Cargo handling method and device and warehousing system

Abstract

The invention relates to the technical field of warehouse logistics, and discloses a tallying method and device and a warehousing system.The method comprises the steps that a first carrier and a second carrier are determined from multiple carriers to be tallied; the first carrying equipment is controlled to carry the first carrier to a first stop position of the tallying area, and the second carrying equipment is controlled to carry the second carrier to a second stop position of the tallying area; under the condition that the first carrier surface faces the tallying equipment and the third carrier surface faces the tallying equipment, if a first stock object matched with the second carrier exists on the first carrier surface, the tallying equipment is controlled to transfer the first stock object to the third carrier surface under the condition that the first stock object is movable; under the condition that the first inventory object cannot move, based on the first face turning parameter corresponding to the first carrier face, second carrying equipment is controlled to execute face turning operation on a second carrier; or cancelling the tallying task corresponding to the first inventory object. According to the invention, the tallying efficiency of the warehousing system can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a cargo tallying method, device and warehousing system. Background Art

[0002] Usually, when the robot is performing a shelving task (i.e., returning a box to a shelf), it will randomly place the box to be returned on any shelf in the shelf area. Although this placement method improves the robot's handling efficiency, it will cause the goods placed on each shelf to be messy. This messy placement method will affect the subsequent operating efficiency of the warehousing system. Summary of the invention

[0003] In order to solve the above problems, the embodiments of the present application provide a tallying method, device and storage system, which can realize rapid sorting of each carrier, improve the tallying efficiency of the storage system, and improve subsequent work efficiency. Specifically, the embodiments of the present application disclose the following technical solutions: The first aspect of the embodiment of the present application provides a tallying method, which includes: first, determining a first carrier and a second carrier among a plurality of carriers to be tallied; wherein the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface; secondly, controlling a first handling device to carry the first carrier to a first docking position in a tallying area, and controlling a second handling device to carry the second carrier to a second docking position in a tallying area. Then, when the first carrier surface is facing the tallying device and the third carrier surface is facing the tallying device, if there is a first inventory object matching the second carrier on the first carrier surface, then when the first inventory object is movable, controlling the tallying device to transfer the first inventory object to the third carrier surface. Finally, when the first inventory object is immovable, based on the first turn parameter corresponding to the first carrier surface, controlling the second handling device to perform a turn operation on the second carrier; or canceling the tallying task corresponding to the first inventory object.

[0004] In some embodiments, the above-mentioned first rotation parameter corresponding to the first carrier surface is used to control the second handling device to perform a rotation operation on the second carrier; or, the tallying task corresponding to the first inventory object is canceled, including: determining whether the first rotation parameter meets the rotation condition; when the first rotation parameter meets the rotation condition, controlling the second handling device to transport the second carrier to the rotation point for rotation, and adjusting the first rotation parameter to not meet the rotation condition; or, when the first rotation parameter does not meet the rotation condition, canceling the tallying task corresponding to the first inventory object.

[0005] In some embodiments, the above-mentioned determination of whether the first rotation surface parameter satisfies the rotation surface condition includes: in the process of the first carrier surface facing the tally device, if the third carrier surface faces the tally device and the fourth carrier surface has not faced the tally device, then determining that the first rotation surface parameter satisfies the rotation surface condition. In the process of the first carrier surface facing the tally device, if the third carrier surface faces the tally device and the fourth carrier surface has also faced the tally device, then determining that the first rotation surface parameter does not satisfy the rotation surface condition.

[0006] In some embodiments, after the above-mentioned control of the second transporting equipment to transport the second carrier to the transfer point for transfer, the method also includes: controlling the second transporting equipment to transport the second carrier from the transfer point to the second parking position so that the fourth carrier surface faces the tallying equipment; determining whether the first inventory object is movable; if the first inventory object is movable, controlling the tallying equipment to transport the first inventory object to the fourth carrier surface; if the first inventory object is immovable, canceling the tallying task corresponding to the first inventory object.

[0007] In some embodiments, after the second handling device is controlled to carry the second carrier from the transfer point to the second docking position, the method further includes: when there is a second inventory object matching the first carrier on the fourth carrier surface, if the second inventory object is movable, the tally device is controlled to transfer the second inventory object to the first carrier surface. If the second inventory object is not movable, it is determined whether the second transfer surface parameter corresponding to the fourth carrier surface meets the transfer surface condition; if the second transfer surface parameter meets the transfer surface condition, the first handling device is controlled to carry the first carrier to the transfer point for transfer, and the second transfer surface parameter is adjusted to not meet the transfer surface condition; if the second transfer surface parameter does not meet the transfer surface condition, the tally task corresponding to the second inventory object is cancelled.

[0008] In some embodiments, after the above-mentioned control of the first transporting device to transport the first carrier to the transfer point for transfer, the method also includes: controlling the first transporting device to transport the first carrier from the transfer point to the first parking position so that the second carrier surface faces the tallying device; determining whether the second inventory object is movable; if the second inventory object is movable, controlling the tallying device to transport the second inventory object to the second carrier surface; if the second inventory object is immovable, canceling the tallying task corresponding to the second inventory object.

[0009] In some embodiments, after the above-mentioned control of the first transporting equipment to transport the first carrier from the transfer point to the first docking position, the method also includes: when there is a third inventory object matching the second carrier on the second carrier surface, if the third inventory object is movable, controlling the tallying equipment to transfer the third inventory object to the second carrier surface; if the third inventory object is not movable, determining whether the third transfer parameter corresponding to the second carrier surface meets the transfer condition; when the third transfer parameter meets the transfer condition, controlling the second transporting equipment to transport the second carrier to the transfer point for transfer, and adjusting the third transfer parameter to not meet the transfer condition; when the third transfer parameter does not meet the transfer condition, canceling the tallying task corresponding to the third inventory object.

[0010] In some embodiments, after the second handling device is controlled to carry the second carrier to the transfer point for transfer, the method further includes: controlling the second handling device to carry the second carrier from the transfer point to the second parking position so that the third carrier surface faces the tally device, and adjusting the fourth transfer parameter corresponding to the third carrier surface to not meet the transfer condition. Determine whether the third inventory object is movable; if the third inventory object is movable, transfer the third inventory object to the third carrier surface; if the third inventory object is not movable, cancel the tally task of the third inventory object.

[0011] In some embodiments, the method further includes: when the first carrier faces the tally device and the third carrier faces the tally device, if there is a fourth inventory object matching the first carrier on the third carrier surface and the fourth inventory object is movable, then the tally device is controlled to transfer the fourth inventory object to the first carrier surface. If the fourth inventory object is not movable, when the second carrier faces the tally device and the third carrier faces the tally device, it is determined whether the fourth inventory object is movable; if the fourth inventory object is movable, the tally device is controlled to transfer the fourth inventory object to the second carrier surface; if the fourth inventory object is not movable, the tally task of the fourth inventory object is canceled.

[0012] In some embodiments, after canceling the tallying task corresponding to the first inventory object when the first turning surface parameter does not meet the turning surface condition, the method further includes: determining whether the fourth turning surface parameter corresponding to the third carrier surface meets the turning surface condition; when the fourth turning surface parameter meets the turning surface condition, controlling the first transport device to transport the first carrier to the turning surface point for turning surface, and adjusting the fourth turning surface parameter to not meet the turning surface condition. When the fourth turning surface parameter does not meet the turning surface condition, determining whether the third turning surface parameter corresponding to the second carrier surface and the second turning surface parameter corresponding to the fourth carrier surface meet the turning surface condition.

[0013] In some embodiments, the method also includes: when a first rotation parameter corresponding to the first carrier surface, a second rotation parameter corresponding to the fourth carrier surface, a third rotation parameter corresponding to the second carrier surface, and a fourth rotation parameter corresponding to the third carrier surface all fail to meet the rotation conditions, controlling the first transport device to move the first carrier away from the first parking position, or controlling the first transport device to move the first carrier away from the first parking position, and controlling the second transport device to move the second carrier away from the second parking position.

[0014] In some embodiments, the above-mentioned controlling the first handling device to move the first carrier away from the first docking position, or controlling the first handling device to move the first carrier away from the first docking position, and controlling the second handling device to move the second carrier away from the second docking position, includes: when the first docking position is determined as a temporary docking position and the second docking position is determined as a target docking position, if there is at least one carrier to be tallied in the multiple queue positions corresponding to the first docking position, then controlling the first handling device to move the first carrier away from the first docking position; and controlling the third handling device to move the third carrier of the at least one carrier to be tallied to the first docking position. If there is no carrier to be tallied in the multiple queue positions corresponding to the first docking position, then controlling the first handling device to move the first carrier away from the first docking position, and controlling the second handling device to move the second carrier away from the second docking position.

[0015] In some embodiments, the method further includes: when the first carrier surface is facing the tallying device and the third carrier surface is facing the tallying device, if there is a first inventory object matching the second carrier on the first carrier surface, determining whether the first inventory object is movable; when there is no vacant storage location on the third carrier surface, determining that the first inventory object is immovable; or, when there is a vacant storage location on the third carrier surface and there is an abnormality in the vacant storage location, determining that the first inventory object is immovable.

[0016] In some embodiments, the method further includes: when the first transport device transports the first carrier to the first docking position, the second transport device transports the second carrier to the second docking position, and the second docking position is the target docking position, the attribute of the inventory object on the third carrier surface of the second carrier that matches the first carrier is set to visible, and the attribute of the inventory object matching other carriers to be tallied is set to invisible; wherein the tallying device cannot perform a transfer operation on the inventory object whose attribute is invisible.

[0017] The second aspect of the embodiment of the present application provides a tallying device, including a determination module and a control module. The determination module is configured to: determine a first carrier and a second carrier among a plurality of carriers to be tallied; the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface. The control module is configured to: control the first handling device to carry the first carrier to the first docking position of the tallying area, and control the second handling device to carry the second carrier to the second docking position of the tallying area; when the first carrier surface faces the tallying device and the third carrier surface faces the tallying device, if there is a first inventory object matching the second carrier on the first carrier surface, then when the first inventory object is movable, control the tallying device to transfer the first inventory object to the third carrier surface; when the first inventory object is immovable, control the second handling device to perform a turn operation on the second carrier based on the first turn parameter corresponding to the first carrier surface; or cancel the tallying task corresponding to the first inventory object.

[0018] The third aspect of the embodiment of the present application provides a warehousing system, including a tallying area, the tallying area including a tallying device, a first docking position, and a second docking position. The control device is configured to: determine a first carrier and a second carrier among a plurality of carriers to be tallied, and generate a first handling instruction based on the first carrier, and generate a second handling instruction based on the second carrier; wherein the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface. The first handling device is configured to: transport the first carrier to the first docking position based on the first handling instruction. The second handling device is configured to: transport the second carrier to the second docking position based on the second handling instruction. The control device is configured to: when the first carrier surface faces the tallying device and the third carrier surface faces the tallying device, if there is a first inventory object matching the second carrier on the first carrier surface, then if the first inventory object is movable, a tallying instruction is generated, or if the first inventory object is immovable, a face transfer instruction is generated based on the first face transfer parameter corresponding to the first carrier surface or the tallying task corresponding to the first inventory object is canceled. The tallying device is configured to transfer the first inventory object to the third carrier surface based on the tallying instruction. The second handling device is configured to perform a surface rotation operation on the second carrier based on the surface rotation instruction.

