A warehousing system, a goods handling method, device, equipment and medium

Abstract

An embodiment of the present application provides a warehousing system, a method, device, equipment and medium for cargo handling, relating to the technical field of warehousing. The warehousing system includes a control device and each robot. The control device, in response to the first cargo meeting the replenishment condition, schedules the bin handling robot to transport the first bin loaded with the first cargo from the storage shelf to the working area of the sorting robot, schedules the sorting robot to pick the first cargo from the first bin, and schedules the cargo handling robot to transport the picked first cargo to the replenishment shelf; the control device, in response to the outbound demand of the second cargo, schedules the cargo handling robot to remove the second cargo required for the order from the replenishment shelf for outbound. Introducing robots greatly reduces the manual operation links and can quickly process a large number of goods. When an order is generated, the goods required for the order are directly transported from the replenishment shelf for outbound, without the need to transport the bin in real time and pick the goods from the bin, improving the efficiency of cargo handling.

Description

Technical Field

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

[0002] In the field of warehousing technology, there are multiple links relying on manual operations in traditional goods handling methods. Specifically: when an order demand is generated, the staff will select the bin loaded with the required goods from the shelf according to the order information, and then carry it to the outbound working area. In the outbound working area, the staff also needs to further pick out the goods required by the order from the bin to complete the outbound of the goods.

[0003] However, the above method of manual handling is not only time-consuming and laborious, but also difficult to meet the fast and accurate goods handling requirements in the face of large-scale goods processing. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a warehousing system, a method, device, equipment and medium for handling goods to improve the efficiency of goods handling. The specific technical solutions are as follows:

[0005] In a first aspect, the embodiments of this application provide a warehousing system, which includes: a control device, a bin handling robot, a sorting robot and a goods handling robot;

[0006] The control device, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, schedules the bin handling robot to carry the first bin, where the first bin is the bin loaded with the first goods;

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

[0008] The control device, in response to the first bin arriving at the working area, schedules the sorting robot to pick goods;

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

[0010] The control device, in response to the completion of picking the first goods, schedules the goods handling robot to carry the goods;

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

[0012] The control device, in response to the outbound demand of the second goods stored on the replenishment shelf, schedules the goods handling robot to handle the second goods, where the second goods are the goods required by the order.

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

[0014] Optionally, the storage shelf includes: a first buffer position and a first storage position, and the replenishment shelf includes: a second buffer position and a second storage position, where the first buffer position and the second buffer position are located in the working area of the sorting robot.

[0015] The bin handling robot is specifically used to move the first bin from the first storage position to the first buffer position.

[0016] The sorting robot is specifically used to pick the first goods from the first bin according to the scheduling instruction of the control device and place them on the second buffer position.

[0017] The goods handling robot is specifically used to move the first goods stored on the second buffer position to the second storage position.

[0018] Optionally, the control device, in response to the completion of the picking of the first goods, sends a first scheduling instruction to the bin handling robot when the first bin after picking still contains goods, and sends a second scheduling instruction to the bin handling robot when the first bin after picking does not contain goods.

[0019] The bin handling robot, in response to the first scheduling instruction, moves the first bin after picking from the working area to the storage shelf, and in response to the second scheduling instruction, moves the first bin after picking from the working area to the empty bin temporary storage area or performs outbound of the first bin after picking.

[0020] Optionally, the warehousing system further includes: a first conveying device, and the starting position of the first conveying device is located in the working area of the goods handling robot.

[0021] The goods handling robot is specifically used to move the second goods from the replenishment shelf to the first conveying device.

[0022] The first conveying device is used to convey the second goods to the workstation for outbound.

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

[0024] and / or

[0025] Part of the storage bins 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 includes: a second conveying device, and the end position of the second conveying device is located in the working area of the bin handling robot;

[0027] The control device, in response to the inbound requirement of the second bin, schedules the bin handling robot to carry the second bin, where the second bin is a bin loaded with goods to be warehoused; the bin handling robot is further configured to carry the second bin from the second conveying device to the storage shelf;

[0028] And / or

[0029] The control device, in response to the outbound requirement of the third bin, schedules the bin handling robot to carry the third bin; the bin handling robot is further configured to carry the third bin from the storage shelf to the second conveying device.

[0030] Optionally, part of the storage bins of the storage shelf are arranged above the second conveying device.

[0031] Optionally, the first goods meeting the replenishment condition include: the first goods stored on the replenishment shelf are out of stock; and / or, the quantity of the first goods stored on the replenishment shelf is less than the corresponding quantity threshold of the first goods.

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

[0033] In response to the first goods stored on the replenishment shelf meeting the replenishment condition, schedule the bin handling robot to carry the first bin from the storage shelf to the working area of the sorting robot; in response to the first bin arriving at the working area, schedule the sorting robot to pick the first goods from the first bin according to the picking instruction; in response to the completion of picking the first goods, schedule the goods handling robot to carry the picked first goods from the working area to the replenishment shelf; where the first bin is a bin loaded with the first goods;

[0034] In response to the outbound requirement of the second goods stored on the replenishment shelf, schedule the goods handling robot to take the second goods off the replenishment shelf for outbound, where the second goods are the goods required by the order.

