In-warehouse sorting control method and system

Abstract

The invention discloses an in-warehouse picking control method and system, and the method is used for a stereoscopic warehouse, the stereoscopic warehouse comprises a plurality of goods shelves, each goods shelf is provided with a plurality of layers of storage spaces, containers are placed at the storage positions of the storage spaces, and according to a current order, a control server is configured to carry out the picking of goods on the basis of the picking goods information of the current order, determining a first target storage location where the first picked goods are located; a first in-warehouse sorting robot corresponding to the first target storage position is controlled to take out the first sorted goods and place the first sorted goods on a connection assembly or a connection container of a ground freight robot; the ground freight robot is dispatched to move to a second target storage position where second sorted goods are located, and the position of the ground freight robot is within the reach range of a second in-warehouse sorting robot; the second in-warehouse sorting robot takes out the second sorted goods from the second target storage position and places the second sorted goods on a connection assembly or a connection container of the ground freight robot; and circulating the above steps to complete quick performance delivery.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse picking, and in particular to an in-warehouse picking control method and system. Background Art

[0002] Warehousing is the most costly part of logistics. Existing warehousing systems all require the construction of warehousing bases or warehousing centers. Modern logistics warehouses store goods in a fixed environment and carry out warehousing, outbound, return, and box consolidation processes according to SKU, date, sequence, and other information under the instructions of business orders. For example, in the existing three-dimensional warehousing system, outbound requires the warehouse cargo robot to take out the cargo boxes or goods one by one through the warehouse shelves, and the warehouse cargo robot then transports the cargo boxes or goods to the workstation or picking system.

[0003] Therefore, the existing warehousing and transportation systems not only have low warehousing entry and exit efficiency, insufficient space utilization and high ground costs, but are also unable to complete high-flow cargo transportation in a warehousing environment. Summary of the invention

[0004] In view of this, the present invention provides an in-warehouse picking control method and related equipment to achieve high-flow cargo transmission in a warehousing environment.

[0005] To this end, the present invention discloses:

[0006] A method for controlling in-stock picking, used in a stereoscopic warehouse, wherein the stereoscopic warehouse comprises a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in the storage locations of the storage spaces, according to a current order: the control server is configured to determine a first target storage location where a first picked cargo is located based on the cargo information of the current order;

[0007] Controlling the first in-stock picking robot corresponding to the first target storage location to take out the first picked goods and place them on the docking component or docking box of the ground freight robot;

[0008] The ground freight robot is dispatched to move to a second target storage location where the second picking goods are located, and the ground freight robot is located within the reach of the second in-stock picking robot;

[0009] The second in-stock picking robot takes out the second picked goods from the second target storage location and places them on the docking component or docking box of the ground freight robot;

[0010] The above steps are repeated until all the picked goods are placed on the docking components or docking boxes of the ground freight robot, and the ground freight robot transports all the picked goods to the workstation.

[0011] Preferably, the first in-stock picking robot corresponding to the first target storage location takes out the first picked goods through the following steps:

[0012] Using the first push-pull box task module, the first box containing the first picked goods is pulled out from the first target storage location;

[0013] After the first picking task module takes out the first picked goods, pushing the first cargo box into the first target storage location;

[0014] And, using a second push-pull box task module, it pulls the second cargo box containing the second picked goods out of the second target storage location;

[0015] After the second picking task module takes out the second picked goods, the second cargo box is pushed into the second target storage location.

[0016] Preferably, the in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module:

[0017] The picking task module puts the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and puts them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism;

[0018] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0019] Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

[0020] Preferably, the fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of a push-pull box task module;

[0021] The connection mechanism of the push-pull box task module is set up as follows:

[0022] Support structure for push-pull cargo box modules;

[0023] And, a transmission component for pushing and pulling the cargo box module.

[0024] On the other hand, the present invention also discloses a method for controlling in-stock picking, which is used in a stereoscopic warehouse, wherein the stereoscopic warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in the storage spaces of the storage spaces, and according to the return demand information: the control server is configured as follows:

[0025] Instructing the ground freight robot executing the return instruction to move to the floor of the shelf where the first returned goods are located, and the first in-stock picking robot takes the first returned goods out of the docking position or docking cargo box of the first ground freight robot, and puts it back into the storage position or cargo box to which the first returned goods belong;

[0026] The ground freight robot is dispatched to move to the floor of the shelf where the second returned goods are located, and the second in-stock picking robot takes the second returned goods out of the docking position or the docking cargo box and puts it back into the storage position or the cargo box to which the second returned goods belong;

[0027] The above steps are repeated until all returned goods are put back into the storage location or the cargo box.

[0028] Preferably, the first in-stock picking robot takes out the first returned goods from the docking position or docking cargo box of the first ground cargo robot and puts it back into the storage position or cargo box to which the first returned goods belong, which is achieved through the following steps:

[0029] Using the first push-pull box task module, it pulls the first cargo box to which the first returned goods belong out of the first target storage location;

[0030] After the first picking task module puts the first returned goods back into the first cargo box, the first pushing and pulling box task module pushes the first cargo box into the first target storage location;

[0031] And, the second in-stock picking robot takes out the second returned goods from the docking position or the docking cargo box and puts it back into the storage position or the cargo box to which the second returned goods belong, which is achieved through the following steps:

[0032] Using the second push-pull box task module, it pulls the second cargo box to which the second returned goods belong from the second target storage location;

[0033] After the second picking task module puts the second returned goods back into the second cargo box, the second pushing and pulling box task module pushes the second cargo box into the second target storage location.

[0034] Preferably, the in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module;

[0035] The picking task is to put the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or to take the goods out of the docking assembly or docking box and put them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism;

[0036] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0037] Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

[0038] Preferably, the fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of a push-pull box task module;

[0039] The connection mechanism of the push-pull box task module is set up as follows:

[0040] Support structure for push-pull cargo box modules;

[0041] And, a transmission component for pushing and pulling the cargo box module.