[0019] A fourth aspect of an embodiment of the present application provides an electronic device, comprising: a processor and a memory, the memory being used to store computer-executable instructions; the processor being used to read the instructions from the memory and execute the instructions to implement the tallying method described in the first aspect above.

[0020] A fifth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores computer program instructions. When a computer reads the instructions, the tallying method described in the first aspect is executed.

[0021] A sixth aspect of an embodiment of the present application provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the tallying method described in the first aspect above.

[0022] A seventh aspect of the embodiments of the present application provides a computer program, which, when executed by a processor, can implement the tallying method described in the first aspect.

[0023] The tallying method, device and warehousing system provided by the embodiment of the present application, in the process of tallying the first carrier and the second carrier, when the first carrier surface of the first carrier and the third carrier surface of the second carrier are facing the tallying device, first determine whether there is a first inventory object matching the second carrier on the first carrier surface, if there is a first inventory object, then determine whether the first inventory object is movable, and when the first inventory object is movable, the tallying device transfers the first inventory object to the third carrier surface of the second carrier; and when the first inventory object is not movable, further determine based on the first rotation parameter corresponding to the first carrier surface whether the transfer of the first inventory object is achieved by rotating the second carrier, or cancel the tallying task of the first inventory object. Therefore, in the embodiment of the present application, in the process of transferring the inventory object matching the current surface of one carrier with another carrier to the current surface of another carrier, if the inventory object is movable, it can be directly transferred, and if the inventory object is not movable, it can also be achieved by rotating the other carrier to continue to transfer the inventory object, so that the transfer of matching objects can be achieved as much as possible in one tallying task, thereby improving the tallying efficiency of the warehousing system. At the same time, the embodiment of the present application can avoid repeated rotations of each carrier by setting the rotation parameters corresponding to each carrier surface, thereby further improving the sorting efficiency of the warehousing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of a storage system provided in an embodiment of the present application; Figure 2 A schematic diagram of a tallying process provided in an embodiment of the present application; Figure 3 A schematic diagram of a tallying method provided in an embodiment of the present application; Figure 4 A schematic diagram of another tallying process provided in an embodiment of the present application; Figure 5 A schematic diagram of another tallying method provided in an embodiment of the present application; Figure 6 A schematic diagram of another tallying method provided in an embodiment of the present application; Figure 7 A schematic diagram of another tallying method provided in an embodiment of the present application; Figure 8 A schematic diagram of another tallying method provided in an embodiment of the present application; Fig. 9 A schematic diagram of another tallying method provided in an embodiment of the present application; Fig.10 A schematic diagram of a tallying device provided in an embodiment of the present application; Fig.11 A schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0027] In the warehousing system, when the robot performs the task of putting the inventory on the shelf (i.e. returning the inventory object to the carrier), it will randomly place the transported inventory object on the carrier in the inventory area, resulting in a messy placement of the inventory objects on the carrier. This messy placement will seriously affect the efficiency of subsequent process operations, such as affecting subsequent transportation and tallying operations. Usually, the warehousing system can sort the inventory objects on each carrier (called tallying) to reduce the degree of chaos of the inventory objects on each carrier and improve the subsequent operation efficiency of the warehousing system.

[0028] Figure 1 A schematic diagram of a storage system provided in an embodiment of the present application. Figure 1 As shown, the storage system 100 includes a plurality of carriers 10, a plurality of handling devices 20, a workstation 30, a tallying device 40 and a control device ( Figure 1 not shown).

[0029] In some examples, the carrier 10 may be a shelf, a pallet, a turnover vehicle, a cage vehicle, etc. The carrier 10 includes a plurality of cargo spaces (also referred to as storage spaces). The cargo spaces may be rectangular shaped storage spaces, and the plurality of cargo spaces on the carrier 10 may be neatly arranged along the length, width, and height of the carrier 10.

[0030] For example, the cargo space on the carrier 10 is used to carry inventory objects such as goods or containers. The container can be a supporting product specially designed for the carrier 10, or it can be an ordinary cargo box (also called a material box), or it can be the packaging of the goods (also called an original box). The embodiment of the present application is not limited to this. The embodiment of the present application takes the inventory object placed on the carrier 10 as a container as an example for illustrative description.

[0031] In some examples, such as Figure 1 As shown, the area for storing and docking the vehicle 10 is a storage area 101, which can be a dense storage area or a non-dense storage area. The storage area 101 can include a plurality of storage locations, which can be neatly arranged in rows and columns, and each storage location can be used to place the vehicle 10.

[0032] Exemplarily, the storage system 100 includes a plurality of handling devices 20, which can be used to carry goods, containers or carriers 10, etc. For example, the handling device 20 can be a handling robot, such as an automated guided vehicle (AGV). The handling device 20 can carry the target object (goods, containers or carriers) to the corresponding destination.

[0033] Exemplarily, the number of workstations 30 in the warehousing system 100 may be one or more, and the workstations are used to perform picking operations on the carriers 10. For example, the transport device 20 may transport the carriers 10 in the inventory area 101 to the workstation 30, so as to perform picking operations on the carriers 10 through the workstation 30. The workstation 30 may be provided with one or more docking areas, and the docking areas are used to dock at least one carrier 10.

[0034] For example, the number of tallying devices 40 in the warehousing system 100 may be one or more. The tallying device 40 is used to perform tallying operations on the carrier 10. The tallying device 40 may be set in the inventory area 101 or in an area outside the inventory area 101 (i.e., the working area 102), which is not limited in the embodiment of the present application.

[0035] For example, when there are multiple tallying devices 40, some of the tallying devices 40 may be set in the inventory area 101, and another part of the tallying devices 40 may be set in the work area 102; or, all the tallying devices 40 may be set in the inventory area 101 (or the work area 102). It should be noted that in the embodiment of the present application, the area where the tallying devices 40 are set may be referred to as the tallying area 103.

[0036] In some examples, the tally area 103 may be provided with a docking area, and the docking area may be provided with a plurality of docking positions, each of which may dock a transport device for transporting the carrier 10. For example, the transport device 20 may transport the carrier 10 of the inventory area 101 to the docking position of the tally area 103, and perform a tally operation on the inventory objects placed on the carrier 10 through the tally device 40.

[0037] In some examples, the control device may be coupled to the transport device 20 and the tally device 40, respectively, to control the operations of the transport device 20 and the tally device 40. For example, the control device may control the movement operation of the transport device 20 and the transport operation of the carrier 10, and may also control the tally device 40 to perform the tally operation on the carrier 10. For example, the control device may control the transport device 20 to transport the carrier 10 to the tally area 103, and control the tally device 40 in the tally area 103 to perform the tally operation on the carrier 10.

[0038] For example, the control device may be a server or a terminal device. The terminal device may include at least one of a personal computer, a laptop, a smart phone, a tablet computer, and a portable wearable device; the server may include an independent server or a server cluster composed of multiple servers, which is not limited in the embodiments of the present application.

[0039] In some examples, the control device is connected to the handling device 20 and the tallying device 40 for data communication. For example, the control device can be connected to the handling device 20 and the tallying device 40 via a local area network (LAN), a wireless local area network (WLAN), or other networks.

[0040] For example, when the transport device 20 transports multiple carriers to the tallying area 103, the tallying device 40 can perform a tallying operation on the multiple carriers, that is, the tallying device 40 transfers inventory objects between the multiple carriers. The tallying device 40 can include a box-taking device that can take and place inventory objects on the carrier 10.

[0041] Figure 2 A schematic diagram of a tallying process provided in an embodiment of the present application. Figure 2 As shown, three containers (containers 1, 2, and 3) on carrier A match carrier B, that is, containers 1 to 3 need to be transferred to carrier B.

[0042] like Figure 2As shown, the tallying equipment can perform the tallying operation according to the tallying task issued by the control device. In the process of transferring the three containers (container 1, 2, 3) on carrier A to carrier B according to the tallying task, after placing container 1 and container 2 on the current side of carrier B facing the tallying equipment, container 3 cannot be placed. In this case, the tallying equipment will cancel the tallying task of container 3, thereby moving carrier A away. This process does not complete the tallying operation of carriers A and B, and container 3 may need to be transferred later, which makes the tallying process more complicated.

[0043] In order to solve the above problems, the embodiment of the present application provides a tallying method, device and storage system. In the process of tallying the first carrier and the second carrier, when the first carrier surface of the first carrier and the third carrier surface of the second carrier are facing the tallying device, it is first determined whether there is a first inventory object matching the second carrier on the first carrier surface. If there is a first inventory object, it is then determined whether the first inventory object is movable, and when the first inventory object is movable, the first inventory object is transferred to the third carrier surface of the second carrier by the tallying device; and when the first inventory object is not movable, it is further determined based on the first rotation parameter corresponding to the first carrier surface whether the transfer of the first inventory object is achieved by rotating the second carrier, or the tallying task of the first inventory object is canceled. Therefore, in the embodiment of the present application, when transferring the inventory object matching the current surface of one carrier to the current surface of another carrier, the inventory object can be directly transferred when the inventory object is movable, and when the inventory object is not movable, the inventory object can be further transferred by rotating the other carrier, so that the transfer of matching objects can be achieved as much as possible in one tallying task, thereby improving the tallying efficiency of the storage system. At the same time, the embodiment of the present application can avoid repeated rotations of each carrier by setting the rotation parameters corresponding to each carrier surface, thereby further improving the sorting efficiency of the warehousing system.

[0044] The tallying method provided in the embodiment of the present application is described below with reference to the accompanying drawings.

[0045] Figure 3 A schematic diagram of a tally method provided in an embodiment of the present application. Figure 3 As shown, the tally method includes steps 310 to 340 as shown below. It should be noted that, Figure 3 The method shown can be implemented by the warehousing system 100 of the above embodiment, such as by a control device in the warehousing system 100 .

[0046] Step 310: Determine a first carrier and a second carrier from a plurality of carriers to be tallied.

[0047] In some examples, the inventory area (such as inventory area 101) includes multiple carriers, and based on the order received by the control device, the carrier to be tallied can be determined from the multiple carriers. For example, the goods required for the order received within a preset time range can be determined as the carrier to be tallied. Among them, the carrier to be tallied can be the carrier required for a tallying task. The carrier to be tallied can include multiple inventory objects, and the inventory objects can be containers or goods. The embodiment of the present application does not limit this. The following embodiment takes the inventory object as a container as an example for explanation.

[0048] For example, each vehicle may be provided with vehicle attributes, and each inventory object may be provided with object attributes. When there is a mapping relationship between the vehicle attributes and the object attributes, it indicates that the inventory object belongs to the vehicle, that is, the inventory object matches the vehicle. The mapping relationship between the vehicle attributes and the object attributes may be pre-set and stored.

[0049] In some examples, the object attribute may be related to the size, type, and order hit status of the goods in the container, or may be related to the size, type, and status of the container. For example, the container for placing daily necessities may have the same object attribute, the container for placing food may have the same object attribute, the idle container may have the same object attribute, the container for the goods hit by the order may have the same object attribute, etc., and the embodiments of the present application do not limit this.

[0050] For example, inventory objects with the same object attribute need to be transferred to vehicles with the same vehicle attribute, wherein the inventory objects with the same object attribute can be placed in one vehicle or in multiple vehicles.