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

[0036] The scheduling of the bin handling robot to transport the first bin from the storage shelf to the working area of the sorting robot includes:

[0037] Scheduling the bin handling robot to transport the first bin from the first storage position to the first buffer position;

[0038] The scheduling of the sorting robot to pick the first item from the first bin according to the picking instruction includes:

[0039] Scheduling the sorting robot to pick the first item from the first bin according to the picking instruction and place it on the second buffer position;

[0040] The scheduling of the item handling robot to transport the picked first item from the working area to the replenishment shelf includes:

[0041] Scheduling the item handling robot to transport the first item stored on the second buffer position to the second storage position.

[0042] Optionally, the method further includes:

[0043] In response to the completion of the picking of the first item, determining whether the first bin after picking is loaded with items;

[0044] In the case where the first bin after picking is still loaded with items, scheduling the bin handling robot to transport the first bin after picking from the working area to the storage shelf;

[0045] In the case where the first bin after picking is not loaded with items, scheduling the bin handling robot to transport the first bin after picking from the working area to the empty bin temporary storage area or to perform out-of-warehouse on the first bin after picking.

[0046] Optionally, the warehousing system further includes: a first conveying device, and the starting position of the first conveying device is located in the working area of the item handling robot;

[0047] The scheduling of the item handling robot to take the second item off the replenishment shelf for out-of-warehouse includes:

[0048] Scheduling the item handling robot to transport the second item from the replenishment shelf to the first conveying device, so that the first conveying device transports the second item to the workstation for out-of-warehouse.

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

[0050] and / or,

[0051] Part of the storage bins 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 includes: a second conveying device, and the end position of the second conveying device is located in the working area of the bin handling robot;

[0053] The method further includes:

[0054] In response to the warehousing requirement of the second bin, scheduling the bin handling robot to move the second bin from the second conveying device to the storage shelf, where the second bin is a bin loaded with goods to be warehoused;

[0055] and / or,

[0056] In response to the outbound requirement of the third bin, scheduling the bin handling robot to move the third bin from the storage shelf to the second conveying device.

[0057] Optionally, part of the storage bins of the storage shelf are arranged above the second conveying device.

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

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

[0060] A replenishment module, configured to, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, schedule the bin handling robot to move the first bin from the storage shelf to the working area of the sorting robot; in response to the first bin arriving at the working area, schedule the sorting robot to pick the first goods from the first bin according to the picking instruction; in response to the completion of picking the first goods, schedule the goods handling robot to move the picked first goods from the working area to the replenishment shelf; where the first bin is a bin 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 goods handling robot to remove the second goods from the replenishment shelf for outbound. Among them, the second goods are the goods required by the order.

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

[0063] The replenishment module is specifically used to dispatch the bin handling robot to move the first bin from the first storage position to the first buffer position; dispatch the sorting robot to pick the first goods from the first bin according to the picking instruction and place them on the second buffer position; dispatch the goods handling robot to move the first goods stored on the second buffer position to the second storage position.

[0064] Optionally, the device further includes:

[0065] The bin return module is used to, in response to the completion of picking the first goods, determine whether the first bin after picking is loaded with goods; in the case that the first bin after picking is still loaded with goods, dispatch the bin handling robot to move the first bin after picking from the working area to the storage shelf; in the case that the first bin after picking is not loaded with goods, dispatch the bin handling robot to move the first bin after picking from the working area to the empty bin temporary storage area or perform outbound of the first bin after picking.

[0066] Optionally, the warehousing system further includes: a first conveying device, and the starting position of the first conveying device is located in the working area of the goods handling robot;

[0067] The replenishment module is specifically used to dispatch the goods handling robot to move the second goods from the replenishment shelf to the first conveying device, so that the first conveying device conveys the second goods to the workstation for outbound.

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

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

[0070] The warehousing module is used to respond to the warehousing requirement of the second bin, and dispatch the bin handling robot to transport the second bin from the second conveying device to the storage shelf, where the second bin is a bin loaded with goods to be warehoused, and / or, the outbound module is further used to respond to the outbound requirement of the third bin, and dispatch the bin handling robot to transport the third bin from the storage shelf to the second conveying device.

[0071] Optionally, part of the storage positions of the storage shelf are arranged above the second conveying device.

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

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

[0074] A memory for storing a computer program;

[0075] A processor, when executing the program stored on the memory, implements the method according to any one of the above second aspects.

[0076] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method according to any one of the above second aspects is implemented.

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

[0078] In the solution provided by the embodiments of the present application, the warehousing system may include: a control device, a bin handling robot, a sorting robot, and a goods handling robot; wherein, the control device, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, dispatches the bin handling robot to transport the first bin, where the first bin is a bin loaded with the first goods; 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 goods; the sorting robot is used to pick the first goods 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 goods, dispatches the goods handling robot to transport the goods; the goods handling robot is used to transport the picked first goods from the working area to the replenishment shelf; the control device, in response to the outbound requirement of the second goods stored on the replenishment shelf, dispatches the goods handling robot to transport the second goods, where the second goods are the goods required by the order; the goods handling robot is further used to take the second goods off the replenishment shelf for outbound.