[0042] On the other hand, the present invention also discloses an in-stock picking control method for a stereoscopic warehouse, wherein the stereoscopic warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in storage locations of the storage spaces, and the control server is configured to determine a first target storage location where a first cargo box is located based on a container consolidation request information;

[0043] A box pulling step is to instruct the ground freight robot that executes the box closing instruction to move to the floor of the shelf where the first target storage location is located, and control the box pulling task module corresponding to the first target storage location to place the first cargo box on the docking component of the ground freight robot;

[0044] In the step of combining boxes, the ground freight robot is dispatched to move to the floor of the shelf where the second box is located, and the in-stock picking robot corresponding to the second box takes out part or all of the goods in the first box from the first box and puts them into the second box;

[0045] The above-mentioned box closing steps are executed cyclically until the first box is emptied.

[0046] Preferably, the consolidation request information is specifically: a consolidation request for the same SKU.

[0047] Preferably, the in-stock picking robot corresponding to the second cargo box takes out part or all of the goods in the first cargo box from the first cargo box and puts them into the second cargo box, which is specifically achieved through the following steps:

[0048] Using the push-pull box task module, pull the second cargo box to which the second cargo belongs out of the second target storage location;

[0049] After the in-stock picking robot corresponding to the second cargo box puts part or all of the goods in the first cargo box into the second cargo box, the second cargo box is pushed into the second target storage location.

[0050] Preferably, the in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module;

[0051] The picking task module puts the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and puts them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism;

[0052] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0053] Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

[0054] Preferably, the fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of a push-pull box task module;

[0055] The connection mechanism of the push-pull box task module is set up as follows:

[0056] Support structure for push-pull cargo box modules;

[0057] And, a transmission component for pushing and pulling the cargo box module.

[0058] On the other hand, the present invention also discloses a method for controlling in-stock picking, which is used in a stereoscopic warehouse, wherein the stereoscopic warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in storage locations of the storage spaces, according to the current order: the control server is configured to determine, based on the reverse box request information, a first target storage location where a first reverse box cargo box is located;

[0059] Instructing the ground freight robot executing the reverse box instruction to move to the first target storage location, and controlling the first in-stock picking robot corresponding to the first target storage location to take out all the goods in the reverse box cargo box once or multiple times and place them on the docking position of the ground freight robot or on the docking cargo box;

[0060] The ground freight robot is dispatched to move to the shelf where the target cargo box for receiving the reverse-packed goods is located. The second in-warehouse picking robot takes out all the reverse-packed goods from the docking position or docking cargo box of the ground freight robot and puts them into the target cargo box for receiving the reverse-packed goods.

[0061] Preferably, the first in-stock picking robot takes out all the goods in the reverse container once or multiple times and places them on the docking position or docking container of the ground freight robot, which is achieved by the following steps:

[0062] Using the first push-pull box task module, pull the reverse-closed box out of the target storage location;

[0063] After the first picking task module takes out all the goods once or multiple times, the first box pushing and pulling task module pushes the reverse box into the corresponding target storage location;

[0064] And, the second in-stock picking robot takes out all the reverse-packed goods from the docking position or docking box of the ground freight robot and puts them into the target box that receives the reverse-packed goods, which is achieved through the following steps:

[0065] Using the second push-pull box task module, the target cargo box that receives the reverse-closed box goods is pulled out from the corresponding target storage location. After the second picking task module puts all the reverse-closed box goods into the target cargo box that receives the reverse-closed box goods, the second push-pull box task module pushes the target cargo box that receives the reverse-closed box goods into the corresponding target storage location.

[0066] Preferably, the in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module;

[0067] The picking task module puts the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and puts them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism;

[0068] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0069] Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

[0070] Preferably, the fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of a push-pull box task module;

[0071] The connection mechanism of the push-pull box task module is set up as follows:

[0072] Support structure for push-pull cargo box modules;

[0073] And, a transmission component for pushing and pulling the cargo box module.

[0074] Preferably, the reverse box closing request information specifically includes: a reverse box closing request for the same SKU.

[0075] On the other hand, the present invention also discloses an in-stock picking control system, comprising:

[0076] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the aforementioned in-warehouse picking control method.

[0077] In the present invention, cargo picking equipment is used in conjunction with a push-pull box module, as well as a freight robot at the bottom of the shelf, to complete key tasks such as high-flow picking, return, and box merging according to the needs of the current order. The cargo picking equipment is provided with a horizontal track for the movement of the column. By configuring the shelf and modifying the shelf layer at the bottom of the storage space, an operation channel is provided for the freight robot or the picking robot, which fundamentally solves the problem of waste of existing storage space and makes in-warehouse picking possible in dense shelf scenarios. On this basis, cargo boxes can be stored and retrieved through the push-pull box module, and placed in the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking assembly, so that cargo warehousing, cargo / cargo box transfer, and cargo / cargo box picking can be completed smoothly in the storage space. On the basis of realizing in-warehouse picking of goods, the utilization rate of storage space, the high speed of cargo entry and exit, and the picking efficiency are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0079] Figure 1 The structural diagram of the storage rack is shown;

[0080] Figure 2 This is a schematic diagram of the cargo robot structure;

[0081] Figure 3 This is the first picking and outbound flow chart in the in-stock picking control method;

[0082] Figure 4 A schematic diagram of the structure of an automatic stereoscopic warehouse when picking out goods in a warehouse picking control method according to an embodiment;

[0083] Figure 5 A schematic diagram of the picking and outbound business flow of an automatic three-dimensional warehouse in an in-warehouse picking control method according to an embodiment;

[0084] Figure 6 This is the second picking and delivery flow chart in the in-stock picking control method;