[0051] Exemplarily, the carrier to be tallied includes multiple inventory objects, including inventory objects that match the carrier to be tallied, and may also include chaotic objects that do not match the carrier to be tallied. Performing a tallying operation on the carrier to be tallied is to transfer the chaotic objects on the carrier to be tallied to another carrier to be tallied that matches it.

[0052] For example, Figure 2 As shown, containers 1, 2 and 3 on carrier A do not match carrier A, that is, they are chaotic objects on carrier A. The tallying operation can transfer containers 1, 2 and 3 to their matching carrier B.

[0053] In some examples, after determining a plurality of carriers to be tallied, a first carrier and a second carrier may be determined from the plurality of carriers to be tallied. For example, the first carrier and the second carrier may be any two different carriers from the plurality of carriers to be tallied; or, one of the first carrier and the second carrier may be a target carrier.

[0054] For example, a target carrier may be set among multiple carriers to be tallied, and the target carrier may be any one of the multiple carriers to be tallied, or the target carrier may be related to the degree of disorder of each carrier to be tallied. The degree of disorder is used to indicate the number of inventory objects (i.e. disorder objects) on the carrier to be tallied that belong to other carriers to be tallied.

[0055] For example, the target carrier may be the carrier with the highest degree of disorder among multiple carriers to be tallied. For example, among multiple carriers to be tallied, when one carrier to be tallied includes inventory objects belonging to other carriers to be tallied, the carrier to be tallied may be determined as the target carrier. For example, among three carriers to be tallied (such as carrier a, carrier b, and carrier c), when carrier a includes both inventory objects matching carrier b and inventory objects matching carrier c, carrier a may be determined as the target carrier.

[0056] In some examples, the first carrier may be a target carrier, or the second carrier may be a target carrier, which is not limited in the present application. The present application takes the second carrier as the target carrier as an example for illustrative description. For example, when the second carrier is the target carrier, the first carrier is any one of the multiple carriers to be tallied.

[0057] Step 320, controlling the first transport device to transport the first carrier to the first docking position of the tally area, and controlling the second transport device to transport the second carrier to the second docking position of the tally area.

[0058] Exemplarily, the tallying area includes a plurality of docking positions, and the plurality of docking positions include a first docking position and a second docking position. The first docking position and the second docking position are two docking positions corresponding to the current tallying task. When the carrier to be tallied is transported to the tallying area by the transporting device to perform the tallying operation, the transporting device can be docked at the docking position, so that the tallying device can perform a transfer operation between the two carrier surfaces facing the tallying device.

[0059] In some examples, one of the first and second docking positions may be referred to as a target docking position, and the other docking position may be referred to as a temporary docking position. The target docking position and the temporary docking position may be preset and fixed, or may be dynamically set during the execution of the tally task, which is not limited in the embodiments of the present application.

[0060] In some examples, each docking position may correspond to a plurality of queueing positions, and each queueing position may be used to dock a handling device for handling carriers to be sorted.

[0061] For example, the target docking position is used for the target vehicle among the vehicles to be tallied, the temporary docking position is used for docking any vehicle to be tallied except the target vehicle, and the queue position corresponding to the temporary docking position is used for docking the remaining vehicles to be tallied. The vehicles to be tallied docked at the queue position can be moved to the temporary docking position in sequence, and the tallying operation between the target vehicle at the target docking position and the vehicles to be tallied at the temporary docking position can be realized through the tallying equipment.

[0062] In some examples, after determining the first carrier and the second carrier, the handling equipment in the storage system can transport the first carrier and the second carrier to the corresponding docking positions. Among them, the first handling equipment used to transport the first carrier and the second handling equipment used to transport the second carrier can be the same handling equipment or different handling equipment. The embodiment of the present application is described by taking the first handling equipment and the second handling equipment as different handling equipment as an example. The first carrier and the second carrier can be transported to the tally area at the same time, or they can be transported to the tally area at different times. The embodiment of the present application does not limit this.

[0063] For example, taking the second carrier as the target carrier, the first docking position can be set as a temporary docking position in advance, and the second docking position can be determined as the target docking position. Then, the first transport device can transport the first carrier to the first docking position, and transport the second carrier (i.e., the target carrier) to the second docking position. Alternatively, after the second transport device docks the second carrier at the second docking position, the second docking position can be determined as the target docking position, and the remaining first docking position can be determined as a temporary docking position.

[0064] It should be noted that after the target carrier is determined among multiple carriers to be tallied, since the target carrier needs to perform tallying operations with other carriers to be tallied, after the tallying task begins to be executed, the target carrier and any carrier to be tallied can be first transported to the corresponding docking position in the tallying area. When the second carrier is determined to be the target carrier, the first carrier can be the first carrier to be tallied that is transported to the second docking position and the target carrier to perform the tallying operation, or it can be the carrier to be tallied that is subsequently transported to the second docking position, and this embodiment of the application does not limit this.

[0065] In some examples, each carrier may include two carrier surfaces. The two carrier surfaces of the first carrier may be referred to as a first carrier surface and a second carrier surface, and the two carrier surfaces of the second carrier may be referred to as a third carrier surface and a fourth carrier surface.

[0066] For example, after the first carrier is transported to the first parking position by the first transport device and the second carrier is transported to the second parking position by the second transport device, a carrier surface (such as the first carrier surface) of the first carrier faces the tally device, and a carrier surface (such as the third carrier surface) of the second carrier faces the tally device. The tally device performs the tally operation between the first carrier surface and the second carrier surface.

[0067] In some embodiments, when a first transport device transports a first carrier to a first docking position, a second transport device transports a second carrier to a second docking position, and the second docking position is a target docking position, the attributes of the inventory objects on the third carrier surface of the second carrier that match the first carrier are set to visible, and the attributes of the inventory objects that match other carriers to be tallied are set to invisible; wherein the tallying device cannot perform a transfer operation on inventory objects whose attributes are invisible.

[0068] In some examples, when the tallying device needs to perform a tallying operation between the first carrier surface of the first carrier and the third carrier surface of the second carrier, the control device can set the attributes of the inventory objects on the third carrier surface of the second carrier (i.e., the target carrier) that match the first carrier to be visible, so that the tallying device can perform transfer operations on the visible inventory objects, and set the attributes of the inventory objects that match other carriers to be tallied to invisible, so that the tallying device cannot transfer these inventory objects to the first carrier, thereby avoiding adding chaotic objects on the first carrier, increasing the degree of chaos on the first carrier, and further improving the tallying efficiency.

[0069] During the tallying process, the tallying device may transfer the inventory objects on the first carrier that match the second carrier to the second carrier in order to free up vacant cargo spaces. However, this may increase the degree of confusion on the first carrier. The tallying method provided in the embodiment of the present application realizes the designated transfer of inventory objects by the tallying device by setting the attributes of the inventory objects to be visible or invisible, thereby improving the tallying efficiency and reducing the tallying complexity.

[0070] For example, Figure 2 As shown, taking carrier B as the target carrier as an example, when the tallying equipment performs tallying operations between carrier A and carrier B, it can only transfer containers on carrier B that belong to carrier A to carrier A, but cannot transfer containers that belong to other carriers to carrier A.

[0071] Step 330, when the first carrier surface faces the tallying device and the third carrier surface faces the tallying device, if there is a first inventory object matching the second carrier on the first carrier surface, then if the first inventory object is movable, control the tallying device to transfer the first inventory object to the third carrier surface.

[0072] In some examples, the first carrier surface may be any carrier surface of the first carrier, and the third carrier surface may also be any carrier surface of the second carrier. For example, taking the second carrier as the target carrier, the first carrier surface may be the carrier surface facing the tallying device when the first handling device first transports the first carrier to the first docking position, or it may be a carrier surface after the first carrier is turned during the tallying process, and the embodiments of the present application are not limited to this. For example, when the first handling device first transports the first carrier to the first docking position, the second carrier surface of the first carrier faces the tallying device. During the tallying process, the first handling device may perform a turning operation on the first carrier so that the first carrier surface of the first carrier faces the tallying device.

[0073] For example, there may be at least one object to be tallied (such as a first chaotic object) on the first carrier that matches the second carrier (i.e., belongs to the second carrier), and there may be at least one object to be tallied (such as a second chaotic object) on the second carrier that matches the first carrier (i.e., belongs to the first carrier). The first chaotic object may be distributed on any one carrier surface of the first carrier, or may be distributed on two carrier surfaces of the first carrier respectively, and similarly, the second chaotic object may be distributed on any one carrier surface of the second carrier, or may be distributed on two carrier surfaces of the second carrier respectively.

[0074] In some examples, when the first carrier surface and the third carrier surface are facing the tally device, it can be determined whether there is an inventory object matching the second carrier on the first carrier surface and whether there is an inventory object matching the first carrier on the third carrier surface.

[0075] For example, it can be determined whether there is an object attribute on the first carrier surface that has a mapping relationship with the vehicle attribute of the second carrier, and the inventory object corresponding to the object attribute is called the first chaotic object; similarly, it is determined whether there is an object attribute on the third carrier surface that has a mapping relationship with the vehicle attribute of the first carrier, and the inventory object corresponding to the object attribute is called the second chaotic object.

[0076] In some examples, when there is a first chaotic object on the first carrier surface, the number of the first chaotic objects may be the first one or multiple. For example, when there is one first chaotic object on the first carrier surface, the first inventory object is the first chaotic object, and when there are multiple first chaotic objects on the first carrier surface, the first inventory object is any inventory object among the multiple first chaotic objects.

[0077] Exemplarily, after determining the first inventory object on the first carrier surface, it may be further determined whether the first inventory object is movable, wherein whether the first inventory object is movable is used to indicate whether the tally device can perform a transfer operation on the first inventory object.

[0078] In some embodiments, when there is no vacant cargo space on the third carrier surface, it is determined that the first inventory object cannot be moved; or, when there is a vacant cargo space on the third carrier surface and there is an abnormality in the vacant cargo space, it is determined that the first inventory object cannot be moved.

[0079] In some examples, before the tally device transfers the first inventory object on the first carrier surface to the third carrier surface, it can first determine whether the first inventory object is movable. In the case where there is no vacant cargo space on the third carrier surface, the tally device cannot place the first inventory object on the third carrier surface, so the first inventory object cannot be moved; in the case where there are vacant cargo spaces on the third carrier surface, but there are abnormalities in the vacant cargo spaces, the tally device cannot place the first inventory object on the third carrier surface, so the first inventory object cannot be moved either.

[0080] That is, if there is at least one free cargo space in a normal state on the third carrier surface (hereinafter referred to as an available free cargo space), it can be determined that the first inventory object is movable. If there is no available free cargo space on the third carrier surface, it can be determined that the first inventory object is immovable.

[0081] For example, when there is one first chaotic object on the first carrier surface, the first chaotic object may be movable or immovable. When there are multiple first chaotic objects on the first carrier surface, some of the multiple first chaotic objects may be movable and some may be immovable; or, all of the multiple first chaotic objects may be movable; or, none of the multiple first chaotic objects may be immovable.

[0082] For example, when the first inventory object is movable, the tally device is controlled to take the first inventory object out of the first carrier and transfer the first inventory object to the first cargo position on the third carrier surface. The first cargo position may be any available free cargo position on the third carrier surface, or may be a free cargo position on the first carrier surface with the minimum transportation cost (such as the minimum transportation distance).

[0083] In some examples, after the transfer of the first inventory object is completed, if there are other first chaotic objects on the first carrier surface, the tallying operation can continue to be performed on the other first chaotic objects, that is, the process of the above step 330 can continue to be performed.