[0079] For the above solution, on the one hand, by introducing bin handling robots, sorting robots, and goods handling robots, the manual operation links are significantly reduced, and a large number of goods can be processed in a short time, thus significantly improving the efficiency of goods handling. On the other hand, replenishment shelves are set up, and the goods in the bins are picked to the replenishment shelves in advance. In this way, when an order is generated, only the goods required for the order need to be directly transported from the replenishment shelves for outbound, instead of transporting the bins in real time and picking the goods from the bins for outbound, thereby further improving the efficiency of goods handling.

[0080] Of course, it is not necessary for any product or method implementing the present application to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

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

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

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

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

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

[0087] Figure 4 Based on Figure 1 A schematic diagram of the structure of a bin / goods handling robot of the illustrated embodiment;

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

[0089] Figure 6 A schematic flowchart of a goods handling method provided by an embodiment of the present application;

[0090] Figure 7 A schematic structural diagram of a goods handling device provided by an embodiment of the present application;

[0091] Figure 8 A schematic structural diagram of a control device provided by an embodiment of the present application. Specific embodiments

[0092] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0093] To improve the efficiency of goods handling, an embodiment of the present application provides a warehousing system, a goods handling method, a goods handling device, a control device, a computer-readable storage medium, and a computer program product. First, the warehousing system provided by the embodiment of the present application will be introduced below.

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

[0095] The control device 101, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, schedules the bin handling robot 102 to handle the first bin, where the first bin is a bin loaded with the first goods;

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

[0097] The control device 101, in response to the first bin arriving at the working area, schedules the sorting robot 103 to pick 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 the completion of picking the first goods, schedules the goods handling robot 104 to handle the goods;

[0100] The goods handling robot 104 is used to transport the picked first goods 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, schedules the goods handling robot 104 to handle the second goods, where the second goods are the goods required by the order;

[0102] The goods handling robot 104 is also used to take down the second goods from the replenishment shelf for outbound delivery.

[0103] In the solution provided by the embodiments of the present application, on the one hand, by introducing the bin handling robot, the sorting robot, and the goods handling robot, the manual operation links are significantly reduced, and a large number of goods can be processed in a short time, thus significantly improving the efficiency of goods handling. On the other hand, a replenishment shelf is provided, and the goods in the bin are picked to the replenishment shelf in advance. In this way, when an order is generated, only the goods required for the order need to be directly carried from the replenishment shelf for outbound delivery, without the need to carry the bin in real time and pick out the goods from the bin for outbound delivery, thereby further improving the efficiency of goods handling.

[0104] The following will introduce the Figure 1 warehousing system shown.

[0105] I. Replenishment process.

[0106] For "the first goods stored on the replenishment shelf (the first goods can be any goods stored on the replenishment shelf) meet the replenishment condition", it can be monitored by the control device or by the management device. Specifically:

[0107] In one implementation, the control device can monitor the storage situation 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 monitors that at least one of a certain type of goods stored on the replenishment shelf is taken down for outbound delivery, it can determine that this type of goods meets the replenishment condition and determine the replenishment quantity as the quantity of this type of goods taken down. Or, when the control device monitors that the quantity of a certain type of goods stored on the replenishment shelf is less than the minimum quantity threshold corresponding to this type of goods, it can determine that this type of goods meets the replenishment condition and determine the replenishment quantity as the difference between the current quantity of this type of goods stored and the maximum quantity threshold corresponding to this type of goods.

[0108] For example, when the control device monitors that 3 pieces of type A goods stored on the replenishment shelf are taken down, it can determine that type A goods meet the replenishment condition and determine the replenishment quantity as 3 pieces. Or, when the control device monitors that the quantity of type A goods stored on the replenishment shelf (5 pieces) is less than the minimum quantity threshold (7 pieces) corresponding to type A goods, it can determine that type A goods meet the replenishment condition and determine the replenishment quantity as the difference between the quantity of type A goods (5 pieces) and the maximum quantity threshold (10 pieces) corresponding to type A goods, that is, 5 pieces.

[0109] In another implementation, the warehousing system may further include a management device. The management device 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 through the above method, 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 of goods to be replenished.

[0110] After the control device determines that the first goods stored on the replenishment shelf meet the replenishment conditions, it can determine the first bin loaded with the first goods in the storage shelf according to the storage status of the goods in the storage shelf. Furthermore, the control device can generate a scheduling instruction according to the position of the first bin in the storage shelf and send the scheduling instruction to the bin handling robot to schedule the bin handling robot to handle the first bin.

[0111] After receiving the scheduling instruction sent by the control device, the bin handling robot can move to the storage bin where the first bin is located according to the position of the first bin included in the scheduling instruction. Then, the bin handling robot can pick up the first bin from the storage bin and transport it to the working area of the sorting robot. Finally, after placing the first bin in the working area of the sorting robot, the bin handling robot can return a notice message indicating the completion of the handling to the control device, so that the control device determines that the first bin has reached the working area.