[0085] Figure 7 This is a schematic diagram of the structure of the cargo picking equipment;

[0086] Figure 8 It is a structural diagram of a fixed track transmission device;

[0087] Fig. 9 It is a schematic diagram of the cargo picking equipment structure and the fixed track transmission equipment structure;

[0088] Fig.10 A first return flow chart in a warehouse picking control method according to an embodiment;

[0089] Fig.11 It is a structural schematic diagram of an automatic stereoscopic warehouse for return business in a warehouse picking control method according to an embodiment;

[0090] Fig.12 A schematic diagram of the return business flow of a three-dimensional warehouse in a method for controlling in-stock picking according to an embodiment;

[0091] Fig.13 A second return flow chart in a warehouse picking control method according to an embodiment;

[0092] Fig.14 A flowchart of box merging in a warehouse picking control method according to an embodiment;

[0093] Fig.15 It is a structural schematic diagram of an automatic stereoscopic warehouse during the box-closing business in the in-warehouse picking control method according to one embodiment;

[0094] Fig.16 A schematic diagram of the flow of box consolidation business in a three-dimensional warehouse in a method for controlling in-stock picking according to an embodiment;

[0095] Fig.17 A third return flow chart in a warehouse picking control method according to an embodiment;

[0096] Fig.18 A flowchart of the first reverse box closing method in a method for picking in warehouse according to an embodiment;

[0097] Fig.19 It is a structural schematic diagram of an automatic stereoscopic warehouse during the reverse box closing business in the in-warehouse picking control method of an embodiment;

[0098] Fig. 20 A schematic diagram of the reverse box closing business flow of a stereoscopic warehouse in an in-stock picking control method according to an embodiment;

[0099] Fig.21 A flowchart of the second reverse box closing method in a method for picking in warehouse according to an embodiment;

[0100] Fig. 22This is a structural diagram of the in-warehouse picking control system. DETAILED DESCRIPTION

[0101] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0102] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0103] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0104] In the description of the present invention, it should be noted that the terms "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0105] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0106] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0107] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0108] Figure 1 The structure diagram of a storage rack is shown, wherein the rack 10 (rack) is used for storage. The rack 10 is provided with a multi-layer storage space 101 (reservation unit), and a cargo box 104 (bin) is placed in a storage position 103 (slot) of the storage space 101. The rack is laterally supported by a partition 102 for the cargo box 104.

[0109] refer to Figure 2 , multiple ground freight robots (AGV) 105 can dock cargo boxes and cargo. The ground freight robot is a robot running on the bottom floor of the shelf. As an achievable embodiment, the ground freight robot can be AGV, i.e. Automated Guided Vehicle, also commonly known as AGV cart; or AMR, i.e. Autonomous Mobile Robot, autonomous mobile robot.

[0110] In this specification, the control server is a centrally controlled cloud server or local server that coordinates the working status of the cargo picking equipment and fixed track transmission equipment in the warehouse.

[0111] Embodiment 1:

[0112] In the scenario of picking and shipping, refer to Figure 3 and Figure 4 , the control server is configured as follows:

[0113] S11: Based on the picking goods information of the current order, determine the first target storage location B1 where the first picked goods A1 is located;

[0114] S12: Control the first in-stock picking robot C1 corresponding to the first target storage location B1 to take out the first picked cargo A1 and place it on the docking component or docking cargo box of the ground freight robot D1;

[0115] S13: dispatching the ground freight robot D1 to move to the second target storage location B2 where the second picking cargo A2 is located, and the position D1 of the ground freight robot is within the reach of the second in-stock picking robot C2;

[0116] S14: the second in-stock picking robot C2 takes the second picked cargo A2 out from the second target storage location B2 and places it on the docking component or docking cargo box of the ground freight robot D1;

[0117] The above steps are repeated until all the picked goods are placed on the docking components or docking boxes of the ground freight robot, and the ground freight robot transports all the picked goods to the workstation.

[0118] The purpose of the cycle step is to combine Figure 5 , depending on the order, the number of picked goods may be 3 or more, distributed on different shelves. Based on the process of S11-S14, the in-stock picking robot can pick the shelves where the required picked goods are located and place them on the docking components or docking boxes of the ground freight robot D1.

[0119] Combination Figure 4 and Figure 5 It can be seen that in a picking and outbound order, the ground freight robot D1 can continuously accept and transport the goods out of the warehouse according to the storage location of the picked goods without having to repeatedly go back and forth to the workstation.

[0120] In the prior art, the ground freight robot D1 carries a single cargo repeatedly back to the workstation or sorting platform, that is, the delivery of cargo A1, A2, and A3 depends on the ground freight robot D1 making three round trips to achieve complete delivery.

[0121] In the present invention, the in-warehouse picking robot can directly place the picked goods A1, A2, and A3 into the docking assembly or docking box of the ground freight robot D1, and use the path planning function of the ground freight robot (the path of the ground freight robot is represented by a dotted line in the figure) to operate continuously to reduce the number of round trips, eliminating the need for the ground freight robot D1 to carry a single item repeatedly back to the workstation or sorting table to waste time picking and shipping out of the warehouse, so that the picking and shipping business can reach a warehouse with a box storage capacity of more than 100,000 boxes and a flow rate of 10,000 boxes / hour, which improves the operating efficiency by nearly 100% compared with the existing technology.

[0122] refer to Figure 7 A cargo picking device 1 is installed on the shelf, and the cargo picking device 1 drives the picking task module 2 to place the cargo 3 into the docking assembly or docking box 4 of the ground cargo robot 105 running at the bottom of the shelf 10, or take the cargo 3 out of the docking assembly or docking box 4 and place it into the cargo box 104; the picking task module 2 at least includes: a first movable part 13 and a picking mechanism 20.