[0084] Figure 4 A schematic diagram of another tallying process provided in an embodiment of the present application. Figure 4 As shown, the first carrier includes a first carrier surface a1 and a second carrier surface b1, and the second carrier includes a third carrier surface a2 and a fourth carrier surface b2.

[0085] like Figure 4As shown in (a) in the figure, when the first carrier surface a1 of the first carrier and the third carrier surface a2 of the second carrier face the tallying device, since the first carrier surface a1 includes two first chaotic objects matching the second carrier, namely container 1 and container 2, the control device determines that container 1 is movable, and the tallying device transfers container 1 from the first carrier surface a1 to an available vacant cargo space on the third carrier surface a2.

[0086] Step 340, when the first inventory object is immovable, based on the first rotation parameter corresponding to the first carrier surface, control the second handling device to perform a rotation operation on the second carrier; or cancel the tallying task corresponding to the first inventory object.

[0087] In some examples, when the first inventory object is immovable, it is necessary to further determine a processing method for the first inventory object based on a first rotation surface parameter corresponding to the first carrier surface.

[0088] For example, Figure 4 As shown in (a), after the tallying equipment completes the transfer of container 1 on the first carrier surface a1, there is no available free cargo space on the third carrier surface a2, and container 2 cannot be moved. In this case, it is necessary to determine whether to perform a rotation operation on the second carrier based on the first rotation parameter corresponding to the first carrier surface a1, or to cancel the tallying task corresponding to container 2.

[0089] Exemplarily, when there are multiple first chaotic objects matching the second carrier surface, the tallying device performs tallying operations on each first chaotic object in turn. Before operating each first chaotic object, the control device determines whether each first chaotic object is movable. During the process of the tallying device tallying the first inventory objects, if it is determined that the first inventory object is immovable, it indicates that there is no available free storage space on the third carrier surface, and therefore, the remaining other first chaotic objects on the first carrier surface are also immovable. In other words, when it is determined that the first immovable first chaotic object appears on the first carrier surface, it indicates that the remaining first chaotic objects are all immovable, and thus the remaining first chaotic containers can be continued to be transferred by rotating the second carrier surface.

[0090] For example, when the first carrier surface includes four first chaotic objects, the tallying device can perform tallying operations on the four first chaotic objects in sequence. After the tallying device sequentially transfers two chaotic objects to available free cargo spaces on the third carrier surface, there is no available free cargo space on the third carrier surface. In this case, the remaining two first chaotic objects on the first carrier surface cannot be transferred to the third carrier surface, that is, the remaining first chaotic objects cannot be moved.

[0091] Figure 5 A schematic diagram of another tally method provided in an embodiment of the present application, such as Figure 5As shown, the above step 340 includes steps 341 to 343 as shown below.

[0092] Step 341, when the first inventory object is immovable, determine whether the first rotation parameter satisfies the rotation condition.

[0093] In some embodiments, the above step 341 includes: in the process of the first carrier face facing the tallying device, if the third carrier face faces the tallying device and the fourth carrier face has not faced the tallying device, determining that the first rotation parameter meets the rotation condition; in the process of the first carrier face facing the tallying device, if the third carrier face faces the tallying device and the fourth carrier face also faces the tallying device, determining that the first rotation parameter does not meet the rotation condition.

[0094] In some examples, the first rotation parameter satisfies the rotation condition to indicate that the second carrier can perform a rotation operation relative to the first carrier surface, and the first rotation parameter does not satisfy the rotation condition to indicate that the second carrier cannot perform a rotation operation relative to the first carrier surface.

[0095] Exemplarily, the carrier face of each carrier to be tallied may be provided with a rotation face parameter, and the rotation face parameter is used to indicate the access between the carrier face and the two carrier faces of another carrier to be tallied that performs the tallying operation. For example, the rotation face parameter may be set to "0" or "1", when the rotation face parameter is set to "0", it indicates that the rotation face parameter satisfies the rotation face condition, and when the rotation face parameter is set to "1", it indicates that the rotation face parameter does not satisfy the rotation face condition.

[0096] In some examples, when the first carrier surface visits a carrier surface of the second carrier (such as the third carrier surface) for the first time, the first rotation surface parameter corresponding to the first carrier surface can be set to "0", and when the first carrier surface visits another carrier surface of the second carrier (such as the fourth carrier surface) after visiting the third carrier surface, the first rotation surface parameter can be set to "1". In other words, a carrier surface of a carrier can only visit each carrier surface of another carrier once.

[0097] For example, when the first carrier surface of the first carrier is facing the tallying equipment, the third carrier surface of the second carrier is facing the tallying equipment, indicating that the first carrier surface has visited the third carrier surface; if before the third carrier surface is facing the tallying equipment, the fourth carrier surface has also faced the tallying equipment at the same time as the first carrier surface, indicating that the first carrier surface has also visited the fourth carrier surface, that is, the first carrier surface has respectively visited the two carrier surfaces of the first carrier (i.e., the third carrier surface and the fourth carrier surface). In this case, it can be determined that the first rotation surface parameter corresponding to the first carrier surface does not meet the rotation surface condition, that is, the second carrier cannot visit the third carrier surface and the fourth carrier surface again, and the control device can adjust the first rotation surface parameter of the first carrier surface to "1".

[0098] For another example, when the first carrier surface of the first carrier is facing the tallying equipment, the third carrier surface of the second carrier is facing the tallying equipment, indicating that the first carrier surface has visited the third carrier surface; if before the third carrier surface is facing the tallying equipment, the fourth carrier surface has not faced the tallying equipment at the same time as the first carrier surface, it indicates that the first carrier surface has only visited the third carrier surface of the first carrier and has not visited the fourth carrier surface. In this case, it indicates that the first rotation parameter corresponding to the first carrier surface meets the rotation condition, that is, the second carrier can also perform the rotation operation.

[0099] It should be noted that the rotation parameters corresponding to the carrier surface of a carrier are for the same carrier. If the carrier for tallying operation is replaced, the rotation parameters of each carrier surface of the carrier need to be reset. For example, when the second carrier performs a tallying operation with the first carrier, the rotation parameters corresponding to the third carrier surface of the second carrier can be determined based on the access of the third carrier surface to each carrier surface of the first carrier. When the second carrier performs a tallying operation with the third carrier, the rotation parameters corresponding to the third carrier surface need to be reset and re-determined based on the access of the third carrier surface to each carrier surface of the third carrier.

[0100] The tallying method provided in the embodiment of the present application realizes a single access mechanism for each carrier surface by setting rotation parameters for each carrier surface of the carrier, that is, one carrier surface cannot repeatedly access the same carrier surface of another carrier, thereby avoiding the problem of low tallying efficiency due to repeated rotation of surfaces, and further improving the tallying efficiency of the warehousing system.

[0101] Step 342, when the first rotation parameter satisfies the rotation condition, control the second transport device to transport the second carrier to the rotation point for rotation, and adjust the first rotation parameter to not satisfy the rotation condition.

[0102] In some examples, the first rotation parameter satisfies the rotation condition, indicating that the first carrier surface has not visited the fourth carrier surface of the second carrier. Therefore, the second carrier can be rotated so that the fourth carrier surface of the second carrier and the first carrier surface face the tallying device together, and the tallying operation is performed through the tallying device.

[0103] For example, the control device may control the second handling device to carry the second carrier to a preset transfer point for transfer. The transfer point may be a transfer position pre-set in the inventory area. The number of transfer points in the inventory area may be one or more, and the second handling device may transfer the second carrier at any idle transfer point or at an idle transfer point closest to the tally area (such as closest to the second docking position), which is not limited in the embodiments of the present application.

[0104] Exemplarily, after the second handling device rotates the second carrier so that the fourth carrier surface faces the tallying device, the first carrier surface and the fourth carrier surface face the tallying device together, that is, the first carrier surface visits the fourth carrier surface, and before that the first carrier surface also visited the third carrier surface, therefore, the first carrier surface visits both the third carrier surface and the fourth carrier surface, therefore, the first rotation parameter of the first carrier surface can be set to not meet the rotation condition.

[0105] For example, after the second carrier is transformed into the fourth carrier surface, the first rotation parameter of the first carrier surface can be adjusted from 0 to 1, indicating that the first rotation parameter does not meet the rotation condition, that is, the first carrier surface cannot access the third and fourth carrier surfaces of the second carrier again.

[0106] like Figure 4 As shown, since the container 2 on the first carrier surface a1 of the first carrier cannot be moved, and the first rotation parameter corresponding to the first carrier surface a1 satisfies the rotation condition, the second carrier is rotated, as shown in FIG. Figure 4 As shown in (b), after the second carrier is turned, the fourth carrier surface b2 of the second carrier faces the tally device. In this case, the first carrier surface a1 of the first carrier and the fourth carrier surface b2 of the second carrier face the tally device together, and the tally device can continue to perform the tally operation between the first carrier surface a1 and the fourth carrier surface b2 of the second carrier.

[0107] Step 343: when the first transfer parameter does not meet the transfer condition, cancel the tallying task corresponding to the first inventory object.

[0108] Exemplarily, when the first rotation surface parameter does not meet the rotation surface condition, it indicates that the first carrier surface has visited the fourth carrier surface of the second carrier, and the first inventory object has not been transferred to the fourth carrier surface, that is, the first inventory object can neither be transferred to the fourth carrier surface of the second carrier nor to the third carrier surface. In this case, the tallying task of the first inventory object can be canceled.

[0109] Figure 6 A schematic diagram of another tally method provided in an embodiment of the present application is shown as follows: Figure 6 As shown, after step 342, the method further includes: Step 610, controlling the second transport device to transport the second carrier from the transfer point to the second parking position, so that the fourth carrier faces the tally device.

[0110] In some examples, after the second transport device transports the second carrier to the transfer point for transfer, the second carrier is moved back to the second docking position. After the second carrier returns to the second docking position, the fourth carrier surface of the second carrier faces the tallying device.

[0111] Step 620, determine whether the first inventory object is movable.

[0112] In some examples, since there are untransferred first inventory objects on the first carrier surface, after the fourth carrier surface faces the tallying device, it can be re-determined whether the first inventory object is movable relative to the fourth carrier surface, that is, whether there are available vacant cargo spaces on the fourth carrier surface.

[0113] Step 630: If the first inventory object is movable, control the tallying device to move the first inventory object to the fourth carrier surface; if the first inventory object is immovable, cancel the tallying task corresponding to the first inventory object.

[0114] In some examples, when there is any available vacant storage location on the fourth carrier surface, it indicates that the first inventory object can be moved, and the tally device can take the first inventory object out from the first carrier surface and transfer it to the vacant storage location on the fourth carrier surface.

[0115] In other examples, if there is still no available vacant storage space on the fourth carrier surface, the first inventory object is still not movable. Since the first rotation parameter corresponding to the first carrier surface does not meet the rotation condition, the first inventory object is not movable on the third carrier surface and the fourth carrier surface. Therefore, the sorting task of the first inventory object can be canceled, that is, there is no need to transfer the first inventory object.

[0116] like Figure 4 As shown in (b), the container 2 on the first carrier surface a1 is immovable relative to the third carrier surface a2 of the second carrier, and is still immovable relative to the fourth carrier surface b2 of the second carrier. Therefore, the tallying task of the container 2 can be cancelled.

