of the second conveying device is located in the working area of ​​the material box handling robot;

[0027] The control device, in response to the storage demand of the second material box, dispatches the material box handling robot to transport the second material box, wherein the second material box is a material box loaded with goods to be stored; the material box handling robot is also used to transport the second material box from the second conveying device to the storage shelf;

[0028] and / or,

[0029] The control device, in response to the outbound demand of the third material box, dispatches the material box handling robot to transport the third material box; the material box handling robot is also used to transport the third material box from the storage shelf to the second conveying device.

[0030] Optionally, some storage locations of the storage rack are arranged above the second conveying equipment.

[0031] Optionally, the first goods satisfying the replenishment condition includes: the first goods stored on the replenishment shelf are shipped out; and / or the quantity of the first goods stored on the replenishment shelf is less than a quantity threshold corresponding to the first goods.

[0032] In a second aspect, an embodiment of the present application provides a cargo handling method, which is applied to a control device in a warehousing system, wherein the warehousing system further includes: a material box handling robot, a sorting robot, and a cargo handling robot, and the method includes:

[0033] In response to the first goods stored on the replenishment shelf meeting the replenishment condition, the material box handling robot is dispatched to transport the first material box from the storage shelf to the working area of ​​the sorting robot; in response to the first material box arriving at the working area, the sorting robot is dispatched to pick the first goods from the first material box according to the picking instruction; in response to the first goods picking being completed, the cargo handling robot is dispatched to transport the picked first goods from the working area to the replenishment shelf; wherein, the first material box is a material box loaded with the first goods;

[0034] In response to a demand for the second cargo stored on the replenishment shelf to be shipped out, the cargo handling robot is dispatched to remove the second cargo from the replenishment shelf for shipment, wherein the second cargo is the cargo required for the order.

[0035] Optionally, the storage shelf includes: a first cache position and a first storage bin, and the replenishment shelf includes: a second cache position and a second storage bin, and the first cache position and the second cache position are located in the working area of ​​the sorting robot;

[0036] The step of dispatching the material box transporting robot to transport the first material box from the storage shelf to the working area of ​​the sorting robot includes:

[0037] Dispatching the container transport robot to transport the first container from the first storage location to the first cache location;

[0038] The step of dispatching the sorting robot to pick the first cargo from the first material box according to the picking instruction includes:

[0039] Dispatching the sorting robot to pick out the first goods from the first material box according to the picking instruction and place the first goods on the second cache position;

[0040] The step of dispatching the cargo handling robot to carry the picked first cargo from the working area to the replenishment shelf includes:

[0041] The cargo handling robot is dispatched to carry the first cargo stored in the second cache location to the second storage location.

[0042] Optionally, the method further includes:

[0043] In response to the completion of picking of the first cargo, determining whether the first container after picking is loaded with cargo;

[0044] In the case where the first material box after picking is still loaded with goods, dispatching the material box handling robot to carry the first material box after picking from the working area to the storage shelf;

[0045] In the case that the first material box after picking is not loaded with goods, the material box handling robot is dispatched to transport the first material box after picking from the working area to the empty material box temporary storage area or to take the first material box out of the warehouse after picking.

[0046] Optionally, the warehousing system further comprises: a first conveying device, wherein a starting position of the first conveying device is located in a working area of ​​the cargo handling robot;

[0047] The dispatching the cargo handling robot to remove the second cargo from the replenishment shelf for delivery includes:

[0048] The cargo handling robot is dispatched to transport the second cargo from the replenishment shelf to the first conveying device, so that the first conveying device conveys the second cargo to the workstation for outbound delivery.

[0049] Optionally, some storage locations of the replenishment shelf are arranged above the first conveying device;

[0050] and / or,

[0051] Some storage locations of the replenishment shelf and / or the storage shelf are arranged above the working area of ​​the sorting robot.

[0052] Optionally, the warehousing system further comprises: a second conveying device, wherein the end position of the second conveying device is located in the working area of ​​the material box handling robot;

[0053] The method further comprises:

[0054] In response to a storage demand for a second container, dispatching the container handling robot to transport the second container from the second conveying device to the storage shelf, wherein the second container is a container loaded with goods to be stored;

[0055] and / or,

[0056] In response to a demand for the third container to be removed from storage, the container transport robot is dispatched to transport the third container from the storage shelf to the second conveying device.

[0057] Optionally, some storage locations of the storage rack are arranged above the second conveying equipment.

[0058] Optionally, the first goods satisfying the replenishment condition includes: the first goods stored on the replenishment shelf are shipped out; and / or the quantity of the first goods stored on the replenishment shelf is less than a quantity threshold corresponding to the first goods.

[0059] In a third aspect, an embodiment of the present application provides a cargo handling device, which is applied to a control device in a warehousing system, wherein the warehousing system further includes: a bin handling robot, a sorting robot, and a cargo handling robot, wherein the device includes:

[0060] The replenishment module is used for, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, scheduling the material box handling robot to carry the first material box from the storage shelf to the working area of ​​the sorting robot; in response to the first material box arriving at the working area, scheduling the sorting robot to pick the first goods from the first material box according to the picking instruction; in response to the first goods picking being completed, scheduling the goods handling robot to carry the picked first goods from the working area to the replenishment shelf; wherein, the first material box is a material box loaded with the first goods;

[0061] The outbound module is used to respond to the outbound demand of the second goods stored on the replenishment shelf, and dispatch the cargo handling robot to remove the second goods from the replenishment shelf for outbound delivery, wherein the second goods are the goods required for the order.

[0062] Optionally, the storage shelf includes: a first cache position and a first storage bin, and the replenishment shelf includes: a second cache position and a second storage bin, and the first cache position and the second cache position are located in the working area of ​​the sorting robot;

[0063] The replenishment module is specifically used to schedule the box handling robot to transport the first box from the first storage location to the first cache location; schedule the sorting robot to pick out the first goods from the first box according to the picking instruction and place it on the second cache location; schedule the goods handling robot to transport the first goods stored in the second cache location to the second storage location.

[0064] Optionally, the device further comprises:

[0065] The material box returning module is used to respond to the completion of the first cargo picking and determine whether the first material box after the picking is loaded with goods; if the first material box after the picking is still loaded with goods, the material box handling robot is scheduled to transport the first material box after the picking from the working area to the storage shelf; if the first material box after the picking is not loaded with goods, the material box handling robot is scheduled to transport the first material box after the picking from the working area to the empty material box temporary storage area or to send the first material box out of the warehouse.

[0066] Optionally, the warehousing system further comprises: a first conveying device, wherein a starting position of the first conveying device is located in a working area of ​​the cargo handling robot;

[0067] The replenishment module is specifically used to dispatch the cargo handling robot to transport the second cargo from the replenishment shelf to the first conveying device, so that the first conveying device transports the second cargo to the workstation for delivery.

[0068] Optionally, some storage locations of the replenishment shelf are arranged above the first conveying device; and / or some storage locations of the replenishment shelf and / or the storage shelf are arranged above the working area of ​​the sorting robot.