[0112] Among them, the storage shelf may include: a first buffer position and a first storage position. The first buffer position is located in the working area of the sorting robot. That is to say, the first buffer position is the docking position between the storage shelf and the sorting robot. In this case, when the bin handling robot transports the first bin to the working area of the sorting robot, it can specifically transport the first bin from the first storage position to the first buffer position.

[0113] After the control device determines that the first bin has reached the working area, it can generate a picking instruction according to the quantity of goods to be replenished and send the picking instruction to the sorting robot to schedule the sorting robot to pick goods.

[0114] Among them, because one sorting robot may correspond to multiple bin handling robots, or the same bin handling robot may transport multiple bins to the working area of the sorting robot successively and other factors, there may be multiple bins 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 the corresponding quantity of goods from each bin, the control device can generate the picking instruction through, but not limited to, the following methods.

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

[0116] For example, if the bin that the sorting robot currently needs to pick is bin 1, it can determine from the received picking instructions the picking instruction whose included bin identification information is the same as that of bin 1. Suppose it is picking instruction 1, and the replenishment quantity included in picking instruction 1 is 3. Then the sorting robot can pick out 3 goods from bin 1 according to this picking instruction.

[0117] In the second implementation, there can be multiple docking positions between the sorting robot and the storage shelf (i.e., the number of the first buffer positions is multiple). The scheduling instruction generated by the control device for the bin handling robot can include which docking position of the sorting robot the first bin is to be placed at. On this basis, the control device can generate a picking instruction according to the quantity to be replenished and the position information of the first bin (which docking position the first bin is placed at). In this way, when the sorting robot picks goods from the bin, it can determine the picking instruction corresponding to the currently picked bin according to the position information of the currently picked bin and the position information in the received picking instruction, and then pick out the corresponding quantity of goods from the bin according to the replenishment quantity included in the picking instruction.

[0118] For example, if the position of the bin that the sorting robot currently needs to pick is at docking position 1, it can determine from the received picking instructions the picking instruction whose included position information is the same as the position of the currently picked bin. Suppose it is picking instruction 1, and the replenishment quantity included in picking instruction 1 is 3. Then the sorting robot can pick out 3 goods from this bin according to this picking instruction.

[0119] After receiving the picking instruction sent by the control device, the sorting robot can pick the first goods from the first bin according to the picking instruction, and after the picking is completed, return a notice message of picking completion to the control device so that the control device can determine that the picking of the first goods is completed. Among them, when the quantity of the first goods to be picked is multiple, the sorting robot can pick the required multiple first goods from the first bin in the way of picking one good at a time or picking multiple goods at a time.

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

[0121] Among them, the embodiments of the present application do not limit the specific allocation rules of the storage positions. Exemplarily, the allocation rules include but are not limited to: 1. According to the cold and heat degree of the goods, allocate the empty storage positions near the outbound equipment on the replenishment shelf to the goods with higher heat; 2. For a certain good, allocate the empty storage positions around the storage position where the same good as this good is stored on the replenishment shelf to this good to achieve centralized storage of the same good. And when allocating the storage positions, the embodiments of the present application also do not limit the number of goods stored in a storage position. For example, the positions can be allocated in a way that one position stores one good, or in a way that one position stores multiple goods, or according to the size of the goods, flexibly choose to allocate the positions in the way of "one position stores one good" or "one position stores multiple goods".

[0122] After receiving the scheduling instruction sent by the control device, for each picked first batch of goods, the goods handling robot transports the first batch of goods to the storage positions allocated for the first batch of goods on the replenishment shelf until all the picked first batch of goods are transported to the replenishment shelf, realizing the replenishment of the first batch of goods.

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

[0124] It should be noted here that the above "first buffer position and second buffer position" and "first storage position and second storage position" are only used to distinguish the buffer positions and storage positions in the storage shelf and the replenishment shelf, and do not refer to specific buffer positions and storage positions.

[0125] It should be noted here that in addition to being able to monitor the quantity of goods stored on the replenishment shelf in real time, it is also possible to monitor the quantity of goods stored on the storage shelf in real time. Specifically:

[0126] The control device or management device can monitor the quantity of goods in the bins stored on the storage shelf in real time. When the quantity of goods in a certain bin is less than the preset threshold, the control device can dispatch the bin handling robot to move the bin out of the warehouse to replenish the goods in the bin. And after the goods in the bin are replenished, the control device can also dispatch the bin handling robot to move the bin back to the storage shelf again.

[0127] For example, the quantity of goods a in bin A stored on the storage shelf is 3, which is less than the preset threshold of 5. Then the control device can dispatch the bin handling robot to move bin A to the conveying device below the storage shelf, and then convey bin A to the inbound workstation through the conveying device to replenish goods a. And after replenishing the goods in bin A, bin A can be further conveyed to below the storage shelf through the conveying device. At this time, the control device can dispatch the bin handling robot to move bin A below the storage shelf back to the storage shelf again.

[0128] II. Outbound process.