[0117] It should be noted that, in addition to the first inventory objects, there may be other immovable first chaotic objects on the first carrier surface. The control device can determine whether each first chaotic object is movable. If it is movable, the movable first chaotic object will be transferred from the first carrier surface to the fourth carrier surface. If it is immovable, the sorting task of the immovable first chaotic object will be cancelled.

[0118] Figure 7 A schematic diagram of another tally method provided in an embodiment of the present application. Figure 7 As shown, after the above step 610, the method further includes steps 710 to 740 as shown below.

[0119] Step 710: When there is a second inventory object matching the first carrier on the fourth carrier surface, if the second inventory object is movable, control the tally device to transfer the second inventory object to the first carrier surface.

[0120] In some examples, after the fourth carrier surface of the second carrier faces the tally device, it can also be determined whether there is a second chaotic object matching the first carrier on the fourth carrier surface. If there is a second chaotic object on the fourth carrier surface, the tally device can also perform a tally operation on the second chaotic object. The number of second chaotic objects on the fourth carrier surface can be one or more. When there are more than one second chaotic objects, the second inventory object can be any one of the more than one chaotic objects.

[0121] It should be noted that the implementation process of step 710 is similar to the implementation process of the above-mentioned step 330, and will not be repeated here to avoid repetition.

[0122] In some examples, step 710 may be performed before or after step 620, which is not limited in the present embodiment. For example, step 620 may be performed after step 710, because step 710 may transfer the second inventory object on the fourth carrier surface to the first carrier surface, so there may be available free cargo space on the fourth carrier surface. In this case, step 620 may be continued to be performed so that the first inventory object may be transferred to the fourth carrier surface through the tallying device.

[0123] It should be noted that whether the inventory objects involved in the embodiment of the present application are movable may be determined by the fact that there are still no available free cargo spaces after the movable inventory objects on each carrier surface have been moved. For example, before executing step 710, there may be no available free cargo spaces on the fourth carrier surface for placing the first inventory object, but after executing step 710, there may be available free cargo spaces on the fourth carrier surface for placing the first inventory object.

[0124] like Figure 4 As shown in (b), when the first carrier surface a1 of the first carrier and the fourth carrier surface b2 of the second carrier face the tallying device together, there is a container 2 to be transferred on the first carrier surface a1, and there are containers 5 and 6 (i.e., the second chaotic object) to be transferred on the fourth carrier surface b2. The tallying device can first perform the tallying operation of containers 5 and 6, or first perform the tallying operation of container 2, or the tallying device can first perform the tallying operation of container 5, then perform the tallying operation of container 2, and then perform the tallying operation of container 6, and the present embodiment of the application does not limit this.

[0125] For example, when container 2 on the first carrier surface a1 is still immovable, the tallying task of container 2 is canceled; when container 5 on the fourth carrier surface b2 is movable, the tallying equipment transfers container 5 to the first carrier surface a1; when container 6 is immovable, the processing method of container 6 is determined based on the second transfer surface parameter corresponding to the fourth carrier surface (i.e., executed according to the following steps 720 to 730).

[0126] Step 720: If the second inventory object is immovable, determine whether the second rotation surface parameter corresponding to the fourth carrier surface satisfies the rotation surface condition.

[0127] In some examples, when the second inventory object is immovable, that is, the second inventory object cannot be placed on the first carrier surface, the second rotation parameter corresponding to the fourth carrier surface may be determined. In other words, the second rotation parameter corresponding to the fourth carrier surface is determined to be 0 or 1, thereby determining whether the second rotation parameter satisfies the rotation condition. Based on whether the second rotation parameter satisfies the rotation condition, it is determined whether the rotation operation can be performed on the first carrier.

[0128] Step 730, when the second rotation parameter satisfies the rotation condition, control the first transport device to transport the first carrier to the rotation point for rotation, and adjust the second rotation parameter to not satisfy the rotation condition.

[0129] In some examples, when the second rotation parameter corresponding to the fourth carrier surface is 0, it indicates that the second rotation parameter corresponding to the fourth carrier surface satisfies the rotation condition, and thus a rotation operation can be performed on the first carrier so that the second carrier surface of the first carrier faces the tallying device.

[0130] For example, after the first carrier rotates, the fourth carrier surface of the second carrier has visited both the first carrier surface and the second carrier surface of the first carrier. Therefore, the second rotation parameter corresponding to the second carrier can be set to 1 to not meet the rotation condition.

[0131] In some examples, the turning point at which the first carrier turns and the turning point at which the second carrier turns may be the same or different, and this embodiment of the application is not limited to this.

[0132] like Figure 4 As shown, in Figure 4 In the process from (a) to (b), the fourth carrier surface b2 only visits the first carrier surface a1 of the first carrier. Therefore, the second rotation parameter corresponding to the fourth carrier surface b2 meets the rotation condition. After the first transport device transports the first carrier to the rotation point for rotation, Figure 4 In (c), in this case, the second carrier surface b1 of the first carrier and the fourth carrier surface b2 of the second carrier face the tallying device at the same time, and the tallying device can perform tallying operations on the second carrier surface b1 and the fourth carrier surface b2.

[0133] Step 740: When the second transfer parameter does not satisfy the transfer condition, cancel the tallying task corresponding to the second inventory object.

[0134] In some examples, when the second rotation parameter does not meet the rotation condition, the first carrier cannot be rotated again, indicating that the second inventory object can neither be placed on the third carrier surface nor on the fourth carrier surface of the second carrier. Therefore, the sorting task of the second inventory object can be canceled.

[0135] The tallying method provided in the embodiment of the present application can transfer matching objects between the first carrier and the second carrier when performing tallying operations between the first carrier and the second carrier. When the two carrier surfaces face the tallying device together, the inventory objects on the current surface of the first carrier that match the second carrier can be transferred to the current surface of the second carrier, and the inventory objects on the current surface of the second carrier that match the first carrier can be transferred to the current surface of the first carrier, thereby realizing two-way tallying and improving the tallying efficiency of the warehousing system.

[0136] Figure 8 A schematic diagram of another tally method provided in an embodiment of the present application. Figure 8 As shown, after the above step 730, the method further includes steps 810 to 860 as shown below.

[0137] Step 810, controlling the first transport device to transport the first carrier from the transfer point to the first parking position, so that the second carrier faces the tally device.

[0138] In some examples, when the second turning surface parameter corresponding to the fourth carrier surface meets the turning surface condition, the first transport device transports the first carrier to the turning surface point for turning surface, and after turning surface, transports the first carrier from the turning surface point back to the first parking position, so that the second carrier surface of the first carrier faces the tally device, such as Figure 4 As shown in (c) in .

[0139] Step 820, determine whether the second inventory object is movable.

[0140] Step 830: If the second inventory object is movable, control the tallying device to move the second inventory object to the second carrier surface; if the second inventory object is immovable, cancel the tallying task corresponding to the second inventory object.

[0141] In some examples, after the second carrier surface of the first carrier is facing the tallying device, it is re-determined whether the second inventory object on the fourth carrier surface is movable relative to the second carrier surface. If the second inventory object is movable, the tallying device transfers the second inventory object from the fourth carrier surface to the second carrier surface. If the second inventory object is still immovable, the tallying task of the second inventory object can be canceled because the second inventory object can neither be transferred to the first carrier surface nor to the second carrier surface.

[0142] It should be noted that step 820 to step 830 are similar to step 620 to step 630 in the above embodiment, and will not be described again here to avoid repetition.

[0143] For example, Figure 4 As shown, since the container 6 on the fourth carrier surface b2 cannot be transferred relative to the first carrier surface a1 and still cannot be transferred relative to the second carrier surface b1, the tallying task of the container 6 can be cancelled.

[0144] Step 840: When there is a third inventory object matching the second carrier on the second carrier surface, if the third inventory object is movable, control the tally device to transfer the third inventory object to the second carrier surface.

[0145] In some examples, when the second carrier surface faces the tally device, there may be at least one first chaotic object matching the second carrier on the second carrier surface. The third inventory object is any inventory object in the at least one first chaotic object. If the third inventory object on the second carrier surface is movable, the tally device transfers the third inventory object to an available vacant cargo location on the fourth carrier surface of the second carrier.

[0146] like Figure 4 As shown in (c), the container 7 on the second carrier surface b1 is a first chaotic object matched with the second carrier. If the container 7 is movable, the tallying device transfers the container 7 to the fourth carrier surface b2.

[0147] Step 850: If the third inventory object is immovable, determine whether the third rotation surface parameter corresponding to the second carrier surface satisfies the rotation surface condition.

[0148] Step 860, when the third transfer parameter satisfies the transfer condition, control the second transport device to transport the second carrier to the transfer point for transfer, and adjust the third transfer parameter to not satisfy the transfer condition; when the third transfer parameter does not satisfy the transfer condition, cancel the tallying task corresponding to the third inventory object.

[0149] In some examples, when the third inventory object cannot be moved, it is continued to determine whether the third rotation parameter corresponding to the second carrier surface meets the rotation condition. For example, when the third rotation parameter meets the rotation condition, the rotation operation can be performed on the second carrier. Since the second carrier surface has accessed two carrier surfaces of the second carrier after the second carrier is rotated, the third rotation parameter corresponding to the second carrier surface can be adjusted to "1" to not meet the rotation condition. For another example, when the third rotation parameter does not meet the rotation condition, it indicates that the second carrier can no longer be rotated, so the third inventory object cannot be transferred to the second carrier. In this case, the tally task corresponding to the third inventory object can be canceled.

[0150] It should be noted that the implementation process of step 850 to step 860 is similar to that of step 720 to step 740 in the above embodiment, and will not be described again here to avoid repetition.

[0151] For example, Figure 4 As shown in (c) in the figure, since the second carrier surface b1 of the first carrier has only visited the fourth carrier surface b2 of the second carrier, and has not visited the third carrier surface a2 of the second carrier, the third rotation parameter corresponding to the second carrier surface b1 meets the rotation condition, and the rotation operation can be performed on the second carrier. After rotating the second carrier, we get Figure 4 (d) in the figure, that is, the third carrier surface a2 of the second carrier and the second carrier surface b1 of the first carrier face the tallying equipment together. Since the second carrier surface b1 has accessed the third carrier surface a2 of the second carrier and the fourth carrier surface b2 of the second carrier, the third rotation surface parameter corresponding to the second carrier surface b1 can be set to "1", which does not meet the rotation surface condition.

[0152] In some embodiments, when the above-mentioned third turning parameter satisfies the turning condition, after controlling the second handling equipment to transport the second carrier to the turning point for turning, the method also includes: controlling the second handling equipment to transport the second carrier from the turning point to the second parking position so that the third carrier surface faces the tallying equipment, and adjusting the fourth turning parameter corresponding to the third carrier surface to not satisfy the turning condition; determining whether the third inventory object is movable; if the third inventory object is movable, transferring the third inventory object to the third carrier surface; if the third inventory object is not movable, canceling the tallying task of the third inventory object.

[0153] In some examples, after the second transporting equipment transports the second carrier to the turning point, it can continue to transport the second carrier to the second parking position. After the second carrier turns and reaches the second parking position, the third carrier surface of the second carrier faces the tallying equipment again, and the tallying equipment performs tallying operations between the second carrier surface of the first carrier and the third carrier surface of the second carrier.