[0069] Optionally, the storage system further includes: a second conveying device, the end position of the second conveying device is located in the working area of ​​the box handling robot; the device further includes:

[0070] The warehousing module is used to respond to the warehousing demand of the second box by scheduling the box handling robot to transport the second box from the second conveying equipment to the storage shelf, wherein the second box is a box loaded with goods to be stored, and / or the outbound module is also used to respond to the outbound demand of the third box by scheduling the box handling robot to transport the third box from the storage shelf to the second conveying equipment.

[0071] Optionally, some storage locations of the storage rack are arranged above the second conveying equipment.

[0072] Optionally, the first goods satisfying the replenishment condition includes: the first goods stored on the replenishment shelf are shipped out; and / or the quantity of the first goods stored on the replenishment shelf is less than a quantity threshold corresponding to the first goods.

[0073] In a fourth aspect, an embodiment of the present application provides a control device, including:

[0074] Memory, used to store computer programs;

[0075] The processor is used to implement any method described in the second aspect when executing a program stored in the memory.

[0076] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any method described in the second aspect is implemented.

[0077] Beneficial effects of the embodiments of the present application:

[0078] In the solution provided by the embodiment of the present application, the warehousing system may include: a control device, a bin handling robot, a sorting robot and a cargo handling robot; wherein the control device, in response to the first cargo stored on the replenishment shelf meeting the replenishment condition, dispatches the bin handling robot to transport the first bin, wherein the first bin is a bin loaded with the first cargo; the bin handling robot is used to transport the first bin from the storage shelf to the working area of ​​the sorting robot; the control device, in response to the first bin arriving at the working area, dispatches the sorting robot to pick cargo; the sorting robot is used to pick the first cargo from the first bin according to the picking instruction of the control device; the control device, in response to the completion of picking the first cargo, dispatches the cargo handling robot to transport the cargo; the cargo handling robot is used to transport the picked first cargo from the working area to the replenishment shelf; the control device, in response to the outbound demand of the second cargo stored on the replenishment shelf, dispatches the cargo handling robot to transport the second cargo, wherein the second cargo is the cargo required for the order; the cargo handling robot is also used to remove the second cargo from the replenishment shelf for outbound delivery.

[0079] For the above solution, on the one hand, by introducing material box handling robots, sorting robots and cargo handling robots, the manual operation links are greatly reduced, and a large amount of goods can be processed in a short time, thereby significantly improving the efficiency of cargo handling. On the other hand, replenishment shelves are set up, and the goods in the material boxes are picked to the replenishment shelves in advance. In this way, when an order is generated, it is only necessary to directly move the goods required for the order from the replenishment shelves for delivery, without the need to move the material boxes in real time and pick the goods from the material boxes for delivery, thereby further improving the efficiency of cargo handling.

[0080] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0082] Figure 1 A schematic diagram of a storage system provided in an embodiment of the present application;

[0083] Figure 2 Based on Figure 1 A specific schematic diagram of the storage system of the illustrated embodiment;

[0084] Figure 3a Based on Figure 1 A schematic diagram of a storage bin arrangement method in the illustrated embodiment;

[0085] Figure 3b Based on Figure 1 A schematic diagram of another storage bin arrangement method of the illustrated embodiment;

[0086] Figure 3c Based on Figure 1 A schematic diagram of another storage bin arrangement method of the illustrated embodiment;

[0087] Figure 4 Based on Figure 1 A schematic structural diagram of a material box / cargo handling robot of the illustrated embodiment;

[0088] Figure 5 Based on Figure 1 A schematic diagram of the flow of goods in the warehousing system of the illustrated embodiment;

[0089] Figure 6 A schematic diagram of a flow chart of a cargo handling method provided in an embodiment of the present application;

[0090] Figure 7 A schematic diagram of the structure of a cargo handling device provided in an embodiment of the present application;

[0091] Figure 8 A schematic diagram of the structure of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0092] 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 ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0093] In order to improve the efficiency of cargo handling, an embodiment of the present application provides a warehousing system, a cargo handling method, a cargo handling device, a control device, a computer-readable storage medium and a computer program product. The following first introduces the warehousing system provided by the embodiment of the present application.

[0094] like Figure 1 As shown, a warehousing system includes: a control device 101, a material box handling robot 102, a sorting robot 103 and a cargo handling robot 104;

[0095] The control device 101, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, dispatches the material box transporting robot 102 to transport the first material box, wherein the first material box is a material box loaded with the first goods;

[0096] The container transport robot 102 is used to transport the first container from the storage shelf to the working area of ​​the sorting robot 103;

[0097] The control device 101, in response to the first container arriving at the working area, dispatches the sorting robot 103 to pick up the goods;

[0098] The sorting robot 103 is used to pick the first goods from the first bin according to the picking instruction of the control device 101;

[0099] The control device 101, in response to completion of the first cargo picking, dispatches the cargo handling robot 104 to handle the cargo;

[0100] The cargo handling robot 104 is used to carry the picked first cargo from the working area to the replenishment shelf;

[0101] The control device 101, in response to the outbound demand of the second goods stored on the replenishment shelf, dispatches the goods handling robot 104 to handle the second goods, wherein the second goods are goods required for the order;

[0102] The cargo handling robot 104 is also used to remove the second cargo from the replenishment shelf for shipment.

[0103] In the solution provided by the embodiment of the present application, on the one hand, by introducing a material box handling robot, a sorting robot and a cargo handling robot, the manual operation links are greatly reduced, and a large amount of cargo can be processed in a short time, thereby significantly improving the efficiency of cargo handling. On the other hand, a replenishment shelf is set up, and the cargo in the material box is picked to the replenishment shelf in advance. In this way, when an order is generated, it is only necessary to directly move the cargo required for the order from the replenishment shelf for delivery, without the need to move the material box in real time and pick the cargo from the material box for delivery, thereby further improving the efficiency of cargo handling.

[0104] The following will introduce the replenishment process and the outbound process Figure 1 The storage system shown.

[0105] 1. Replenishment process.

[0106] For "the first commodity stored on the replenishment shelf (the first commodity may be any commodity stored on the replenishment shelf) meets the replenishment condition", it may be obtained by monitoring by the control device or by monitoring by the management device. Specifically:

[0107] In one embodiment, the control device can monitor the storage conditions of the goods on the replenishment shelf in real time (the types of goods stored and the quantity of each type of goods stored, etc.). When the control device detects that at least one of the goods stored on the replenishment shelf is taken off the shelf and shipped out of the warehouse, it can be determined that the goods meet the replenishment conditions, and the replenishment quantity is determined to be the number of the goods taken off the shelf. Alternatively, when the control device detects that the quantity of a certain type of goods stored on the replenishment shelf is less than the minimum quantity threshold corresponding to the goods, it can be determined that the goods meet the replenishment conditions, and the replenishment quantity is determined to be the difference between the current quantity of the goods stored and the maximum quantity threshold corresponding to the goods.