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

[0130] In one implementation, when the control device receives an order, it can determine the goods (second goods) required by the order, and then determine that there is an outbound demand for the second goods stored on the replenishment shelf. For example, if the order received by the control device requires goods of type A, then the control device can determine that the goods of type A stored on the replenishment shelf meet the outbound demand.

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

[0132] After the control device determines that there is an outbound demand for the second goods stored on the replenishment shelf, it can determine the storage bin where the second goods are stored in the replenishment shelf according to the storage situation of the goods on the replenishment shelf. Then the control device can generate a scheduling instruction according to this storage bin and send the scheduling instruction to the goods handling robot to dispatch the goods handling robot to handle the second goods.

[0133] After receiving the scheduling instruction sent by the control device, the goods handling robot can move to the above storage bin. Then, the goods handling robot can pick up the second goods from the storage bin and carry it away from the replenishment shelf for outbound storage. Among them, when the quantity of the second goods to be outbound is multiple, the goods handling robot can take the required multiple second goods off the replenishment shelf for outbound in the way of carrying one good at a time or picking multiple goods at a time.

[0134] In the solution provided by the embodiment of the present application, on the one hand, by introducing the bin handling robot, the sorting robot and the goods handling robot, the manual operation links are greatly reduced, and a large number of goods can be processed in a short time, thus significantly improving the efficiency of goods handling. On the other hand, a replenishment shelf is set. When the goods on the replenishment shelf are outbound or the quantity of the goods is less than the preset threshold, the goods in the bin can be picked to the replenishment shelf in advance. In this way, when an order is generated, only the goods required by the order need to be directly carried from the replenishment shelf for outbound, without the need to carry the bin in real time and pick the goods from the bin for outbound, thereby further improving the efficiency of goods handling.

[0135] As an implementation manner of the embodiment of the present application, the control device in the above storage system can also schedule the bin handling robot to execute the inbound process, and the following will introduce from the inbound process Figure 1 the storage system shown.

[0136] III. Inbound process.

[0137] After determining that the second bin loaded with the goods to be inbound generates an inbound demand, the control device can allocate a storage bin for the second bin on the storage shelf, and schedule the bin handling robot to carry the second bin to the storage bin allocated for the second bin on the storage shelf to store the second bin in the warehouse.

[0138] Among them, the embodiment of the present application does not limit the specific allocation rules of the storage bin. Exemplarily, the allocation rules include but are not limited to: 1. According to the cold and heat degree of the goods, allocate the empty storage bin near the sorting robot on the storage shelf to the bin loaded with the goods with a higher heat degree; 2. For a bin, allocate the empty storage bin around the bin loaded with the same goods as the bin on the storage shelf to the bin to realize the centralized storage of the same goods.

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

[0140] In one implementation, for the second bin loaded with goods to be warehoused, the staff in the warehousing workstation can enter the bin information of the second bin and the information of the goods to be warehoused 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 bin has reached the working area of the bin handling robot, the control device can determine that the second bin has a warehousing requirement.

[0141] In another implementation, 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 bin and send the warehousing task to the control device. After receiving the warehousing task and determining that the second bin has reached the working area of the bin handling robot, the control device can determine that the second bin has a warehousing requirement.

[0142] In the solution provided by the embodiments of the present application, the control device can also schedule the bin handling robot to execute the warehousing process, move the second bin loaded with goods to be warehoused to the storage shelf for warehousing, realizing the automated operation of the warehousing process, further reducing the manual operation links, and significantly improving the efficiency of goods handling.

[0143] As an implementation of the embodiments of the present application, as Figure 2 shown, the above storage system may further 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 goods handling robot, and the end position of the second conveying device 106 is located in the working area of the bin handling robot.

[0144] In the outbound process, when the goods handling robot removes the second goods from the replenishment shelf for outbound, specifically, it can move the second goods from the storage bin of the replenishment shelf to the first conveying device. In this way, the first conveying device can convey the second goods to the workstation through its own conveying function, and the robot or manual staff in the workstation can pack and outbound the second goods.

[0145] Among them, because the starting position of the first conveying device is located in the working area of the goods handling robot, the starting position of the first conveying device is the docking position between the first conveying device and the goods handling robot. Correspondingly, when the goods handling robot moves the goods to the first conveying device, specifically, it can move the goods to the docking position of the first conveying device.

[0146] In the warehousing process, after the staff in the warehousing workstation enter the information of the second bin and the information of the goods to be warehoused through terminal devices such as PDAs, the second bin can be placed on the second conveying device. When the second conveying device transports the second bin to the end position of the second conveying device, that is, when the second bin is located in the working area of the bin handling robot, the control device can dispatch the bin handling robot to transport the second bin on the second conveying device to the storage shelf to warehousing the second bin.

[0147] Among them, since the end position of the second conveying device is located in the working area of the bin handling robot, the end position of the second conveying device is the docking position between the second conveying device and the bin handling robot. Correspondingly, when the bin handling robot transports the bin from the second conveying device, it can specifically transport the bin from the docking position of the second conveying device.