[0123] The arrangement of the goods picking device 1 on the shelf 10 is specifically implemented as follows:

[0124] The connection mechanism of the transverse track 11, the first column 12, the first movable member 13 and the picking task module 2, wherein:

[0125] The transverse rail 11 is fixed on the shelf 10;

[0126] It should be noted that the transverse rail 11 is fixed on the beam or column of the shelf 10. When the shelf is transversely long, the transverse rail needs to be fixed with the help of the beam and column of the single shelf (rack), and extends to the adjacent shelf beam.

[0127] The first column 12 is vertically arranged on the transverse track 11 and can slide transversely;

[0128] The upright post 12 slides along the transverse track 11 to enable the first movable member 13 to be positioned in each column of the shelf.

[0129] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12;

[0130] The above arrangement enables the first movable member 13 to move horizontally and vertically, so that the first movable member 13 can be positioned at each tier of the shelf.

[0131] The first movable member 13 is provided with a connecting mechanism 15 of the picking task module 2;

[0132] The picking task module 2, driven by the first movable member 13, uses the picking mechanism to store and retrieve the goods 3, and puts and runs the docking assembly or docking box of the ground freight robot 105 at the bottom of the shelf;

[0133] It should be particularly noted that, in the scheme of the present invention, the bottom partitions of the storage shelves are removed. Here, the partitions represent the components that provide storage space support for different types of storage shelves, as well as surrounding components such as beams that provide stability for each shift. Removing the partitions to provide a matching height actually requires removing the surrounding components that block the ground freight robot from running on the ground, and the partitions are not limited to the materials and styles set in the storage shelves. They support the ground freight robot to run on the ground and complete the docking action. The bottom partitions between adjacent columns of the storage shelves are removed to form the docking position 25 of the ground freight robot. It should be supplemented that the bottom partitions of the shelves include the partitions themselves and fixed beams, so that the activity space of the ground freight robot can be provided by removing the partitions (patition) themselves and / or the fixed beams (crossbeams).

[0134] More specifically, the picking mechanism comprises: a suction mechanism 201 and / or a picking mechanism (not shown), the suction mechanism 201 and / or the picking mechanism can be connected through the connecting mechanism 15 of the picking task module, that is: an extension component of the suction mechanism 201 and / or the picking mechanism, the extension component can be a multi-section robotic arm with freedom, connected to the first movable part 13, wherein the suction mechanism 201 can form and maintain contact with the goods through the suction force generated until the goods 3 are placed in the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking assembly and placed in the cargo box.

[0135] refer to Figure 4 , Figure 5 , Figure 6 and Figure 7 , the first in-stock picking robot corresponding to the first target storage location takes out the first picked goods, which is achieved through the following steps:

[0136] S21: using the first push-pull box task module E1, which pulls the first cargo box containing the first picked cargo A1 out of the first target storage location B1;

[0137] S22: Combination Figure 4 , after the first picking task module C1 takes out the first picked goods A1, the first cargo box is pushed into the first target storage location B1;

[0138] And, S23: using the second push-pull box task module E2, it pulls the second cargo box containing the second picked cargo A2 out of the second target storage location B2;

[0139] S24: After the second picking task module C2 takes out the second picked cargo A2, the second cargo box is pushed into the second target storage location B2.

[0140] First of all, it needs to be clarified that the first push-pull box task module E1 is a matching task module for pushing and pulling the first cargo box where the first picked cargo A1 is located. The first push-pull box task module can be the facade transmission equipment, or the fixed track transmission equipment. The push-pull cargo box module is used to pull out the target cargo box at the target storage position of the target shelf. The picking task module 2 of the cargo picking equipment, that is, the picking task module, picks the target cargo in the target cargo box.

[0141] refer to Figure 8 In the present invention, the in-warehouse picking robot includes: a picking task module and a pushing and pulling box task module.

[0142] refer to Figure 8When the facade transport device is a fixed track transport device, the arrangement of the fixed track transport device on the shelf is specifically implemented as: a connecting mechanism of the first transverse track 11, a first column 12, a first movable part 13, and a push-pull box task module 14.

[0143] It should be clarified that the aisle direction of the multiple rows of shelves in the present invention is recorded as the x-axis, the direction perpendicular to the x-axis is recorded as the y-axis, and the height direction of the shelves is recorded as the z-axis.

[0144] It should be noted here that the push-pull module of the push-pull box task module 14 can realize the storage and retrieval operations of cargo boxes that are densely arranged, adjacent or connected in a three-dimensional warehouse. For example, in the depth direction (y-axis), the push-pull arm of the push-pull box task module can be used to store and retrieve one of the multiple cargo boxes.

[0145] refer to Figure 8 and Fig. 9 In the case where the picking task module 2 and / or the pushing and pulling box task module 14 are both installed on the first transverse track, the first column, and the first movable part, the connecting mechanism of the picking task module and the connecting mechanism of the pushing and pulling box task module can be integrated to drive the picking task module to sort goods and drive the pushing and pulling box task module to store cargo boxes.

[0146] refer to Fig. 9 In another case, when the picking task module and / or the pushing and pulling box task module are both installed on the first transverse track, the first column, and the first movable part, the connecting mechanism of the picking task module and the connecting mechanism of the pushing and pulling box task module are separately arranged to cooperate according to the current task.

[0147] In this embodiment, the fixed track transmission equipment and the cargo picking equipment are respectively arranged on different columns. In a large-scale dense storage scenario, such as a warehouse storing more than 100,000 cargo boxes and a flow rate of 10,000 boxes / hour, the fixed track transmission equipment and the cargo picking equipment can be installed on the same shelf in multiple units to meet the needs of large-volume orders. When the fixed track transmission equipment and the cargo picking equipment work together, taking order delivery as an example, X goods or a certain SKU (Stock Keeping Unit, i.e., the basic unit for inventory in and out measurement) of a certain A order needs to be delivered, the fixed track transmission equipment uses a push-pull box task module, i.e., a push-pull cargo box module, to pull out the target cargo box at the target storage position of the target shelf so that X goods can be sucked by the suction mechanism 201 and / or the picking mechanism of the cargo picking equipment. Before suction, an identification module is required to identify X goods or a certain SKU, and the identification module can be set on the cargo picking equipment and / or the fixed track transmission equipment. The identification module can be set on the cargo picking equipment and / or the fixed track transmission equipment. The recognition module can be a monocular camera, a laser camera or a depth-of-field camera.