[0108] For example, when the control device detects that 3 Class A goods stored on the replenishment shelf have been removed from the shelf, it can be determined that the Class A goods meet the replenishment conditions, and the replenishment quantity is determined to be 3. Alternatively, when the control device detects that the number of Class A goods stored on the replenishment shelf (5) is less than the minimum quantity threshold corresponding to Class A goods (7), it can be determined that the Class A goods meet the replenishment conditions, and the replenishment quantity is determined to be the difference between the number of Class A goods (5) and the maximum quantity threshold corresponding to Class A goods (10), that is, 5.

[0109] In another embodiment, the warehousing system may also include a management device, which is used to monitor the storage status of goods on the replenishment shelf in real time. After the management device determines that the goods meet the replenishment conditions and determines the replenishment quantity in the above manner, it can send a replenishment task to the control device, so that the control device determines that the goods stored on the replenishment shelf meet the replenishment conditions and determines the quantity to be replenished.

[0110] After determining that the first goods stored on the replenishment shelf meet the replenishment conditions, the control device can determine the first material box loaded with the first goods in the storage shelf according to the storage situation of the goods on the storage shelf. Then, the control device can generate a scheduling instruction based on the position of the first material box on the storage shelf and send the scheduling instruction to the material box handling robot to schedule the material box handling robot to transport the first material box.

[0111] After receiving the dispatch instruction sent by the control device, the material box handling robot can move to the storage location where the first material box is located according to the location of the first material box included in the dispatch instruction. Then, the material box handling robot can take the first material box from the storage location and carry it to the working area of ​​the sorting robot. Finally, after placing the first material box in the working area of ​​the sorting robot, the material box handling robot can return a notification message of the completion of the handling to the control device, so that the control device determines that the first material box has arrived at the working area.

[0112] The storage shelf may include: a first cache position and a first storage bin position, and the first cache position is located in the working area of ​​the sorting robot, that is, the first cache position is the docking position between the storage shelf and the sorting robot. In this case, when the bin handling robot carries the first bin to the working area of ​​the sorting robot, the first bin may be carried from the first storage bin position to the first cache position.

[0113] After determining that the first material box has arrived at the working area, the control device can generate a picking instruction according to the quantity to be replenished and send the picking instruction to the sorting robot to schedule the sorting robot to pick the goods.

[0114] Among them, because one sorting robot may correspond to multiple material box handling robots, or the same material box handling robot may have successively carried multiple material boxes to the working area of ​​the sorting robot, etc., there may be multiple material boxes that need to pick goods in the working area of ​​the sorting robot. On this basis, in order to enable the sorting robot to accurately pick out the corresponding number of goods from each material box, the control device can generate picking instructions in but not limited to the following ways.

[0115] In the first embodiment, the control device can generate a picking instruction based on the quantity to be replenished and the identification information of the first material box. In this way, when the sorting robot picks goods from the material box, it can determine the picking instruction corresponding to the currently picked material box based on the identification information of the currently picked material box and the identification information in the received picking instruction, and then pick out a corresponding number of goods from the material box according to the replenishment quantity included in the picking instruction.

[0116] For example, the material box that the sorting robot currently wants to pick is material box 1. It can determine the picking instruction whose identification information of the material box is the same as the identification information of material box 1 from the various picking instructions it receives. Assuming it is picking instruction 1, and the replenishment quantity included in picking instruction 1 is 3, then the sorting robot can pick 3 pieces of goods from material box 1 according to the picking instruction.

[0117] In a second embodiment, there may be multiple docking positions between the sorting robot and the storage shelf (i.e., the number of the first cache positions is multiple), and the scheduling instructions generated by the control device for the material box handling robot may include at which docking position of the sorting robot the first material box is to be placed. On this basis, the control device may generate a picking instruction based on the quantity to be replenished and the position information of the first material box (at which docking position the first material box is placed). In this way, when the sorting robot picks goods from the material box, it may determine the picking instruction corresponding to the currently selected material box based on the position information of the currently selected material box and the position information in the received picking instruction, and then pick a corresponding quantity of goods from the material box based on the replenishment quantity included in the picking instruction.

[0118] For example, the location of the material box that the sorting robot is currently going to pick is at docking position No. 1. It can determine the picking instruction that includes the same location information as the location of the material box to be picked from the various picking instructions it has received. Assuming it is picking instruction 1, and the replenishment quantity included in picking instruction 1 is 3, then the sorting robot can pick 3 pieces of goods from the material box according to the picking instruction.

[0119] After receiving the picking instruction sent by the control device, the sorting robot can pick the first goods from the first material box according to the picking instruction, and after the picking is completed, return the notification information of the picking completion to the control device, so that the control device determines that the picking of the first goods is completed. Wherein, when the number of the first goods to be picked is multiple, the sorting robot can pick the required multiple first goods from the first material box by picking one goods at a time or picking multiple goods at a time.

[0120] After determining that the picking of the first goods is completed, the control device can allocate a storage location for the picked goods on the replenishment shelf, and then generate a scheduling instruction based on the storage location of the picked first goods and the storage location allocated for the picked first goods, and send the scheduling instruction to the cargo handling robot to schedule the cargo handling robot to transport the picked first goods.

[0121] Among them, the embodiments of the present application do not limit the specific allocation rules of storage bins. Exemplarily, the allocation rules include, but are not limited to, 1. According to the hotness of the goods, the empty storage bins on the replenishment shelf close to the outbound equipment are allocated to the goods with higher temperature; 2. For a product, the empty storage bins around the storage bins with the same goods as the goods stored on the replenishment shelf are allocated to the goods to achieve centralized storage of the same goods. And when allocating storage bins, the embodiments of the present application do not limit the number of goods stored in a storage bin. For example, the bins can be allocated in a way that one bin stores one good, or in a way that one bin stores multiple goods. It can also be flexibly selected according to the size of the goods to allocate the bins in a way that "one bin stores one good" or "one bin stores multiple goods".

[0122] After receiving the dispatching instruction sent by the control device, the cargo handling robot transports each first cargo picked up to the storage location allocated for the first cargo on the replenishment shelf until all the first cargo picked up are transported to the replenishment shelf, thereby completing the replenishment of the first cargo.

[0123] The replenishment shelf may include: a second cache position and a second storage position, and the second cache position is located in the working area of ​​the sorting robot, that is, the second cache position is the docking position between the replenishment shelf and the sorting robot. In this case, after the sorting robot picks out the goods from the first bin, it can place the picked first goods on the second cache position, and correspondingly, the goods handling robot transports the first goods stored in the second cache position to the second storage position.

[0124] It should be noted here that the above-mentioned "first cache position and second cache position" and "first storage position and second storage position" are only for distinguishing the cache positions and storage positions in storage shelves and replenishment shelves, and do not refer to a specific cache position and storage position.

[0125] It should be noted that in addition to real-time monitoring of the quantity of goods stored on the replenishment shelves, the quantity of goods stored on the storage shelves can also be monitored in real time. Specifically:

[0126] The control device or management device can monitor the number of goods in the boxes stored on the storage shelves in real time. When the number of goods in a box is less than a preset threshold, the control device can dispatch the box handling robot to remove the box to replenish the goods in the box. After the goods in the box are replenished, the control device can also dispatch the box handling robot to transport the box back to the storage shelf.