[0148] In one implementation, for the determination method of "the second bin is located in the working area of the bin handling robot", a triggering device and a collection device can be installed at the end position of the second conveying device. When the bin conveyed by the second conveying device reaches the end position of the second conveying device, the triggering device will trigger the collection device to collect the identification information of the bin, and the collection device can 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 bin is located in the working area of the bin handling robot.

[0149] Among them, the specific types of the first conveying device and the second conveying device can be selected according to actual usage requirements, and the embodiments of the present application do 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 bin can also be taken out of the warehouse through the second conveying device. Specifically, for the third bin that needs to be taken out of the warehouse, the control device, in response to the outbound demand of the third bin, can dispatch the bin handling robot to transport the third bin from the storage shelf to the second conveying device, and then use the conveying function of the second conveying device to transfer the third bin to the warehousing workstation.

[0151] In the solution provided by the embodiments of the present application, the warehousing system may further include a first conveying device and a second conveying device. In this way, the warehousing of the bins and the outbound of the goods can be realized by means of the conveying function of the conveying devices, further reducing the manual operation links and significantly improving the efficiency of goods handling. In addition, when the goods are fresh fruits and vegetables, ice cream and other goods that need to be stored refrigerated, the control device, the bin handling robot, the sorting robot and the goods handling robot can be located in a low-temperature warehouse. On this basis, the bins are conveyed into the low-temperature warehouse through the first conveying device and the goods are conveyed out of the low-temperature warehouse through the second conveying device. On the one hand, the opening time of the low-temperature warehouse to the outside can be reduced, thereby reducing the chance of external heat entering the warehouse and helping 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 goods handling.

[0152] As an implementation manner of the embodiments of the present application, in order to improve the storage density of the goods, storage bins can be provided above the first conveying device, the second conveying device and the sorting robot. Specifically:

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

[0154] And / or,

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

[0156] And / or,

[0157] Some of the storage bins of the replenishment shelf and / or the storage shelf are arranged above the working area of the sorting robot. For example, as Figure 3c shown, some of the storage bins of the storage shelf are arranged above the working area of the sorting robot.

[0158] In the solution provided by the embodiments of the present application, this three-dimensional storage layout with storage bins arranged above the first conveying device, the second conveying device and the sorting robot can make full use of the idle space, increase the number of goods that can be stored without occupying additional ground space, realize the efficient utilization of the warehousing space, and greatly improve the density of warehouse goods storage.

[0159] As an implementation manner of the embodiments of the present application, after the bin handling robot transports the first bin from the storage shelf to the working area of the sorting robot, the first bin can also be returned. Specifically:

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

[0161] In one implementation, after completing the picking of the first bin, the sorting robot 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 picking is loaded with goods, and send the analysis result to the control device. In this way, the control device can determine whether the first bin after 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 analyze the image to determine whether the first bin after picking is loaded with goods.

[0162] In another implementation, the control device can determine the quantity of goods originally loaded in the first bin, 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 bin after picking is loaded with goods based on the difference between the quantity of goods originally loaded in the first bin and the quantity of goods to be picked.

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

[0164] Among them, when the bin handling robot moves the first bin after picking from the working area to the storage shelf, it can move the first bin after picking to the original storage position, or reassign a storage position for the first bin after picking and move the first bin after picking to the newly assigned storage position.

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

[0166] Among them, the empty bin temporary storage area can be any pre-planned area for temporarily storing empty bins. In the case where the warehousing system includes a second conveying device, the empty bin temporary storage area can also be the area around the second conveying device. In this way, when the second conveying device moves in the reverse direction, the empty bin can be transported to the inbound workstation to achieve the boxing of goods to be warehoused.

[0167] In the solution provided by the embodiment of the present application, after the sorting robot completes the bin picking, the control device can flexibly schedule the bin to return to the storage shelf or the empty bin temporary storage area according to whether the bin still contains goods. This not only improves the recycling rate of the bin, reduces the space occupied by empty bins, but also optimizes the overall operation efficiency of the warehousing system. Especially when combined with the second conveying device, it can also achieve the automatic transfer of empty bins to the inbound workstation, further improving the automation level of warehousing logistics.

[0168] Here, it should be noted that the above bin handling robot and goods handling robot can be any robot capable of picking up and placing bins and goods from the shelf. For example, a robot with a clamping and lifting component and the clamping and lifting component can be lifted, a robot with a telescopic arm structure, etc. And the types of the bin handling robot and the goods handling robot can be the same or different. The above picking robot can be any robot capable of picking goods, such as a joint robot, a Cartesian robot, and a parallel robot, etc.

[0169] In a specific example, the above bin handling robot and goods handling robot can be Figure 4 the robot shown. This robot can include a lower drive module 401, a lifting module 402, and a pick-and-place module 403. Among them, the lower drive module 401 and the lifting module 402 can drive the pick-and-place module 403 to move in the vertical direction. At the same time, the robot can move in the horizontal direction through the overhead rail installed on the shelf, so that the pick-and-place module 403 can move to various positions on the shelf to pick up and place goods. At the same time, the robot can be powered by a sliding contact line, which can ensure that the robot operates continuously for 24 hours, avoiding the situation of interrupted operation due to charging, and improving the continuity and efficiency of the operation.