[0148] Embodiment 2

[0149] refer to Fig.10 and Fig.11 A method for controlling in-stock picking is used in a three-dimensional warehouse, wherein the three-dimensional warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in the storage spaces of the storage spaces. According to the return demand information: the control server is configured as follows:

[0150] S31: instructing the ground freight robot D1 executing the return instruction to move to the floor of the shelf where the first return cargo A1 is located;

[0151] S32: The first in-stock picking robot C1 takes the first return cargo A1 out of the docking position or docking cargo box of the ground cargo robot D1 that executes the return instruction, and puts it back into the storage position or cargo box to which the first return cargo A1 belongs ( Fig.10 The marking is marked as cargo box B1);

[0152] S33: dispatch the ground freight robot to move to the floor of the shelf where the second returned goods A2 is located, and the second in-stock picking robot C2 takes the second returned goods A2 out of the docking position or docking box and puts it back into the storage position or the box to which the second returned goods belong ( Fig.10 The mark indicates cargo box B2);

[0153] S34: The above steps are repeated until all returned goods are put back into the storage location or the cargo box.

[0154] Repeat the above steps, refer to Fig.11 , until all the returned goods are put back into the cargo box, the ground freight robot will empty all the returned goods it carries. The purpose of the loop step is that the returned goods may be 3 or more according to different orders. Then based on the process of S31-S33, the required returned goods A1, A2, A3 can be taken out from the docking assembly or docking cargo box of the ground freight robot, and the in-stock picking robot grabs or absorbs them, and then returns them to the cargo boxes corresponding to the returned goods.

[0155] refer to Fig.10 , Fig.11 , Fig.12 and Fig.13 , the first in-stock picking robot takes out the first returned goods from the docking position or docking cargo box of the first ground cargo robot, and puts it back into the storage position or cargo box to which the first returned goods belong, which is achieved through the following steps:

[0156] S41: using the first push-pull box task module E1, which pulls the first cargo box to which the first returned goods belong out of the first target storage location;

[0157] S42: After the first picking task module puts the first returned goods A1 back into the first cargo box, the first push-pull box task module E1 pushes the first cargo box into the first target storage location;

[0158] And, S43: using the second push-pull box task module E2, it pulls the second cargo box to which the second returned cargo A2 belongs out of the second target storage location;

[0159] S44: After the second picking task module puts the second returned goods back into the second cargo box, the second pushing and pulling box task module E2 is used to push the second cargo box into the second target storage location.

[0160] Combination Fig.10 , Fig.11 , Fig.12 as well as Fig.13 It can be seen that in a return order, the ground freight robot D1 places all the returned goods (A1, A2, A3) in the docking assembly or docking box of the ground freight robot according to the order to be returned, and can perform continuous goods returns.

[0161] In the prior art, the ground freight robot D1 carries a single cargo repeatedly back to the workstation for return. That is, the return of cargo A1, A2, and A3 depends on the ground freight robot D1 making three round trips to achieve the return.

[0162] In the present invention, the in-warehouse picking robot directly takes the returned goods from the docking assembly or docking box of the ground freight robot D1, and uses the path planning function of the ground freight robot (the path of the ground freight robot is represented by a dotted line in the figure) to operate continuously to reduce the number of round trips, eliminating the need for the ground freight robot D1 to carry a single returned product back to the workstation repeatedly and waste time on returns, thereby improving the operating efficiency of the return business by nearly 100% compared to the existing technology.

[0163] The structures and principles of the in-warehouse picking robot and the ground freight robot involved in this embodiment can all be referred to in Example 1. In this business scenario, the description and illustration will not be repeated.

[0164] Embodiment three:

[0165] refer to Fig.14 and Fig.15 , a method for picking in warehouse is used for a stereoscopic warehouse, wherein the stereoscopic warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in the storage spaces of the storage spaces, and the control server is configured as follows:

[0166] S51: Based on the container consolidation request information, determine the first target storage location E1 where the first cargo box B1 is located;

[0167] S52: a box pulling step, instructing the ground freight robot D1 executing the box closing instruction to move to the floor of the shelf where the first target storage location is located, controlling the box pulling task module F1 corresponding to the first target storage location D1, and placing the first cargo box B1 on the docking component of the ground freight robot D1 (the moving route of the first cargo box B1 is marked as G1);

[0168] S53: a box merging step, in which the ground freight robot D1 is dispatched to move to the floor of the shelf where the second cargo box B2 is located, and the in-stock picking robot C1 corresponding to the second cargo box B2 takes out part or all of the goods (marked as A1 and A2 in the figure) in the first cargo box from the first cargo box B1 and puts them into the second cargo box B2;

[0169] S54: The above-mentioned box closing steps are executed in a loop until the first cargo box B1 is emptied.

[0170] Cycle the above steps and combine Fig.16, until the ground freight robot takes the cargo boxes with goods on the shelf and carries the empty box B1 away through the above steps. The purpose of the loop step is to, according to the needs of box consolidation, some goods that need to be transferred to the corresponding cargo box may be 3 pieces (A1, A2, A3) or more, and need to be put into the corresponding cargo box to obtain an empty box for use in the processes of transshipment, shipment, and warehousing. Then based on the process of S51-S53, the goods in the cargo box that needs to be turned into an empty box can be taken out from the docking box of the ground freight robot D1, and the in-stock picking robot grabs or absorbs it to obtain an empty box and transport the empty box away.