[0127] For example, if the number of goods a in the A box stored on the storage shelf is 3, which is less than the preset threshold of 5, the control device can dispatch the box handling robot to carry the A box to the conveying device under the storage shelf, and then transport the A box to the storage workstation through the conveying device to replenish the goods a. After replenishing the goods in the A box, the A box can be further transported to the bottom of the storage shelf through the conveying device, and the control device can dispatch the box handling robot to carry the box A under the storage shelf back to the storage shelf.

[0128] 2. Outbound delivery process.

[0129] For the "outbound demand of the second goods stored on the replenishment shelf", it can be determined by the control device or the management device. Specifically:

[0130] In one embodiment, when receiving an order, the control device may determine the goods (second goods) required by the order, and further determine that the second goods stored on the replenishment shelf have generated a need to be shipped out. For example, if the order received by the control device requires Class A goods, the control device may determine that the Class A goods stored on the replenishment shelf meet the need to be shipped out.

[0131] In another embodiment, after receiving the order, the management device can generate an outbound task for the goods (second goods) required by the order and send the outbound task to the control device. After receiving the outbound task, the control device can determine that the second goods stored on the replenishment shelf have generated an outbound demand.

[0132] After determining that the second cargo stored on the replenishment shelf generates a demand for shipment, the control device can determine a storage location in the replenishment shelf where the second cargo is stored based on the storage situation of the cargo on the replenishment shelf. Then, the control device can generate a scheduling instruction based on the storage location and send the scheduling instruction to the cargo handling robot to schedule the cargo handling robot to transport the second cargo.

[0133] After receiving the dispatch instruction sent by the control device, the cargo handling robot can move to the above storage location. Then, the cargo handling robot can take the second cargo from the storage location and move it off the replenishment shelf for unloading and out of the warehouse. When there are multiple second cargoes to be shipped out of the warehouse, the cargo handling robot can remove the required multiple second cargoes from the replenishment shelf for unloading and out of the warehouse by carrying one cargo at a time or picking multiple cargoes at a time.

[0134] In the solution provided by the embodiment of the present application, on the one hand, by introducing a material box handling robot, a sorting robot and a cargo handling robot, the manual operation links are greatly reduced, and a large amount of cargo can be processed in a short time, thereby significantly improving the efficiency of cargo handling. On the other hand, a replenishment shelf is set up, and when the goods on the replenishment shelf are shipped out of the warehouse, or the quantity of goods is less than a preset threshold, the goods in the material box can be picked up on the replenishment shelf in advance. In this way, when an order is generated, it is only necessary to directly move the goods required for the order from the replenishment shelf for shipment, without the need to move the material box in real time and pick the goods from the material box for shipment, thereby further improving the efficiency of cargo handling.

[0135] As an implementation method of the embodiment of the present application, the control device in the above-mentioned storage system can also dispatch the material box handling machine to execute the storage process. Figure 1 The storage system shown.

[0136] 3. Warehousing process.

[0137] After determining that the second box loaded with goods to be stored has a need to be stored, the control device can allocate a storage location for the second box on the storage shelf, and dispatch the box handling robot to transport the second box to the storage location allocated to the second box on the storage shelf, so as to store the second box in the warehouse.

[0138] The embodiments of the present application do not limit the specific allocation rules of storage bins. Exemplary allocation rules include, but are not limited to, 1. According to the hotness of the goods, the empty storage bins on the storage shelves close to the sorting robot are allocated to the bins with higher temperatures of the goods loaded; 2. For a bin, the empty storage bins around the bins with the same goods loaded on the storage shelves are allocated to the bin to achieve centralized storage of the same goods.

[0139] For the "warehousing demand of the second material box", it can be determined by the control device or the management device. Specifically:

[0140] In one embodiment, for a second material box loaded with goods to be stored, a staff member in a storage workstation can enter the material box information of the second material box and the information of the goods to be stored through a terminal device such as a PDA (personal digital assistant). The terminal device can send the above information to the control device. After receiving the above information and determining that the second material box has arrived at the working area of ​​the material box handling robot, the control device can determine that the second material box has a storage demand.

[0141] In another embodiment, the terminal device can send the above information entered by the staff to the management device. After receiving the above information, the management device can generate a warehousing task for the second material box and send the warehousing task to the control device. After receiving the warehousing task and determining that the second material box has arrived at the working area of ​​the material box handling robot, the control device can determine that the second material box has a warehousing demand.

[0142] In the solution provided in the embodiment of the present application, the control device can also dispatch the material box handling machine to execute the warehousing process, and transport the second material box loaded with the goods to be stored to the storage shelf for warehousing, thereby realizing the automation of the warehousing process, further reducing the manual operation links, and significantly improving the efficiency of cargo handling.

[0143] As an implementation method of the present application, Figure 2 As shown, the above-mentioned warehousing system can also include a first conveying device 105 and a second conveying device 106. The starting position of the first conveying device 105 is located in the working area of ​​the cargo handling robot, and the end position of the second conveying device 106 is located in the working area of ​​the box handling robot.

[0144] In the outbound process, when the cargo handling robot removes the second cargo from the replenishment shelf for outbound delivery, it can specifically carry the second cargo from the storage location of the replenishment shelf to the first conveying device. In this way, the first conveying device can use its own conveying function to transport the second cargo to the workstation, and the robot or manual labor in the workstation can pack the second cargo for outbound delivery.

[0145] Among them, because the starting position of the first conveying equipment is located in the working area of ​​the cargo handling robot, the starting position of the first conveying equipment is the docking position between the first conveying equipment and the cargo handling robot. Accordingly, when the cargo handling robot transports the cargo to the first conveying equipment, it can specifically transport the cargo to the docking position of the first conveying equipment.

[0146] In the warehousing process, the staff at the warehousing workstation can input the box information of the second box and the information of the goods to be stored through a terminal device such as a PDA, and then place the second box on the second conveying device. When the second conveying device transports the second box to the end position of the second conveying device, that is, the second box is located in the working area of ​​the box handling robot, the control device can dispatch the box handling robot to transport the second box on the second conveying device to the storage shelf to store the second box.

[0147] Among them, because the end position of the second conveying equipment is located in the working area of ​​the material box handling robot, the end position of the second conveying equipment is the docking position between the second conveying equipment and the material box handling robot. Accordingly, when the material box handling robot transports the material box from the second conveying equipment, it can specifically transport the material box from the docking position of the second conveying equipment.

[0148] In one embodiment, for the determination method of "the second material box is located in the working area of ​​the material box handling robot", a trigger device and a collection device may be installed at the end position of the second conveying device, and when the material box transported by the second conveying device reaches the end position of the second conveying device, the trigger device will trigger the collection device to collect the identification information of the material box, and the collection device may send the collected identification information to the control device. When the control device determines that the identification information collected by the collection device is the same as the identification information entered by the staff, it can determine that the second material box is located in the working area of ​​the material box handling robot.

[0149] The specific types of the first conveying device and the second conveying device can be selected according to actual use requirements, and the embodiment of the present application does not limit the specific types of the conveying devices. For example, the conveying device can be a belt conveyor, a roller conveyor, etc.