[0170] The above picking robot can be a joint robot. Since both the bin handling robot and the goods handling robot will move into the working area of the joint robot, in order to ensure safety, the joint robot can be equipped with an obstacle avoidance laser sensor. In this way, the joint robot can detect the surrounding environment in real time through the obstacle avoidance laser sensor. Once it detects an object entering 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] Next, takeFigure 5 Take the following as an example to introduce the goods flow direction in the warehousing system of the embodiments of the present application:

[0172] The bin loaded with goods to be warehoused arrives at the working area of the bin handling robot through the transportation of the second conveying device, and then the bin handling robot transports the bin to the storage shelf to complete the goods warehousing process.

[0173] When goods need to be replenished on the replenishment shelf, the bin handling robot will transport the bin stored in the storage bin of the storage shelf and used to load the goods to be replenished to the buffer position of the storage shelf. Then, the sorting robot will pick out the goods to be replenished from the bin and place them on the buffer position of the replenishment shelf. Finally, the goods handling robot will transport the goods stored on the buffer position of the replenishment shelf to the storage bin of the replenishment shelf to complete the goods replenishment process.

[0174] When an order is generated, the goods handling robot will transport the goods to be shipped out (the goods required by the order) stored on the replenishment shelf to the first conveying device, and then the first conveying device will transport the goods to be shipped out to the workstation for shipping out to complete the goods shipping out process.

[0175] In response to the above warehousing system, the embodiments of the present application further provide a goods handling method. The following introduces the goods handling method provided by the embodiments of the present application.

[0176] As Figure 6 shown, a goods handling method is applied to a control device in a warehousing system. The warehousing system further includes: a bin handling robot, a sorting robot, and a goods handling robot. The above method includes:

[0177] S601, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, dispatch the bin handling robot to transport the first bin from the storage shelf to the working area of the sorting robot.

[0178] Wherein, the first bin is a bin loaded with the first goods.

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

[0180] S603, in response to the completion of picking the first goods, dispatch the goods handling robot to transport the picked first goods 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, dispatch the goods handling robot to take the second goods off the replenishment shelf for outbound.

[0182] Wherein, the second goods are the goods required by the order.

[0183] In the solution provided by the embodiments of the present application, on the one hand, by introducing bin handling robots, sorting robots, and goods handling robots, the manual operation links are significantly reduced, and a large number of goods can be processed in a short time, thereby significantly improving the efficiency of goods handling. On the other hand, a replenishment shelf is set up, and the goods in the bin are picked and placed on the replenishment shelf in advance. In this way, when an order is generated, only the goods required for the order need to be directly transported from the replenishment shelf for outbound, without the need to transport the bin in real time and pick out the goods from the bin for outbound, thereby further improving the efficiency of goods handling.

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

[0185] Scheduling the bin handling robot to transport the first bin from the storage shelf to the working area of the sorting robot includes:

[0186] Scheduling the bin handling robot to transport the first bin from the first storage position to the first buffer position;

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

[0188] Scheduling the sorting robot to pick out the first goods from the first bin according to the picking instruction and place them on the second buffer position;

[0189] Scheduling the goods handling robot to transport the picked first goods from the working area to the replenishment shelf includes:

[0190] Scheduling the goods handling robot to transport the first goods stored on the second buffer position to the second storage position.

[0191] As an implementation manner of the embodiments of the present application, the above method further includes:

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

[0193] If the first bin after picking is still loaded with goods, scheduling the bin handling robot to transport the first bin after picking from the working area to the storage shelf;

[0194] If the first bin after picking is not loaded with goods, scheduling the bin handling robot to transport the first bin after picking from the working area to the empty bin temporary storage area or to perform outbound of the first bin after picking.

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

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

[0197] Scheduling the goods handling robot to transport the second goods from the replenishment shelf to the first conveying device, so that the first conveying device transports the second goods to the workstation for outbound.

[0198] As an implementation manner of an embodiment of the present application, a part of the storage bins of the replenishment shelf is arranged above the first conveying device;

[0199] And / or,

[0200] A part of the storage bins of the replenishment shelf and / or the storage shelf is arranged above the working area of the sorting robot.

[0201] As an implementation manner of an embodiment of the present application, the warehousing system may further include: a second conveying device, and an end position of the second conveying device is located in a working area of the bin handling robot;

[0202] The above method may further include:

[0203] In response to the inbound requirement of the second bin, scheduling the bin handling robot to transport the second bin from the second conveying device to the storage shelf, where the second bin is a bin loaded with goods to be inbound;

[0204] And / or,

[0205] In response to the outbound requirement of the third bin, scheduling the bin handling robot to transport the third bin from the storage shelf to the second conveying device.

[0206] As an implementation manner of an embodiment of the present application, a part of the storage bins of the storage shelf is arranged above the second conveying device.