[0171] The consolidation request information is specifically: a consolidation request for the same SKU. In most application scenarios, consolidation requests occur between cargo boxes of the same SKU, so as to quickly identify and shorten the consolidation walking path of the ground freight robot and improve the consolidation efficiency.

[0172] refer to Fig.15 and Fig.17 , the in-stock picking robot corresponding to the second cargo box takes out part or all of the goods in the first cargo box from the first cargo box and puts them into the second cargo box, which is specifically achieved through the following steps:

[0173] S61: using a push-pull box task module, pulling the second cargo box to which the second cargo belongs out of the second target storage location;

[0174] S62: After the picking task module corresponding to the second cargo box places part or all of the goods in the first cargo box into the second cargo box, the second cargo box is pushed into the second target storage location.

[0175] Combination Fig.16 and Fig.17 It can be seen that in a container consolidation order, the ground freight robot D1 places the cargo box to be emptied on the docking component of the ground freight robot according to the container consolidation request, and can perform continuous cargo emptying operations.

[0176] In the prior art, the ground freight robot D1 carries cargo boxes and individual cargoes and repeatedly returns to the workstation to perform box closing operations. That is, the closing of cargoes A1, A2, and A3 depends on the ground freight robot D1 making three round trips to empty the first cargo box.

[0177] In the present invention, the picking robot D1 places the cargo box B1 together with the goods A1, A2, and A3 in the cargo box B1 on the docking assembly of the ground freight robot, and sequentially puts A1 and A2 into the target cargo box, and then puts A3 into the target cargo box through the box closing operation. The picking robot directly takes the closed cargo from the cargo box B1 of the ground freight robot D1, and uses the path planning function of the ground freight robot (the path of the ground freight robot is indicated by a dotted line in the figure) to continuously operate to reduce the number of round trips, saving the time of the ground freight robot D1 carrying the cargo box back to the workstation or sorting platform to empty the cargo box, so that the operation efficiency of the box closing business is improved by nearly 100% compared with the existing technology.

[0178] The structures and principles of the in-warehouse picking robot and the ground freight robot involved in this embodiment can all be referred to in Example 1. In this business scenario, the description and illustration will not be repeated.

[0179] Embodiment 4:

[0180] refer to Fig.18 and Fig.19 A method for controlling in-stock picking is used in a three-dimensional warehouse, wherein the three-dimensional warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in the storage spaces of the storage spaces. According to the current order: the control server is configured as follows:

[0181] S71: Based on the reverse container request information, determine the first target storage location E1 where the first reverse container B1 is located;

[0182] S72: instructing the ground freight robot D1 executing the reverse box instruction to move to the first target storage location E1, and controlling the first in-stock picking robot C1 corresponding to the first target storage location E1 to take out all the goods (marked as A1 and A2 in the figure) in the reverse box B1 once or multiple times and place them on the docking position or docking box of the ground freight robot D1;

[0183] S73: dispatch the ground freight robot to move to the shelf where the target cargo box for receiving reverse-packed goods is located, and the second in-warehouse picking robot C2 takes out all reverse-packed goods from the docking position or docking cargo box of the ground freight robot D1, and puts them into the target cargo box B2 for receiving reverse-packed goods.

[0184] Repeat the above steps, refer to Fig. 20, until the ground freight robot empties the cargo box of the original goods on the shelf through the above steps. The purpose of the loop step is that, according to the demand for reverse box, some goods that need reverse box may be 3 pieces (A1, A2, A3) or more, and need to be put into the cargo box B2, B4 of the target receiving goods, so as to obtain an empty box for use in the processes such as transshipment, shipment, and warehousing. Then based on the process of S71-S73, for the goods in the cargo box that needs to be turned into an empty box, the first in-stock picking robot corresponding to the first target storage position can be controlled to take out the cargo box B1 that needs to be reversed and place it in the docking cargo box B3 of the ground freight robot, so as to obtain an empty box B1. Then use the second in-stock picking robot that matches the cargo box that receives these goods to grab or absorb (the figure shows that goods A1 and goods A2 are put into cargo box B2, and goods A3 is put into cargo box B4), and put them into the cargo boxes B2 and B4 that receive these goods.

[0185] refer to Fig. 20 and Fig.21 The first in-stock picking robot takes out all the goods in the reverse box cargo box once or multiple times and places them on the docking position or docking cargo box of the ground freight robot, which is achieved through the following steps:

[0186] S81: Using the first push-pull box task module, pull the reverse-closed box out of the target storage location;

[0187] S82 After the first picking task module takes out all the goods once or multiple times, the first push-pull box task module pushes the reverse box into the corresponding target storage location ( Fig.18 The shear direction in the

[0188] And, the second in-stock picking robot takes out all the reverse-packed goods from the docking position or docking box of the ground freight robot and puts them into the target box that receives the reverse-packed goods, which is achieved through the following steps:

[0189] S83: Use the second box pushing and pulling task module to pull the target cargo box that receives the reverse-closed cargo from the corresponding target storage location. After the second picking task module puts all the reverse-closed cargo into the target cargo box that receives the reverse-closed cargo, the second box pushing and pulling task module pushes the target cargo box that receives the reverse-closed cargo into the corresponding target storage location.

[0190] Combination Fig.18 , Fig.19 , Fig. 20 and Fig.21 It can be seen that in a return order, the ground freight robot D1 can carry out continuous reverse closing of boxes to obtain one or more empty boxes according to the requirements of the reverse closing of boxes. The docking component or docking box of the ground freight robot carries all the goods in the box that needs to be emptied.