[0150] In addition, the second conveying equipment can also be used to remove the material box from the warehouse. Specifically, for the third material box that needs to be removed from the warehouse, the control device can dispatch the material box handling robot to move the third material box from the storage shelf to the second conveying equipment in response to the removal demand of the third material box, and then transfer the third material box to the warehousing workstation through the conveying function of the second conveying equipment.

[0151] In the solution provided by the embodiment of the present application, the storage system may also include a first conveying device and a second conveying device, so that the storage of the material box and the removal of the goods can be realized by means of the conveying function of the conveying device, further reducing the manual operation links and significantly improving the efficiency of cargo handling. In addition, when the goods are fresh fruits and vegetables, ice cream and other goods that need to be refrigerated, the control device, the material box handling robot, the sorting robot and the cargo handling robot can be located in a low-temperature warehouse. On this basis, the material box is transported to the low-temperature warehouse by the first conveying device and the goods are transported out of the low-temperature warehouse by the second conveying device. On the one hand, it can reduce the time that the low-temperature warehouse is open to the outside, thereby reducing the chance of external heat entering the warehouse, which helps to maintain a stable low-temperature environment. On the other hand, it can also avoid the impact of the low-temperature environment on the human body when personnel perform the above steps, ensuring the continuous progress of cargo handling.

[0152] As an implementation method of the embodiment of the present application, in order to improve the storage density of goods, storage locations can be set above the first conveying device, the second conveying device and the sorting robot. Specifically:

[0153] like Figure 3a As shown, some storage locations of the replenishment rack are arranged above the first conveying device.

[0154] and / or,

[0155] like Figure 3b As shown, some storage locations of the storage rack are arranged above the second conveying device.

[0156] and / or,

[0157] Some storage locations of the replenishment rack and / or storage rack are arranged above the working area of ​​the sorting robot. Figure 3c , some storage locations of the storage shelves are arranged above the working area of ​​the sorting robot.

[0158] In the solution provided in the embodiment of the present application, a three-dimensional storage layout in which storage locations are arranged above the first conveying equipment, the second conveying equipment and the sorting robot can make full use of idle space. Without occupying additional ground space, the amount of storable goods is increased, efficient use of storage space is achieved, and the density of goods storage in the warehouse is greatly improved.

[0159] As an implementation of the embodiment of the present application, after the material box handling robot transports the first material box from the storage shelf to the working area of ​​the sorting robot, it can also return the first material box. Specifically:

[0160] The control device, after receiving the notification information of the completion of picking of the first goods sent by the sorting robot, can determine whether the first material box after the picking is completed is loaded with goods.

[0161] In one embodiment, after the sorting robot completes the picking of the first bin, it can collect an image of the first bin through its own camera. After obtaining the image of the first bin, the sorting robot can analyze the image to determine whether the first bin after the picking is loaded with goods, and send the analysis result to the control device, so that the control device can determine whether the first bin after the picking is loaded with goods according to the analysis result of the sorting robot. Alternatively, after obtaining the image of the first bin, the sorting robot can directly send the image to the control device, and the control device can determine whether the first bin after the picking is loaded with goods by analyzing the image.

[0162] In another embodiment, the control device can determine the quantity of goods originally loaded in the first material box, and the control device can also determine the quantity of goods to be picked. On this basis, the control device can determine whether the first material box is loaded with goods after the picking is completed based on the difference between the quantity of goods originally loaded in the first material box and the quantity of goods to be picked.

[0163] If the first box after picking is still loaded with goods, the control device can send a first scheduling instruction to the box handling robot. In response to the first scheduling instruction, the box handling robot can transport the first box after picking from the working area to the storage shelf, so that the first box can perform the picking process again later.

[0164] Among them, the material box handling robot transports the first material box after picking from the working area to the storage shelf. It can be to transport the first material box after picking to the original storage location, or to reallocate the storage location for the first material box after picking, and transport the first material box after picking to the newly allocated storage location.

[0165] If the first bin after picking is not loaded with goods, the control device can send a second dispatching instruction to the bin handling robot, and the bin handling robot can move the first bin after picking from the working area to the empty bin temporary storage area in response to the second dispatching instruction. Of course, the control device can also send a third dispatching instruction to the bin handling robot, and the bin handling robot can move the first bin after picking directly to the second conveying device in response to the third dispatching instruction, and move the empty bin (i.e. the first bin after picking) to the warehousing workstation for outbound delivery through the reverse movement of the second conveying device, so that other goods to be stored can be loaded through the empty bin later.

[0166] Among them, the temporary storage area for empty material boxes can be any pre-planned area for temporarily storing empty material boxes. When the warehousing system includes a second conveying equipment, the temporary storage area for empty material boxes can also be the area around the second conveying equipment. In this way, when the second conveying equipment moves in the opposite direction, the empty material boxes can be transported to the warehousing workstation to realize the packing of the goods to be stored.

[0167] In the solution provided in the embodiment of the present application, after the sorting robot completes the picking of the material box, the control device can flexibly schedule the material box to return to the storage shelf or the empty material box temporary storage area according to whether the material box is still loaded with goods. This not only improves the recycling rate of the material box and reduces the space occupied by empty boxes, but also optimizes the overall operating efficiency of the warehousing system. Especially when combined with the second conveying equipment, it can also realize the automatic flow of empty boxes to the warehousing workstation, further improving the automation level of warehousing logistics.

[0168] It should be noted that the above-mentioned material box handling robot and cargo handling robot can be any robot that can pick up and place material boxes and cargo from the shelf, for example, a robot with a clamping component that can be raised and lowered, a robot with a telescopic arm structure, etc., and the type of the material box handling robot and the cargo handling robot can be the same or different. The above-mentioned picking robot can be any robot that can realize picking of cargo, for example, an articulated robot, a Cartesian robot, a parallel robot, etc.

[0169] In a specific example, the above-mentioned box handling robot and cargo handling robot can be Figure 4 The robot shown. The robot may include a lower driving module 401, a lifting module 402 and a picking and placing module 403. The lower driving module 401 and the lifting module 402 can drive the picking and placing module 403 to move in the vertical direction, and the robot can move in the horizontal direction through the ceiling rail installed on the shelf, so that the picking and placing module 403 can move to various positions on the shelf to pick and place goods. At the same time, the robot can be powered by a busbar, which can ensure that the robot can operate continuously for 24 hours, avoid interruption of operation due to charging, and improve the continuity and efficiency of the operation.

[0170] The above-mentioned picking robot can be an articulated robot. Since both the material box handling robot and the cargo handling robot will move into the working area of ​​the articulated robot, in order to ensure safety, the articulated robot can be configured with an obstacle avoidance laser sensor. In this way, the articulated robot can detect the surrounding environment in real time through the obstacle avoidance laser sensor. Once it detects that an object enters its preset obstacle avoidance area, it will immediately take measures (stop running, or notify the control device so that the control device controls other robots entering the preset obstacle avoidance area to stop running) to ensure safe operation.