[0154] Since after executing the above steps 310 to 340, steps 610 to 630, and steps 710 to 740, the third carrier surface has visited the first carrier surface of the first carrier and the second carrier surface of the second carrier, the fourth rotation surface parameter corresponding to the third carrier surface can be set to "1", that is, the fourth rotation surface parameter does not meet the rotation surface condition.

[0155] In some examples, it is re-determined whether the third inventory object on the second carrier surface is movable relative to the third carrier surface. If the third inventory object is movable, the tallying device transfers the third inventory object to the third carrier surface of the second carrier. If the third inventory object is not movable, since the third rotation parameters corresponding to the second carrier surface no longer meet the rotation conditions, the tallying task corresponding to the third inventory object can be canceled.

[0156] In some embodiments, when the first carrier faces the tallying device and the third carrier faces the tallying device, if there is a fourth inventory object matching the first carrier on the third carrier surface and the fourth inventory object is movable, the tallying device is controlled to transfer the fourth inventory object to the first carrier surface.

[0157] For example, in the above step 330, when the first carrier surface faces the tally device and the third carrier surface faces the tally device, in addition to determining whether there is a first chaotic object matching the second carrier on the first carrier surface, it is also possible to determine whether there is a second chaotic object matching the first carrier on the third carrier surface of the second carrier. There are multiple second chaotic objects on the third carrier surface, and the fourth inventory object can be any inventory object among the multiple second chaotic objects.

[0158] In some examples, when the fourth inventory object is movable, the tallying device moves the fourth inventory object to the first carrier surface of the first carrier.

[0159] It should be noted that the above process can be performed before step 330 or after step 330, and the embodiment of the present application is not limited to this.

[0160] In some embodiments, if the fourth inventory object is immovable, then when the second carrier surface faces the tallying device and the third carrier surface faces the tallying device, it is determined whether the fourth inventory object is movable; if the fourth inventory object is movable, the tallying device is controlled to transfer the fourth inventory object to the second carrier surface; if the fourth inventory object is immovable, the tallying task of the fourth inventory object is canceled.

[0161] In some examples, if the fourth inventory object on the third carrier surface is not movable, there is no need to perform related operations on the fourth inventory object. When the first carrier is subsequently rotated so that the second carrier surface faces the tally device and the third carrier surface faces the tally device, it is further determined whether the fourth inventory object is movable relative to the second carrier surface. If the fourth inventory object is movable, the tally device is controlled to transfer the fourth inventory object to the second carrier surface of the second carrier; if the fourth inventory object is not movable, since the fourth inventory object cannot be transferred to the first carrier surface or the second carrier surface, the tally task of the fourth inventory object is canceled.

[0162] For example, Figure 4 As shown in (d), after the second carrier is turned, the third carrier surface a2 of the second carrier and the second carrier surface b1 of the first carrier face the tally equipment. If the container 7 on the second carrier surface b1 is still immovable, the tally task corresponding to the container 7 is canceled. If there is no container on the third carrier surface that matches the second carrier surface, the tally equipment does not need to be transferred.

[0163] In some embodiments, after the above step 343, the method further includes: determining whether the fourth rotation parameter corresponding to the third carrier surface meets the rotation condition. If the fourth rotation parameter meets the rotation condition, control the first transport device to transport the first carrier to the rotation point for rotation, and adjust the fourth rotation parameter to not meet the rotation condition. If the fourth rotation parameter does not meet the rotation condition, determine whether the third rotation parameter corresponding to the second carrier surface and the second rotation parameter corresponding to the fourth carrier surface meet the rotation condition.

[0164] In some examples, when it is determined in step 343 that the first rotation surface parameter does not satisfy the rotation surface condition, it indicates that the first carrier surface has already visited the third carrier surface and the fourth carrier surface, and thus, the second carrier surface cannot be rotated relative to the first carrier surface. In this case, it is possible to continue to determine whether the fourth rotation surface parameter corresponding to the third carrier surface satisfies the rotation surface condition.

[0165] For example, when the fourth rotation parameter meets the rotation condition, indicating that the third carrier surface has not visited the second carrier surface, in this case, the first carrier can be rotated so that the second carrier surface and the third carrier surface of the first carrier face the tallying device together, and the tallying operation is performed between the second carrier surface and the third carrier surface through the tallying device.

[0166] For another example, when the fourth rotation surface parameter also does not meet the rotation surface condition, it is possible to continue to determine whether the third rotation surface parameter corresponding to the second carrier surface of the first carrier, or the second rotation surface parameter corresponding to the fourth carrier surface of the second carrier meets the rotation surface condition. If the third rotation surface parameter meets the rotation surface condition, it indicates that the second carrier surface has not visited the fourth carrier surface. Therefore, the rotation surface operation can be performed on the first carrier and the second carrier respectively, so that the second carrier surface and the second carrier surface face the tally device together, so as to perform the tally operation between the second carrier surface and the second carrier surface through the tally device. At the same time, the third rotation surface parameter corresponding to the second carrier surface can be set to "1", that is, the rotation surface condition is not met. When the first rotation surface parameter, the third rotation surface parameter, and the fourth rotation surface parameter all do not meet the rotation surface condition, it indicates that each carrier surface of the first carrier has visited the two carrier surfaces of the second carrier respectively, and each carrier surface of the second carrier has also visited the two carrier surfaces of the first carrier respectively, that is, the second rotation surface parameter corresponding to the fourth carrier surface also does not meet the rotation surface condition.

[0167] In some embodiments, when the first rotation parameter corresponding to the first carrier surface, the second rotation parameter corresponding to the fourth carrier surface, the third rotation parameter corresponding to the second carrier surface, and the fourth rotation parameter corresponding to the third carrier surface all fail to meet the rotation conditions, the first transport device is controlled to move the first carrier away from the first parking position, and / or the first transport device is controlled to move the first carrier away from the first parking position, and the second transport device is controlled to move the second carrier away from the second parking position.

[0168] In some examples, when it is determined that the first rotation surface parameter corresponding to the first carrier surface of the first carrier, the fourth rotation surface parameter corresponding to the second carrier surface, the third rotation surface parameter corresponding to the third carrier surface of the second carrier, and the second rotation surface corresponding to the fourth carrier surface do not meet the rotation surface conditions, it indicates that the carrier surfaces of the two carriers have been visited separately, the movable inventory objects have been transferred, and the remaining immovable inventory objects cannot be moved because they have been attempted twice. In this way, the tallying task of the remaining immovable inventory objects can be canceled. In other words, the tallying device completes the tallying task between the first carrier and the second carrier.

[0169] Exemplarily, after completing the tallying task between the first carrier and the second carrier, when the second carrier is the target carrier, it can be determined to move away the first carrier, or to move away the first carrier and the second carrier, based on the number of remaining carriers to be tallied in the queue position corresponding to the first parking position (i.e., temporary parking position).

[0170] In some embodiments, when the first docking position is determined as a temporary docking position and the second docking position is determined as a target docking position, if there is at least one carrier to be tallied in the multiple queue positions corresponding to the first docking position, the first handling device is controlled to move the first carrier away from the first docking position, and the third handling device is controlled to move the third carrier of the at least one carrier to be tallied to the first docking position; if there is no carrier to be tallied in the multiple queue positions corresponding to the first docking position, the first handling device is controlled to move the first carrier away from the first docking position, and the second handling device is controlled to move the second carrier away from the second docking position.

[0171] Exemplarily, when the first docking position is a temporary docking position and the second docking position is a target docking position, after the first carrier at the first docking position completes the tallying task, the first carrier can be moved away from the first docking position, such as transporting the first carrier after tallying to an inventory area or workstation, which is not limited to this embodiment of the present application.

[0172] In some examples, if there is at least one carrier to be tallied in the multiple queues corresponding to the first docking position, it indicates that the tallying task has not yet ended. Therefore, the second carrier as the target carrier still needs to dock at the second docking position, and after the next carrier to be tallied reaches the first docking position, the tallying operation is performed between the third carrier and the second carrier by the tallying device. For example, after the first handling device moves the first carrier away from the first docking position, the third handling device can be controlled to transport the third carrier of at least one carrier to be tallied to the first docking position, and the tallying device can be controlled to perform the tallying operation between the second carrier and the third carrier. The third carrier can be the carrier to be tallied docked at the first queue.

[0173] It should be noted that the process in which the tallying device performs the tallying operation between the second carrier and the third carrier is similar to the process in which the tallying device performs the tallying operation between the first carrier and the second carrier in the above embodiment (such as the above steps 310 to 340), and will not be repeated here to avoid repetition.

[0174] In other examples, if there is no vehicle to be tallied that has not performed the tallying operation at the queue position corresponding to the first docking position, that is, the first vehicle is the last vehicle to perform the tallying operation, in this case, after completing the tallying task between the first vehicle and the second vehicle, the first vehicle can be moved out of the tallying area, and the second vehicle can also be moved out of the tallying area.

[0175] In some examples, in order to improve tallying efficiency, during the process of performing tallying operations between the first carrier and the second carrier, the first handling equipment may need to transport the first carrier to a transfer point for transfer. In this case, during the idle time of the first carrier's transfer, the third handling equipment can be controlled to also transfer the third carrier to the first docking position, thereby facilitating the tallying equipment to perform tallying operations on the second carrier and the second carrier, saving the time of the second carrier waiting for the first carrier to transfer, and further improving tallying efficiency.

[0176] The embodiment of the present application provides a tallying method. In the process of tallying a first carrier and a second carrier, when the first carrier surface of the first carrier and the third carrier surface of the second carrier are facing the tallying device, it is first determined whether there is a first inventory object matching the second carrier on the first carrier surface. If there is a first inventory object, it is then determined whether the first inventory object is movable. When the first inventory object is movable, the tallying device transfers the first inventory object to the third carrier surface of the second carrier; and when the first inventory object is not movable, it is further determined based on the first rotation parameter corresponding to the first carrier surface whether the transfer of the first inventory object is achieved by rotating the second carrier, or the tallying task of the first inventory object is canceled. Therefore, in the embodiment of the present application, when transferring an inventory object matching another carrier on the current surface of a carrier to the current surface of another carrier, the inventory object can be directly transferred when the inventory object is movable, and when the inventory object is not movable, the inventory object can be further transferred by rotating the other carrier, so that the transfer of as many matching objects as possible can be achieved in one tallying task, thereby improving the tallying efficiency of the warehousing system. At the same time, the embodiment of the present application can avoid repeated rotations of each carrier by setting the rotation parameters corresponding to each carrier surface, thereby further improving the sorting efficiency of the warehousing system.

[0177] Fig. 9 A schematic diagram of another tally method provided in an embodiment of the present application is shown as follows: Fig. 9 As shown, the tally method includes steps 901 to 912 as shown below. Fig. 9 A specific tallying process provided in an embodiment of the present application is described.

[0178] Step 901 : The front sides of the source carrier and the target carrier face the tally equipment.

[0179] The source vehicle may be the first vehicle in the above embodiment, and the target vehicle may be the second vehicle in the above embodiment.

[0180] Step 902: whether there is a movable container.

[0181] For example, the control device determines whether there is a movable container on the front of the source carrier and the front of the target carrier respectively. It should be noted that the movable containers involved in this example are all movable containers that match the carrier. For example, it is determined whether there is a movable container that matches the target carrier on the front of the source carrier, and it is determined whether there is a movable carrier that matches the source carrier on the front of the target carrier.

[0182] If there is at least one movable container on the front of the source carrier and / or the front of the target carrier, execute step 903; if there is no movable container on the front of the source carrier and / or the front of the target carrier, execute step 904.