[0191] In the prior art, the ground freight robot D1 carries the cargo box and individual goods and repeatedly returns to the workstation to perform the unpacking operation. That is, the unpacking of goods A1, A2, and A3 depends on the ground freight robot D1 to make three round trips to achieve the purpose of emptying the cargo box.

[0192] That is, the in-warehouse picking robot directly takes out all the goods in the cargo box that needs to be unpacked, and puts them into the docking component or docking cargo box of the ground freight robot D1, and uses the path planning function of the ground freight robot to save the time of the ground freight robot D1 carrying a single cargo box repeatedly to take out and unpack it.

[0193] It should be noted that: in this embodiment, the reverse box request information is specifically: a reverse box request for the same SKU. In most application scenarios, the reverse box request occurs between the same SKU cargo boxes, so as to quickly identify and shorten the reverse box walking path of the ground freight robot and improve the reverse box efficiency.

[0194] The structures and principles of the in-warehouse picking robot and the ground freight robot involved in this embodiment can all be referred to in Example 1. In this business scenario, the description and illustration will not be repeated.

[0195] refer to Fig. 22 In the present invention, a warehouse picking control system is also disclosed, including:

[0196] at least one processor; and

[0197] A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the methods described in Embodiments 1 to 4.

[0198] Fig. 22 Shown is a match Figures 1 to 5 The computing device 60 of the method comprises:

[0199] It should be noted that Fig. 22 The computing device 60 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0200] like Fig. 22 As shown, the server is in the form of a general computing device 60. The components of the computing device 60 may include but are not limited to: at least one processor 61, at least one memory 62, and a bus 63 connecting different system components (including the memory 62 and the processor 61).

[0201] Bus 63 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, or a local bus using any of a variety of bus architectures.

[0202] The memory 62 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 621 and / or a cache memory 622 , and may further include a read-only memory (ROM) 623 .

[0203] The memory 62 may also include a program / utility 625 having a set (at least one) of program modules 624, such program modules 624 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0204] The computing device 60 may also communicate with one or more external devices 64 (e.g., keyboards, pointing devices, etc.), one or more devices that enable a user to interact with the computing device 60, and / or any device that enables the computing device 60 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 65. Furthermore, the computing device 60 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 68. As shown, the network adapter 68 communicates with other modules for the computing device 60 via a bus 63. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the computing device 60, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0205] In some possible implementations, the computing device according to the present application may include at least one processor and at least one memory (such as a first server). The memory stores program code, and when the program code is executed by the processor, the processor executes the steps of the system permission opening method according to various exemplary implementations of the present application described above in this specification.

[0206] In summary:

[0207] In the present invention, cargo picking equipment is used in conjunction with a push-pull box module, as well as a freight robot at the bottom of the shelf, to complete key tasks such as high-flow picking, return, and box merging according to the needs of the current order. The cargo picking equipment is provided with a horizontal track for the movement of the column. By configuring the shelf and modifying the shelf layer at the bottom of the storage space, an operation channel is provided for the freight robot or the picking robot, which fundamentally solves the problem of waste of existing storage space and makes in-warehouse picking possible in dense shelf scenarios. On this basis, cargo boxes can be stored and retrieved through the push-pull box module, and placed in the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking assembly, so that cargo warehousing, cargo / cargo box transfer, and cargo / cargo box picking can be completed smoothly in the storage space. On the basis of realizing in-warehouse picking of goods, the utilization rate of storage space, the high speed of cargo entry and exit, and the picking efficiency are greatly improved.

[0208] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other; the above embodiments in this specification are only used to illustrate the technical solution of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that: it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some or all of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.

Claims

1. A method for controlling in-stock picking. It is characterized in that For use in a stereoscopic warehouse, the stereoscopic warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in the storage locations of the storage spaces, according to the current order: the control server is configured to determine the first target storage location where the first picked cargo is located based on the picking cargo information of the current order; Controlling the first in-stock picking robot corresponding to the first target storage location to take out the first picked goods and place them on the docking component or docking box of the ground freight robot; The ground freight robot is dispatched to move to a second target storage location where the second picking goods are located, and the ground freight robot is located within the reach of the second in-stock picking robot; The second in-stock picking robot takes out the second picked goods from the second target storage location and places them on the docking component or docking box of the ground freight robot; The above steps are repeated until all the picked goods are placed on the docking components or docking boxes of the ground freight robot, and the ground freight robot transports all the picked goods to the workstation.

2. The in-stock picking control method according to claim 1, It is characterized in that The first in-stock picking robot corresponding to the first target storage location takes out the first picked goods, which is achieved through the following steps: Using the first push-pull box task module, the first box containing the first picked goods is pulled out from the first target storage location; After the first picking task module takes out the first picked goods, the first cargo box is pushed into the first target storage location; And, using a second push-pull box task module, it pulls the second cargo box containing the second picked goods out of the second target storage location; After the second picking task module takes out the second picked goods, the second cargo box is pushed into the second target storage location.

3. The in-stock picking control method according to claim 2, It is characterized in that The in-stock picking robot includes: a picking task module and a push-pull box task module: The picking task module puts the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and puts them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

4. The warehouse picking control method according to claim 2 or 3, It is characterized in that The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable part, and a connecting mechanism of the push-pull box task module; The connection mechanism of the push-pull box task module is set up as follows: Support structure for push-pull cargo box modules; And, a transmission component for pushing and pulling the cargo box module.

5. A method for controlling in-stock picking, It is characterized in that Used in a stereoscopic warehouse, the stereoscopic warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage space, and cargo boxes are placed in the storage space. According to the return demand information: the control server is configured as follows: Instructing the ground freight robot executing the return instruction to move to the floor of the shelf where the first returned goods are located, and the first in-stock picking robot takes the first returned goods out of the docking position or docking cargo box of the first ground freight robot, and puts it back into the storage position or cargo box to which the first returned goods belong; The ground freight robot is dispatched to move to the floor of the shelf where the second returned goods are located, and the second in-stock picking robot takes the second returned goods out of the docking position or the docking cargo box and puts it back into the storage position or the cargo box to which the second returned goods belong; The above steps are repeated until all returned goods are put back into the storage location or the cargo box.