[0171] Below Figure 5 Taking this as an example, the flow of goods in the warehousing system in the embodiment of the present application is introduced:

[0172] The material box loaded with the goods to be stored is transported by the second conveying equipment to the working area of ​​the material box handling robot, and then the material box handling robot transports the material box to the storage shelf, completing the storage process of the goods.

[0173] When goods need to be replenished on the replenishment shelf, the material box handling robot will move the material box used to load the goods to be replenished stored in the storage bin of the storage shelf to the cache position of the storage shelf. Then the sorting robot will pick up the goods to be replenished from the material box and place it on the cache position of the replenishment shelf. Finally, the cargo handling robot will move the goods stored in the cache position of the replenishment shelf to the storage bin of the replenishment shelf, completing the cargo replenishment process.

[0174] When an order is generated, the cargo handling robot will move the goods to be shipped (goods required for the order) stored on the replenishment shelf to the first conveying equipment, and then the first conveying equipment will transport the goods to be shipped to the workstation for shipment, completing the goods shipment process.

[0175] In response to the above-mentioned warehousing system, an embodiment of the present application further provides a cargo handling method. The cargo handling method provided by the embodiment of the present application is introduced below.

[0176] like Figure 6 As shown, a cargo handling method is applied to a control device in a warehousing system, the warehousing system also includes: a material box handling robot, a sorting robot and a cargo handling robot, the method includes:

[0177] S601, in response to the first goods stored on the replenishment shelf satisfying the replenishment condition, scheduling the material box transporting robot to transport the first material box from the storage shelf to the working area of ​​the sorting robot.

[0178] The first container is a container loaded with first goods.

[0179] S602, in response to the first container arriving at the working area, dispatching the sorting robot to pick the first goods from the first container according to the picking instruction.

[0180] S603, in response to the completion of picking of the first cargo, dispatching the cargo handling robot to carry the picked first cargo from the working area to the replenishment shelf.

[0181] S604, in response to the outbound demand of the second goods stored on the replenishment shelf, dispatching the goods handling robot to remove the second goods from the replenishment shelf for outbound delivery.

[0182] The second product is the product required for the order.

[0183] In the solution provided by the embodiment of the present application, on the one hand, by introducing a material box handling robot, a sorting robot and a cargo handling robot, the manual operation links are greatly reduced, and a large amount of cargo can be processed in a short time, thereby significantly improving the efficiency of cargo handling. On the other hand, a replenishment shelf is set up, and the cargo in the material box is picked to the replenishment shelf in advance. In this way, when an order is generated, it is only necessary to directly move the cargo required for the order from the replenishment shelf for delivery, without the need to move the material box in real time and pick the cargo from the material box for delivery, thereby further improving the efficiency of cargo handling.

[0184] As an implementation of the embodiment of the present application, the storage shelf includes: a first cache position and a first storage bin, and the replenishment shelf includes: a second cache position and a second storage bin, and the first cache position and the second cache position are located in the working area of ​​the sorting robot;

[0185] Scheduling the box handling robot to carry the first box from the storage shelf to the working area of ​​the sorting robot includes:

[0186] Dispatching a material box transporting robot to transport a first material box from a first storage location to a first cache location;

[0187] Scheduling the sorting robot to pick the first goods from the first bin according to the picking instruction includes:

[0188] The sorting robot is dispatched to pick out the first goods from the first material box according to the picking instruction and place the first goods in the second cache position;

[0189] The cargo handling robot is dispatched to carry the first cargo picked from the work area to the replenishment shelf, including:

[0190] The cargo handling robot is dispatched to carry the first cargo stored in the second cache location to the second storage location.

[0191] As an implementation of the embodiment of the present application, the above method also includes:

[0192] In response to the completion of picking of the first cargo, determining whether the first container after picking is loaded with cargo;

[0193] In the case where the first material box after picking is still loaded with goods, the material box handling robot is dispatched to carry the first material box after picking from the working area to the storage shelf;

[0194] In the case that the first material box after picking is not loaded with goods, the material box handling robot is dispatched to transport the first material box after picking from the working area to the empty material box temporary storage area or to take the first material box after picking out of the warehouse.

[0195] As an implementation of the embodiment of the present application, the warehousing system may further include: a first conveying device, wherein the starting position of the first conveying device is located in the working area of ​​the cargo handling robot;

[0196] Scheduling the cargo handling robot to remove the second cargo from the replenishment shelf for delivery may include:

[0197] The cargo handling robot is dispatched to transport the second cargo from the replenishment shelf to the first conveying device, so that the first conveying device conveys the second cargo to the workstation for outbound delivery.

[0198] As an implementation method of the embodiment of the present application, some storage locations of the replenishment shelf are arranged above the first conveying device;

[0199] and / or,

[0200] Some storage locations of the replenishment rack and / or storage rack are arranged above the working area of ​​the sorting robot.

[0201] As an implementation of the embodiment of the present application, the storage system may further include: a second conveying device, wherein the end position of the second conveying device is located in the working area of ​​the box handling robot;

[0202] The above method may further include:

[0203] In response to the storage demand of the second material box, the material box handling robot is dispatched to transport the second material box from the second conveying device to the storage shelf, wherein the second material box is a material box loaded with goods to be stored;

[0204] and / or,

[0205] In response to the outbound demand of the third container, the container transport robot is dispatched to transport the third container from the storage shelf to the second conveying device.

[0206] As an implementation of an embodiment of the present application, some storage locations of the storage rack are arranged above the second conveying equipment.

[0207] As an implementation manner of an embodiment of the present application, the first goods satisfying the replenishment conditions include: the first goods stored on the replenishment shelf are shipped out; and / or the quantity of the first goods stored on the replenishment shelf is less than the quantity threshold corresponding to the first goods.

[0208] In response to the above-mentioned cargo handling method, an embodiment of the present application further provides a cargo handling device. The cargo handling device provided by the embodiment of the present application is introduced below.

[0209] like Figure 7As shown, a cargo handling device is applied to a control device in a storage system. The storage system also includes: a material box handling robot, a sorting robot and a cargo handling robot. The above device includes:

[0210] The replenishment module 701 is used for, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, scheduling the material box handling robot to transport the first material box from the storage shelf to the working area of ​​the sorting robot; in response to the first material box arriving at the working area, scheduling the sorting robot to pick the first goods from the first material box according to the picking instruction; in response to the first goods picking being completed, scheduling the goods handling robot to transport the picked first goods from the working area to the replenishment shelf; wherein the first material box is a material box loaded with the first goods;

[0211] The outbound module 702 is used to dispatch the cargo handling robot to remove the second cargo from the replenishment shelf for outbound delivery in response to the outbound demand of the second cargo stored on the replenishment shelf, wherein the second cargo is the cargo required for the order.

[0212] In the solution provided by the embodiment of the present application, on the one hand, by introducing a material box handling robot, a sorting robot and a cargo handling robot, the manual operation links are greatly reduced, and a large amount of cargo can be processed in a short time, thereby significantly improving the efficiency of cargo handling. On the other hand, a replenishment shelf is set up, and the cargo in the material box is picked to the replenishment shelf in advance. In this way, when an order is generated, it is only necessary to directly move the cargo required for the order from the replenishment shelf for delivery, without the need to move the material box in real time and pick the cargo from the material box for delivery, thereby further improving the efficiency of cargo handling.