[0183] Step 903, transferring the movable container to a source carrier or a target carrier.

[0184] For example, the tally device may transfer a movable container at the front of a source carrier to the front of a target carrier, and / or transfer a movable container at the front of a target carrier to the front of a source carrier.

[0185] Step 904 , rotating the target carrier so that the front side of the source carrier and the back side of the target carrier face the tally device.

[0186] Step 905: whether there is a movable container.

[0187] For example, it is determined whether there is a movable container on the front side of the source carrier and the back side of the target carrier respectively.

[0188] If there is at least one movable container on the front of the source carrier and / or the back of the target carrier, execute step 906; if there is no movable container on the front of the source carrier and / or the back of the target carrier, execute step 907.

[0189] Step 906, transfer the movable container to the source carrier or the target carrier.

[0190] For example, the tally device may transfer a movable container on the front side of a source carrier to the back side of a target carrier, and / or transfer a movable container on the back side of a target carrier to the front side of a source carrier.

[0191] Step 907, cancel the front tally task of the source carrier.

[0192] For example, if a container on the front side of the source carrier cannot be moved relative to both sides of the target carrier, the tally task corresponding to the container is canceled.

[0193] Step 908: Check whether the back side of the source vehicle is disabled.

[0194] For example, when the back side of the source vehicle has visited two vehicle faces of the target vehicle, it indicates that the back side of the source vehicle has been banned. In this case, there is no need to rotate the source vehicle. When the back side of the source vehicle has not visited one or two faces of the target vehicle, it indicates that the back side of the source vehicle has not been banned.

[0195] If the back side of the source vehicle is not disabled, execute step 909 ; if the back side of the source vehicle is disabled, execute step 912 .

[0196] Step 909, rotating the source carrier, and confirming the back side of the source carrier and the back side and front side of the target carrier respectively.

[0197] For example, after the source carrier is turned, the back of the source carrier and the back of the target carrier, as well as the back of the source carrier and the front of the target carrier (after the target carrier is turned), are checked to confirm whether there is a container to be transferred. It should be noted that the back of the source carrier and the back of the target carrier can be checked first, and then the back of the source carrier and the front of the target carrier can be checked after the target carrier is turned.

[0198] Step 910: whether there is a movable container.

[0199] For example, it is determined whether there is a movable container on the back side of the source carrier and the back side of the target carrier, and whether there is a movable container on the back side of the source carrier and the front side of the target carrier.

[0200] If there is a movable container on the back of the source carrier and the back of the target carrier, and there is at least one movable container on the back of the source carrier and the front of the target carrier, execute step 911; if there is no movable container on the front of the source carrier and the back of the target carrier, execute step 912.

[0201] Step 911, transfer the movable container to a source carrier or a target carrier.

[0202] For example, the movable containers are transferred to corresponding carriers respectively.

[0203] Step 912, cancel the tallying tasks on the source carrier and the target carrier, move the source carrier away, and if the source carrier is the last carrier to be tallied, move the target carrier away as well.

[0204] For example, after both sides of the source carrier and the target carrier have visited each other, that is, after both the front and back sides of the source carrier have been disabled, the tally tasks on the source carrier and the target carrier can be canceled. Since the tally task of the source carrier is completed, the source carrier can be moved out of the tally area, and the next carrier to be tallied can be moved to tally with the target carrier. If the source carrier is the last carrier to be tallied, the target carrier also needs to be moved out of the tally area.

[0205] Fig.10 This is a schematic diagram of a tally device provided in an embodiment of the present application. Fig.10 As shown, the tally device 1000 includes a determination module 1010 and a control module 1020. Among them: The determination module 1010 is configured to: determine a first carrier and a second carrier from a plurality of carriers to be tallied; the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface.

[0206] The control module 1020 is configured to: control the first transport device to transport the first carrier to the first docking position in the tallying area, and control the second transport device to transport the second carrier to the second docking position in the tallying area; when the first carrier surface is facing the tallying device and the third carrier surface is facing the tallying device, if there is a first inventory object matching the second carrier on the first carrier surface, then when the first inventory object is movable, control the tallying device to transfer the first inventory object to the third carrier surface; when the first inventory object is immovable, control the second transport device to perform a rotation operation on the second carrier based on the first rotation parameter corresponding to the first carrier surface; or, cancel the tallying task corresponding to the first inventory object.

[0207] In some embodiments, the determination module 1010 is further configured to: determine whether the first transfer parameter satisfies the transfer condition. The control module 1020 is configured to: control the second transport device to transport the second carrier to the transfer point for transfer if the first transfer parameter satisfies the transfer condition, and adjust the first transfer parameter to not satisfy the transfer condition; or, if the first transfer parameter does not satisfy the transfer condition, cancel the tallying task corresponding to the first inventory object.

[0208] In some embodiments, the determination module 1010 is further configured to: during the process of the first carrier face facing the tally device, if the third carrier face faces the tally device and the fourth carrier face has not faced the tally device, determine that the first rotation surface parameter meets the rotation surface condition. During the process of the first carrier face facing the tally device, if the third carrier face faces the tally device and the fourth carrier face has also faced the tally device, determine that the first rotation surface parameter does not meet the rotation surface condition.

[0209] In some embodiments, the control module 1020 is further configured to: control the second transport device to transport the second carrier from the transfer point to the second parking position so that the fourth carrier faces the tally device. The determination module 1010 is further configured to: determine whether the first inventory object is movable. The control module 1020 is further configured to: if the first inventory object is movable, control the tally device to transport the first inventory object to the fourth carrier surface; if the first inventory object is immovable, cancel the tally task corresponding to the first inventory object.

[0210] In some embodiments, the control module 1020 is further configured to: when there is a second inventory object matching the first carrier on the fourth carrier surface, if the second inventory object is movable, control the tally device to transfer the second inventory object to the first carrier surface. The determination module 1010 is further configured to: if the second inventory object is not movable, determine whether the second rotation parameter corresponding to the fourth carrier surface meets the rotation condition. The control module 1020 is further configured to: when the second rotation parameter meets the rotation condition, control the first transport device to transport the first carrier to the rotation point for rotation, and adjust the second rotation parameter to not meet the rotation condition; when the second rotation parameter does not meet the rotation condition, cancel the tally task corresponding to the second inventory object.

[0211] In some embodiments, the control module 1020 is further configured to: control the first transport device to transport the first carrier from the transfer point to the first docking position so that the second carrier faces the tally device. The determination module 1010 is further configured to: determine whether the second inventory object is movable. The control module 1020 is further configured to: if the second inventory object is movable, control the tally device to transport the second inventory object to the second carrier surface; if the second inventory object is immovable, cancel the tally task corresponding to the second inventory object.

[0212] In some embodiments, the control module 1020 is further configured to: when there is a third inventory object matching the second carrier on the second carrier surface, if the third inventory object is movable, control the tally device to transfer the third inventory object to the second carrier surface. The determination module 1010 is further configured to: if the third inventory object is not movable, determine whether the third rotation parameter corresponding to the second carrier surface meets the rotation condition. The control module 1020 is further configured to: when the third rotation parameter meets the rotation condition, control the second transport device to transport the second carrier to the rotation point for rotation, and adjust the third rotation parameter to not meet the rotation condition; when the third rotation parameter does not meet the rotation condition, cancel the tally task corresponding to the third inventory object.

[0213] In some embodiments, the control module 1020 is further configured to: control the second transport device to transport the second carrier from the transfer point to the second docking position so that the third carrier surface faces the tally device, and adjust the fourth transfer parameter corresponding to the third carrier surface to not meet the transfer condition. The determination module 1010 is further configured to: determine whether the third inventory object is movable. The control module 1020 is further configured to: if the third inventory object is movable, transfer the third inventory object to the third carrier surface; if the third inventory object is not movable, cancel the tally task of the third inventory object.

[0214] In some embodiments, the control module 1020 is further configured to: when the first carrier faces the tally device and the third carrier faces the tally device, if there is a fourth inventory object matching the first carrier on the third carrier surface and the fourth inventory object is movable, then control the tally device to transfer the fourth inventory object to the first carrier surface. The determination module 1010 is further configured to: if the fourth inventory object is not movable, then when the second carrier faces the tally device and the third carrier faces the tally device, determine whether the fourth inventory object is movable. The control module 1020 is further configured to: if the fourth inventory object is movable, then control the tally device to transfer the fourth inventory object to the second carrier surface; if the fourth inventory object is not movable, then cancel the tally task of the fourth inventory object.

[0215] In some embodiments, the determination module 1010 is further configured to: determine whether the fourth rotation parameter corresponding to the third carrier surface meets the rotation condition. The control module 1020 is further configured to: when the fourth rotation parameter meets the rotation condition, control the first transport device to transport the first carrier to the rotation point for rotation, and adjust the fourth rotation parameter to not meet the rotation condition. The determination module 1010 is further configured to: when the fourth rotation parameter does not meet the rotation condition, determine whether the third rotation parameter corresponding to the second carrier surface and the second rotation parameter corresponding to the fourth carrier surface meet the rotation condition.

[0216] In some embodiments, the control module 1020 is further configured to: when the first rotation parameter corresponding to the first carrier surface, the second rotation parameter corresponding to the fourth carrier surface, the third rotation parameter corresponding to the second carrier surface and the fourth rotation parameter corresponding to the third carrier surface all do not meet the rotation conditions, control the first transport device to move the first carrier away from the first parking position, or control the first transport device to move the first carrier away from the first parking position and control the second transport device to move the second carrier away from the second parking position.

[0217] In some embodiments, the control module 1020 is further configured to: when the first docking position is determined as a temporary docking position and the second docking position is determined as a target docking position, if there is at least one carrier to be tallied in the multiple queue positions corresponding to the first docking position, control the first handling device to move the first carrier away from the first docking position; and control the third handling device to move the third carrier of the at least one carrier to be tallied to the first docking position. If there is no carrier to be tallied in the multiple queue positions corresponding to the first docking position, control the first handling device to move the first carrier away from the first docking position, and control the second handling device to move the second carrier away from the second docking position.

[0218] In some embodiments, the determination module 1010 is further configured to: when the first carrier surface is facing the tallying device and the third carrier surface is facing the tallying device, if there is a first inventory object matching the second carrier on the first carrier surface, determine whether the first inventory object is movable; when there is no vacant storage location on the third carrier surface, determine that the first inventory object is immovable; or, when there is a vacant storage location on the third carrier surface and there is an abnormality in the vacant storage location, determine that the first inventory object is immovable.

[0219] In some embodiments, the control module 1020 is further configured to: when the first transport device transports the first carrier to the first docking position, the second transport device transports the second carrier to the second docking position, and the second docking position is the target docking position, set the attributes of the inventory objects on the third carrier surface of the second carrier that match the first carrier to be visible, and set the attributes of the inventory objects that match other carriers to be tallied to invisible; wherein the tallying device cannot perform transfer operations on inventory objects whose attributes are invisible.

[0220] Fig.11 A schematic diagram of an electronic device provided in an embodiment of the present application. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the tally method in the above embodiment.

[0221] like Fig.11 As shown, the electronic device 1100 includes: a processor (processor) 1001 and a memory 1002. Exemplarily, the electronic device 1100 may also include: a communication interface (Communications Interface) 1003 and a communication bus 1004.