[0207] As an implementation manner of an embodiment of the present application, that the first goods meet the replenishment condition includes: the first goods stored on the replenishment shelf are out of stock; and / or, the quantity of the first goods stored on the replenishment shelf is less than the corresponding quantity threshold of the first goods.

[0208] In response to the above goods handling method, an embodiment of the present application further provides a goods handling device, and the goods handling device provided by the embodiment of the present application will be introduced below.

[0209] Such as Figure 7As shown in the figure, a cargo handling device is applied to a control device in a warehousing system. The warehousing system further includes: a bin handling robot, a sorting robot, and a cargo handling robot. The above device includes:

[0210] A replenishment module 701, configured to, in response to the first cargo stored on the replenishment shelf meeting the replenishment condition, dispatch the bin handling robot to transport the first bin from the storage shelf to the working area of the sorting robot; in response to the first bin arriving at the working area, dispatch the sorting robot to pick the first cargo from the first bin according to the picking instruction; in response to the completion of picking the first cargo, dispatch the cargo handling robot to transport the picked first cargo from the working area to the replenishment shelf; wherein, the first bin is a bin loaded with the first cargo;

[0211] An outbound module 702, configured to, in response to the outbound demand of the second cargo stored on the replenishment shelf, dispatch the cargo handling robot to remove the second cargo from the replenishment shelf for outbound, where the second cargo is the cargo required by the order.

[0212] In the solution provided by the embodiment of the present application, on the one hand, by introducing a bin handling robot, a sorting robot, and a cargo handling robot, the manual operation links are significantly reduced, and a large number of cargos can be processed in a short time, thus significantly improving the efficiency of cargo handling. On the other hand, a replenishment shelf is provided, and the cargos in the bin are picked to the replenishment shelf in advance. In this way, when an order is generated, only the cargo required by the order needs to be directly transported from the replenishment shelf for outbound, without the need to transport the bin in real time and pick the cargo from the bin and then outbound, thereby further improving the efficiency of cargo handling.

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

[0214] The replenishment module can specifically be configured to dispatch the bin handling robot to transport the first bin from the first storage position to the first buffer position; dispatch the sorting robot to pick the first cargo from the first bin according to the picking instruction and place it on the second buffer position; dispatch the cargo handling robot to transport the first cargo stored on the second buffer position to the second storage position.

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

[0216] The bin return module is used to determine whether the first bin after picking is loaded with goods in response to the completion of the first goods picking; in the case where the first bin after picking is still loaded with goods, dispatch the bin handling robot to move the first bin after picking from the working area to the storage shelf; in the case where the first bin after picking is not loaded with goods, dispatch the bin handling robot to move the first bin after picking from the working area to the empty bin temporary storage area or perform outbound of the first bin after picking.

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

[0218] The replenishment module can be specifically used to dispatch the goods handling robot to move the second goods from the replenishment shelf to the first conveying device, so that the first conveying device conveys the second goods to the workstation for outbound.

[0219] As an implementation manner of an embodiment of the present application, part of the storage bins of the replenishment shelf are arranged above the first conveying device;

[0220] And / or,

[0221] Part of the storage bins of the replenishment shelf and / or the storage shelf are arranged above the working area of the sorting robot.

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

[0223] The above device may further include:

[0224] The inbound module is used to dispatch the bin handling robot to move the second bin from the second conveying device to the storage shelf in response to the inbound requirement of the second bin, where the second bin is a bin loaded with goods to be inbound;

[0225] And / or,

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

[0227] As an implementation manner of an embodiment of the present application, part of the storage bins of the storage shelf are arranged above the second conveying device.

[0228] As an implementation manner of an embodiment of the present application, the first goods meeting the replenishment condition includes: the first goods stored on the replenishment shelf are out of stock; and / or, the quantity of the first goods stored on the replenishment shelf is less than the corresponding quantity threshold of the first goods.

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

[0230] A memory 801 for storing a computer program;

[0231] A processor 802, when executing the program stored on the memory 801, implements the goods handling method described in any of the above embodiments.

[0232] In the solution provided by the embodiment of the present application, on the one hand, by introducing bin handling robots, sorting robots and goods handling robots, the manual operation links are significantly reduced, and a large number of goods can be processed in a short time, thus significantly improving the efficiency of goods handling. On the other hand, a replenishment shelf is set, and the goods in the bin are picked to the replenishment shelf in advance. In this way, when an order is generated, only the goods required for the order need to be directly transported from the replenishment shelf for outbound, instead of transporting the bin in real time and picking the goods from the bin for outbound, thereby further improving the efficiency of goods handling.

[0233] And the above control device may further include a communication bus and / or a communication interface. The processor 802, the communication interface, and the memory 801 complete mutual communication through the communication bus.

[0234] The communication bus mentioned in the above control device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, only a 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 may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0237] The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may 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 by the present application, a computer-readable storage medium is further provided. A computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of the goods handling method described in any of the above embodiments are implemented.

[0239] In another embodiment provided by the present application, a computer program product containing instructions is further provided. When it runs on a computer, the computer is caused to execute the goods handling method described in any 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 processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. 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 one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a solid state disk (SSD), etc.

[0241] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

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