[0213] As an implementation of the embodiment of the present application, the storage shelf includes: a first cache position and a first storage bin, and the replenishment shelf includes: a second cache position and a second storage bin, and the first cache position and the second cache position are located in the working area of ​​the sorting robot;

[0214] The replenishment module can be specifically used to schedule a material box handling robot to transport a first material box from a first storage location to a first cache location; schedule a sorting robot to pick out a first cargo from the first material box according to a picking instruction and place it in a second cache location; and schedule a cargo handling robot to transport the first cargo stored in the second cache location to a second storage location.

[0215] As an implementation of the embodiment of the present application, the above device may further include:

[0216] The material box returning module is used to respond to the completion of the first cargo picking and determine whether the first material box after the picking is loaded with goods; if the first material box after the picking is still loaded with goods, the material box handling robot is dispatched to transport the first material box after the picking from the working area to the storage shelf; if the first material box after the picking is not loaded with goods, the material box handling robot is dispatched to transport the first material box after the picking from the working area to the empty material box temporary storage area or to send the first material box out of the warehouse.

[0217] As an implementation of the embodiment of the present application, the warehousing system further includes: a first conveying device, wherein the starting position of the first conveying device is located in the working area of ​​the cargo handling robot;

[0218] The replenishment module can be specifically used to dispatch the cargo handling robot to transport the second cargo from the replenishment shelf to the first conveying device, so that the first conveying device transports the second cargo to the workstation for delivery.

[0219] As an implementation method of the embodiment of the present application, some storage locations of the replenishment shelf are arranged above the first conveying device;

[0220] and / or,

[0221] Some storage locations of the replenishment rack and / or storage rack are arranged above the working area of ​​the sorting robot.

[0222] As an implementation of the embodiment of the present application, the storage system further includes: a second conveying device, the end position of the second conveying device is located in the working area of ​​the box handling robot;

[0223] The above device may also include:

[0224] A warehousing module is used to dispatch a box handling robot to carry the second box from the second conveying device to the storage shelf in response to a warehousing demand of the second box, wherein the second box is a box loaded with goods to be stored;

[0225] and / or,

[0226] The outbound module is further used to dispatch the box handling robot to transport the third box from the storage shelf to the second conveying device in response to the outbound demand of the third box.

[0227] As an implementation of an embodiment of the present application, some storage locations of the storage rack are arranged above the second conveying equipment.

[0228] As an implementation manner of an embodiment of the present application, the first goods satisfying the replenishment conditions include: the first goods stored on the replenishment shelf are shipped out; and / or the quantity of the first goods stored on the replenishment shelf is less than the quantity threshold corresponding to the first goods.

[0229] The present application also provides a control device, such as Figure 8 As shown, including:

[0230] Memory 801, used for storing computer programs;

[0231] The processor 802 is used to implement the cargo handling method described in any of the above embodiments when executing the program stored in the memory 801.

[0232] In the solution provided by the embodiment of the present application, on the one hand, by introducing a material box handling robot, a sorting robot and a cargo handling robot, the manual operation links are greatly reduced, and a large amount of cargo can be processed in a short time, thereby significantly improving the efficiency of cargo handling. On the other hand, a replenishment shelf is set up, and the cargo in the material box is picked to the replenishment shelf in advance. In this way, when an order is generated, it is only necessary to directly move the cargo required for the order from the replenishment shelf for delivery, without the need to move the material box in real time and pick the cargo from the material box for delivery, thereby further improving the efficiency of cargo handling.

[0233] Furthermore, the control device may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 communicate with each other via the communication bus.

[0234] The communication bus mentioned in the above control device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0235] The communication interface is used for communication between the above control device and other devices.

[0236] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0237] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0238] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of the cargo handling method described in any of the above embodiments are implemented.

[0239] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the cargo handling method described in any one of the above embodiments.

[0240] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0241] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0242] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method, apparatus, control device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the system embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the system embodiment.

[0243] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A storage system, characterized in that: The warehousing system includes: a control device, a material box handling robot, a sorting robot and a cargo handling robot; The control device, in response to the first goods stored on the replenishment shelf satisfying the replenishment condition, dispatches the material box transporting robot to transport the first material box, wherein the first material box is a material box loaded with the first goods; The material box handling robot is used to carry the first material box from the storage shelf to the working area of ​​the sorting robot; The control device, in response to the first material box arriving at the working area, dispatches the sorting robot to pick up the goods; The sorting robot is used to pick the first goods from the first material box according to the picking instruction of the control device; The control device, in response to completion of picking of the first cargo, dispatches the cargo handling robot to handle the cargo; The cargo handling robot is used to carry the picked first cargo from the working area to the replenishment shelf; The control device, in response to a demand for the second cargo stored on the replenishment shelf to be shipped out of the warehouse, dispatches the cargo handling robot to transport the second cargo, wherein the second cargo is cargo required for the order; The cargo handling robot is also used to remove the second cargo from the replenishment shelf for shipment.

2. The system according to claim 1, characterized in that The storage shelf comprises: a first cache position and a first storage bin, and the replenishment shelf comprises: a second cache position and a second storage bin, wherein the first cache position and the second cache position are located in the working area of ​​the sorting robot; The material box transport robot is specifically used to transport the first material box from the first storage location to the first cache location; The sorting robot is specifically used to pick out the first goods from the first material box and place them on the second cache position according to the scheduling instruction of the control device; The cargo handling robot is specifically used to transport the first cargo stored in the second cache location to the second storage location.

3. The system according to claim 1, characterized in that The control device, in response to the completion of the picking of the first goods, sends a first dispatching instruction to the box handling robot when the first box after the picking is completed is still loaded with goods, and sends a second dispatching instruction to the box handling robot when the first box after the picking is completed is not loaded with goods; The material box handling robot, in response to the first scheduling instruction, transports the first material box after picking from the working area to the storage shelf, and in response to the second scheduling instruction, transports the first material box after picking from the working area to the empty material box temporary storage area or sends the first material box out of the warehouse after picking.

4. The system according to claim 1, characterized in that The warehousing system further comprises: a first conveying device, wherein a starting position of the first conveying device is located in a working area of ​​the cargo handling robot; The cargo handling robot is specifically used to transport the second cargo from the replenishment shelf to the first conveying device; The first conveying equipment is used to convey the second cargo to the workstation for shipment.

5. The system according to claim 4, characterized in that Some storage locations of the replenishment shelf are arranged above the first conveying device; and / or, Some storage locations of the replenishment shelf and / or the storage shelf are arranged above the working area of ​​the sorting robot.

6. The system according to claim 1, characterized in that The storage system further comprises: a second conveying device, the end position of the second conveying device being located in the working area of ​​the material box handling robot; The control device, in response to the storage demand of the second material box, dispatches the material box handling robot to transport the second material box, wherein the second material box is a material box loaded with goods to be stored; the material box handling robot is also used to transport the second material box from the second conveying device to the storage shelf; and / or, The control device, in response to the outbound demand of the third material box, dispatches the material box handling robot to transport the third material box; the material box handling robot is also used to transport the third material box from the storage shelf to the second conveying device.