6. The in-warehouse picking control method according to claim 5, It is characterized in that The first in-stock picking robot takes the first returned goods out of the docking position or docking cargo box of the first ground cargo robot and puts it back into the storage position or cargo box to which the first returned goods belong, which is achieved through the following steps: Using the first push-pull box task module, it pulls the first cargo box to which the first returned goods belong out of the first target storage location; After the first picking task module puts the first returned goods back into the first cargo box, the first push-pull box task module pushes the first cargo box into the first target storage location; And, the second in-stock picking robot takes out the second returned goods from the docking position or the docking cargo box and puts it back into the storage position or the cargo box to which the second returned goods belong, which is achieved through the following steps: Using the second push-pull box task module, it pulls the second cargo box to which the second returned goods belong from the second target storage location; After the second picking task module puts the second returned goods back into the second cargo box, the second pushing and pulling box task module pushes the second cargo box into the second target storage location.

7. The in-warehouse picking control method according to claim 6, It is characterized in that The in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module; The picking task is to put the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or to take the goods out of the docking assembly or docking box and put them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

8. The in-warehouse picking control method according to claim 6 or 7, It is characterized in that The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable part, and a connecting mechanism of the push-pull box task module; The connection mechanism of the push-pull box task module is set up as follows: Support structure for push-pull cargo box modules; And, a transmission component for pushing and pulling the cargo box module.

9. A method for controlling in-stock picking. It is characterized in that Used in a stereoscopic warehouse, the stereoscopic warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in the storage locations of the storage spaces, and the control server is configured to determine a first target storage location where a first cargo box is located based on the container consolidation request information; A box pulling step is to instruct the ground freight robot that executes the box closing instruction to move to the floor of the shelf where the first target storage location is located, and control the box pulling task module corresponding to the first target storage location to place the first cargo box on the docking component of the ground freight robot; In the step of combining boxes, the ground freight robot is dispatched to move to the floor of the shelf where the second box is located, and the in-stock picking robot corresponding to the second box takes out part or all of the goods in the first box from the first box and puts them into the second box; The above-mentioned box closing steps are executed cyclically until the first box is emptied.

10. The in-stock picking control method according to claim 9, It is characterized in that The consolidation request information specifically includes: a consolidation request for the same SKU.

11. The in-warehouse picking control method according to claim 9, It is characterized in that The in-stock picking robot corresponding to the second cargo box takes out part or all of the goods in the first cargo box from the first cargo box and puts them into the second cargo box, which is specifically achieved through the following steps: Using the push-pull box task module, pull the second cargo box belonging to the second cargo out of the second target storage location; After the in-stock picking robot corresponding to the second cargo box puts part or all of the goods in the first cargo box into the second cargo box, the second cargo box is pushed into the second target storage location.

12. The in-stock picking control method according to claim 9, It is characterized in that The in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module; The picking task module puts the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and puts them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

13. The in-warehouse picking control method according to any one of claims 9 to 12, It is characterized in that The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable part, and a connecting mechanism of the push-pull box task module; The connection mechanism of the push-pull box task module is set up as follows: Support structure for push-pull cargo box modules; And, a transmission component for pushing and pulling the cargo box module.

14. A method for controlling in-stock picking. It is characterized in that Used in a stereoscopic warehouse, the stereoscopic warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in the storage locations of the storage spaces, according to the current order: the control server is configured to determine, based on the reverse box request information, a first target storage location where a first reverse box cargo box is located; Instructing the ground freight robot executing the reverse box instruction to move to the first target storage location, and controlling the first in-stock picking robot corresponding to the first target storage location to take out all the goods in the reverse box cargo box once or multiple times and place them on the docking position of the ground freight robot or on the docking cargo box; The ground freight robot is dispatched to move to the shelf where the target cargo box for receiving the reverse-packed goods is located. The second in-warehouse picking robot takes out all the reverse-packed goods from the docking position or docking cargo box of the ground freight robot and puts them into the target cargo box for receiving the reverse-packed goods.

15. The in-warehouse picking control method according to claim 14, It is characterized in that The first in-stock picking robot takes out all the goods in the reverse container one or more times and places them on the docking position or docking container of the ground freight robot, which is achieved through the following steps: Using the first push-pull box task module, pull the reverse-closed box out of the target storage location; After the first picking task module takes out all the goods once or multiple times, the first box pushing and pulling task module pushes the reverse box into the corresponding target storage location; And, the second in-stock picking robot takes out all the reverse-packed goods from the docking position or docking box of the ground freight robot and puts them into the target box that receives the reverse-packed goods, which is achieved through the following steps: Using the second push-pull box task module, the target cargo box that receives the reverse-closed box goods is pulled out from the corresponding target storage location. After the second picking task module puts all the reverse-closed box goods into the target cargo box that receives the reverse-closed box goods, the second push-pull box task module pushes the target cargo box that receives the reverse-closed box goods into the corresponding target storage location.

16. The in-warehouse picking control method according to claim 15, It is characterized in that The in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module; The picking task module puts the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and puts them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

17. The in-warehouse picking control method according to claim 15 or 16, It is characterized in that The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable part, and a connecting mechanism of the push-pull box task module; The connection mechanism of the push-pull box task module is set up as follows: Support structure for push-pull cargo box modules; And, a transmission component for pushing and pulling the cargo box module.

18. The in-stock picking control method according to claim 14, It is characterized in that The reverse box closing request information specifically includes: a reverse box closing request for the same SKU.

19. A warehouse picking control system, It is characterized in that include: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1 to 18.

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