7. The system according to claim 6, characterized in that Some storage locations of the storage rack are arranged above the second conveying device.

8. The system according to any one of claims 1 to 7, characterized in that: The first goods satisfying the replenishment condition include: the first goods stored on the replenishment shelf are shipped out; and / or the quantity of the first goods stored on the replenishment shelf is less than a quantity threshold corresponding to the first goods.

9. A cargo handling method, characterized in that: A control device applied to a warehousing system, wherein the warehousing system further comprises: a material box handling robot, a sorting robot and a cargo handling robot, and the method comprises: In response to the first goods stored on the replenishment shelf meeting the replenishment condition, the material box handling robot is dispatched to transport the first material box from the storage shelf to the working area of ​​the sorting robot; in response to the first material box arriving at the working area, the sorting robot is dispatched to pick the first goods from the first material box according to the picking instruction; in response to the first goods picking being completed, the cargo handling robot is dispatched to transport the picked first goods from the working area to the replenishment shelf; wherein, the first material box is a material box loaded with the first goods; In response to a demand for the second cargo stored on the replenishment shelf to be shipped out, the cargo handling robot is dispatched to remove the second cargo from the replenishment shelf for shipment, wherein the second cargo is the cargo required for the order.

10. The method according to claim 9, characterized in that The storage shelf comprises: a first cache position and a first storage bin, the replenishment shelf comprises: a second cache position and a second storage bin, the first cache position and the second cache position are located in the working area of ​​the sorting robot; the scheduling of the bin handling robot to carry the first bin from the storage shelf to the working area of ​​the sorting robot comprises: scheduling the bin handling robot to carry the first bin from the first storage bin to the first cache position; the scheduling of the sorting robot to pick up the first cargo from the first bin according to the picking instruction comprises: scheduling the sorting robot to pick up the first cargo from the first bin according to the picking instruction and place it on the second cache position; the scheduling of the cargo handling robot to carry the picked first cargo from the working area to the replenishment shelf comprises: scheduling the cargo handling robot to carry the first cargo stored in the second cache position to the second storage bin; and / or, The method further includes: in response to the completion of picking of the first cargo, determining whether the first material box after picking is loaded with cargo; if the first material box after picking is still loaded with cargo, scheduling the material box handling robot to transport the first material box after picking from the working area to the storage shelf; if the first material box after picking is not loaded with cargo, scheduling the material box handling robot to transport the first material box after picking from the working area to the empty material box temporary storage area or to take the first material box out of the warehouse; and / or, The warehousing system further includes: a first conveying device, wherein the starting position of the first conveying device is located in the working area of ​​the cargo handling robot; the dispatching the cargo handling robot to remove the second cargo from the replenishment shelf for outbound delivery includes: dispatching the cargo handling robot to transport the second cargo from the replenishment shelf to the first conveying device, so that the first conveying device transports the second cargo to the workstation for outbound delivery; and / or, Some storage locations of the replenishment shelf are arranged above the first conveying device; and / or some storage locations of the replenishment shelf and / or the storage shelf are arranged above the working area of ​​the sorting robot; and / or, The warehousing system further comprises: a second conveying device, wherein the end position of the second conveying device is located in the working area of ​​the material box handling robot; the method further comprises: in response to the storage demand of the second material box, scheduling the material box handling robot to transport the second material box from the second conveying device to the storage shelf, wherein the second material box is a material box loaded with goods to be stored; and / or, in response to the storage demand of the third material box, scheduling the material box handling robot to transport the third material box from the storage shelf to the second conveying device; and / or, Some storage locations of the storage rack are arranged above the second conveying device; and / or, The first goods satisfying the replenishment condition include: the first goods stored on the replenishment shelf are shipped out; and / or the quantity of the first goods stored on the replenishment shelf is less than a quantity threshold corresponding to the first goods.

11. A cargo handling device, characterized in that: A control device applied to a warehousing system, wherein the warehousing system further comprises: a material box handling robot, a sorting robot and a cargo handling robot, wherein the device comprises: The replenishment module is used for, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, scheduling the material box handling robot to carry the first material box from the storage shelf to the working area of ​​the sorting robot; in response to the first material box arriving at the working area, scheduling the sorting robot to pick the first goods from the first material box according to the picking instruction; in response to the first goods picking being completed, scheduling the goods handling robot to carry the picked first goods from the working area to the replenishment shelf; wherein, the first material box is a material box loaded with the first goods; The outbound module is used to respond to the outbound demand of the second goods stored on the replenishment shelf, and dispatch the cargo handling robot to remove the second goods from the replenishment shelf for outbound delivery, wherein the second goods are the goods required for the order.

12. The device according to claim 11, characterized in that The storage shelf comprises: a first cache position and a first storage bin, and the replenishment shelf comprises: a second cache position and a second storage bin, wherein the first cache position and the second cache position are located in the working area of ​​the sorting robot; the replenishment module is specifically used to dispatch the bin handling robot to transport the first bin from the first storage bin to the first cache position; dispatch the sorting robot to pick out the first cargo from the first bin according to the picking instruction and place it on the second cache position; dispatch the cargo handling robot to transport the first cargo stored in the second cache position to the second storage bin; and / or, The device further comprises: a material box returning module, which is used to judge whether the first material box after picking is loaded with goods in response to the completion of picking of the first goods; if the first material box after picking is still loaded with goods, dispatching the material box handling robot to carry the first material box after picking from the working area to the storage shelf; if the first material box after picking is not loaded with goods, dispatching the material box handling robot to carry the first material box after picking from the working area to the empty material box temporary storage area or to carry out the first material box after picking; and / or, The warehousing system further includes: a first conveying device, the starting position of which is located in the working area of ​​the cargo handling robot; the replenishment module is specifically used to dispatch the cargo handling robot to transport the second cargo from the replenishment shelf to the first conveying device, so that the first conveying device transports the second cargo to the workstation for outbound delivery; and / or, Some storage locations of the replenishment shelf are arranged above the first conveying device; and / or some storage locations of the replenishment shelf and / or the storage shelf are arranged above the working area of ​​the sorting robot; and / or, The warehousing system further comprises: a second conveying device, the end position of which is located in the working area of ​​the material box handling robot; the device further comprises: an entry module, which is used to dispatch the material box handling robot to transport the second material box from the second conveying device to the storage shelf in response to the entry demand of the second material box, wherein the second material box is a material box loaded with goods to be entered into the warehouse, and / or the outbound module is further used to dispatch the material box handling robot to transport the third material box from the storage shelf to the second conveying device in response to the outbound demand of the third material box; and / or, Some storage locations of the storage rack are arranged above the second conveying device; and / or, The first goods satisfying the replenishment condition include: the first goods stored on the replenishment shelf are shipped out; and / or the quantity of the first goods stored on the replenishment shelf is less than a quantity threshold corresponding to the first goods.

13. A control device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 9-10 when executing a program stored in a memory.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 9 to 10 is implemented.

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