[0222] The processor 1001, the memory 1002 and the communication interface 1003 communicate with each other via the communication bus 1004. The communication interface 1003 is used to communicate with other devices such as client or other server network elements.

[0223] In some embodiments, the processor 1001 is used to execute the program 1005, and specifically, the relevant steps in the above-mentioned tally method embodiment can be executed. Specifically, the program 1005 can include program code, and the program code includes computer executable instructions.

[0224] Exemplarily, the processor 1001 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The electronic device 1100 may include one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0225] In some embodiments, the memory 1002 is used to store the program 1005. The memory 1002 may include a high-speed RAM memory, and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0226] Program 1005 can be specifically called by processor 1001 to enable electronic device 1100 to execute operations of the tally method.

[0227] An embodiment of the present application provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on the electronic device 1100, the electronic device 1100 executes the tallying method in the above embodiment.

[0228] The executable instructions can be specifically used to enable the electronic device 1100 to execute operations of the tally method.

[0229] For example, the computer readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0230] In some embodiments, an embodiment of the present application provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the tallying method described in any of the above embodiments.

[0231] In some embodiments, the embodiments of the present application further provide a computer program, which, when executed by a processor, can implement the tallying method described in any of the above embodiments.

[0232] The beneficial effects that can be achieved by the tallying device, electronic device, computer-readable storage medium, computer program product and computer program provided in the embodiments of the present application can refer to the beneficial effects of the tallying method provided above, and will not be repeated here.

[0233] It should be noted that, in the application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0234] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0235] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0236] For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by an instruction execution system, apparatus, or device or in conjunction with such instruction execution system, apparatus, or device.

[0237] More specific examples (a non-exhaustive list) of computer readable media include the following: an electrical connection having one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM).

[0238] In addition, the computer readable medium can even be a paper or other suitable medium on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, and then editing, interpreting or processing in other suitable ways as necessary, and then storing it in the computer memory. It should be understood that various parts of the present application can be implemented in hardware, software, firmware or a combination thereof.

[0239] In the above embodiments, multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it may be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0240] The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A tally method, characterized in that: include: Determine a first carrier and a second carrier from a plurality of carriers to be tallied; wherein the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface; Controlling the first transport device to transport the first carrier to a first docking position in a tally area, and controlling the second transport device to transport the second carrier to a second docking position in the tally area; When the first carrier faces toward the tally device and the third carrier faces toward the tally device, if there is a first inventory object matching the second carrier on the first carrier surface, then, if the first inventory object is movable, control the tally device to transfer the first inventory object to the third carrier surface; In the case that the first inventory object is immovable, based on the first rotation parameter corresponding to the first carrier surface, the second handling device is controlled to perform a rotation operation on the second carrier; or, the tallying task corresponding to the first inventory object is canceled.

2. The method according to claim 1, characterized in that The controlling the second handling device to perform a rotation operation on the second carrier based on the first rotation parameter corresponding to the first carrier surface; or canceling the tallying task corresponding to the first inventory object includes: Determining whether the first rotation parameter satisfies a rotation condition; When the first rotation parameter satisfies the rotation condition, the second transport device is controlled to transport the second carrier to the rotation point for rotation, and the first rotation parameter is adjusted to not satisfy the rotation condition; or When the first transfer parameter does not satisfy the transfer condition, the tallying task corresponding to the first inventory object is canceled.

3. The method according to claim 2, characterized in that The determining whether the first rotation parameter satisfies the rotation condition includes: In the process of the first carrier surface facing the tally device, if the third carrier surface faces the tally device and the fourth carrier surface has not faced the tally device, determining that the first rotation surface parameter satisfies the rotation surface condition; In the process of the first carrier surface facing the tallying device, if the third carrier surface faces the tallying device and the fourth carrier surface also faces the tallying device, it is determined that the first rotation parameter does not satisfy the rotation condition.

4. The method according to claim 2, characterized in that: After controlling the second transport device to transport the second carrier to a turning point for turning, the method further includes: Controlling the second transport device to transport the second carrier from the transfer point to the second parking position so that the fourth carrier faces the tallying device; determining whether the first inventory object is movable; If the first inventory object is movable, controlling the tallying device to move the first inventory object to the fourth carrier surface; If the first inventory object cannot be moved, the tally task corresponding to the first inventory object is canceled.

5. The method according to claim 4, characterized in that After controlling the second transport device to transport the second carrier from the transfer point to the second parking position, the method further includes: In the case where there is a second inventory object matching the first carrier on the fourth carrier surface, if the second inventory object is movable, controlling the tally device to transfer the second inventory object to the first carrier surface; If the second inventory object is immovable, determining whether the second rotation surface parameter corresponding to the fourth carrier surface satisfies the rotation surface condition; When the second rotation parameter satisfies the rotation condition, controlling the first transport device to transport the first carrier to a rotation point for rotation, and adjusting the second rotation parameter to not satisfy the rotation condition; When the second transfer parameter does not satisfy the transfer condition, the tallying task corresponding to the second inventory object is canceled.

6. The method according to claim 5, characterized in that After controlling the first transport device to transport the first carrier to a turning point for turning, the method further includes: Controlling the first transport device to transport the first carrier from the transfer point to the first parking position so that the second carrier faces the tallying device; determining whether the second inventory object is movable; If the second inventory object is movable, controlling the tallying device to move the second inventory object to the second carrier surface; If the second inventory object cannot be moved, the tally task corresponding to the second inventory object is canceled.

7. The method according to claim 6, characterized in that After controlling the first transport device to transport the first carrier from the transfer point to the first parking position, the method further includes: In the case where there is a third inventory object matching the second carrier on the second carrier surface, if the third inventory object is movable, controlling the tallying device to transfer the third inventory object to the second carrier surface; If the third inventory object is immovable, determining whether a third rotation surface parameter corresponding to the second carrier surface satisfies the rotation surface condition; When the third rotation parameter satisfies the rotation condition, controlling the second transport device to transport the second carrier to the rotation point for rotation, and adjusting the third rotation parameter to not satisfy the rotation condition; When the third transfer parameter does not satisfy the transfer condition, the tallying task corresponding to the third inventory object is canceled.

8. The method according to claim 7, characterized in that After controlling the second transport device to transport the second carrier to the turning point for turning, the method further includes: Control the second transport device to transport the second carrier from the transfer point to the second parking position so that the third carrier surface faces the tally device, and adjust the fourth transfer parameter corresponding to the third carrier surface to not satisfy the transfer condition; determining whether the third inventory object is movable; If the third inventory object is movable, transferring the third inventory object to the third carrier surface; If the third inventory object cannot be moved, the tallying task of the third inventory object is canceled.

9. The method according to claim 8, characterized in that The method further comprises: When the first carrier faces the tally device and the third carrier faces the tally device, if there is a fourth inventory object matching the first carrier on the third carrier surface and the fourth inventory object is movable, control the tally device to transfer the fourth inventory object to the first carrier surface; If the fourth inventory object is immovable, then when the second carrier surface faces the tallying device and the third carrier surface faces the tallying device, determine whether the fourth inventory object is movable; if the fourth inventory object is movable, control the tallying device to transfer the fourth inventory object to the second carrier surface; if the fourth inventory object is immovable, cancel the tallying task of the fourth inventory object.

10. The method according to claim 2, characterized in that After canceling the tally task corresponding to the first inventory object when the first transfer parameter does not meet the transfer condition, the method further includes: Determining whether a fourth rotation surface parameter corresponding to the third carrier surface satisfies the rotation surface condition; When the fourth rotation parameter satisfies the rotation condition, controlling the first transport device to transport the first carrier to the rotation point for rotation, and adjusting the fourth rotation parameter to not satisfy the rotation condition; In the case that the fourth rotation surface parameter does not satisfy the rotation surface condition, it is determined whether the third rotation surface parameter corresponding to the second carrier surface and the second rotation surface parameter corresponding to the fourth carrier surface satisfy the rotation surface condition.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: When the first rotation parameter corresponding to the first carrier surface, the second rotation parameter corresponding to the fourth carrier surface, the third rotation parameter corresponding to the second carrier surface, and the fourth rotation parameter corresponding to the third carrier surface all fail to meet the rotation condition, the first transport device is controlled to move the first carrier away from the first parking position, or, The first transport device is controlled to move the first carrier away from the first parking position, and the second transport device is controlled to move the second carrier away from the second parking position.

12. The method according to claim 11, characterized in that The controlling the first transport device to move the first carrier away from the first parking position, or controlling the first transport device to move the first carrier away from the first parking position and controlling the second transport device to move the second carrier away from the second parking position, comprises: In the case where the first parking position is a temporary parking position and the second parking position is a target parking position, if there is at least one carrier to be tallied in the multiple queue positions corresponding to the first parking position, the first handling device is controlled to move the first carrier away from the first parking position, and the third handling device is controlled to move a third carrier among the at least one carrier to be tallied to the first parking position; If there is no carrier to be sorted at the multiple queue positions corresponding to the first parking position, the first handling device is controlled to move the first carrier away from the first parking position, and the second handling device is controlled to move the second carrier away from the second parking position.

13. The method according to any one of claims 1 to 10, characterized in that The method further comprises: When the first carrier faces the tally device and the third carrier faces the tally device, if there is a first inventory object matching the second carrier on the first carrier surface, determining whether the first inventory object is movable; When there is no vacant cargo space on the third carrier surface, it is determined that the first inventory object cannot be moved; or, when there is a vacant cargo space on the third carrier surface and there is an abnormality in the vacant cargo space, it is determined that the first inventory object cannot be moved.

14. The method according to any one of claims 1 to 10, characterized in that The method further comprises: When the first transport device transports the first carrier to the first docking position, and the second transport device transports the second carrier to the second docking position, and the second docking position is the target docking position, the property of the inventory object on the third carrier surface of the second carrier that matches the first carrier is set to visible, and the property of the inventory objects that match other carriers to be tallied is set to invisible; The tallying device cannot perform a transfer operation on an inventory object whose attribute is invisible.

15. A cargo tallying device, characterized in that: include: The determination module is configured to: determine a first carrier and a second carrier from a plurality of carriers to be tallied; wherein the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface; The control module is configured to: control the first transport device to transport the first carrier to a first parking position in a tally area, and control the second transport device to transport the second carrier to a second parking position in the tally area; When the first carrier faces toward the tally device and the third carrier faces toward the tally device, if there is a first inventory object matching the second carrier on the first carrier surface, then, if the first inventory object is movable, control the tally device to transfer the first inventory object to the third carrier surface; In the case that the first inventory object is immovable, based on the first rotation parameter corresponding to the first carrier surface, the second handling device is controlled to perform a rotation operation on the second carrier; or, the tallying task corresponding to the first inventory object is canceled.

16. A storage system, characterized in that: include: Tally area, tally equipment, first berth and second berth; The control device is configured to: determine a first carrier and a second carrier from a plurality of carriers to be tallied, and generate a first handling instruction based on the first carrier, and generate a second handling instruction based on the second carrier; wherein the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface; A first transport device is configured to: transport the first carrier to the first parking position based on the first transport instruction; A second transport device is configured to: transport the second carrier to the second parking position based on the second transport instruction; The control device is configured to: when the first carrier surface faces the tally device and the third carrier surface faces the tally device, if there is a first inventory object matching the second carrier on the first carrier surface, then if the first inventory object is movable, generate a tally instruction, or if the first inventory object is immovable, generate a face rotation instruction or a cancellation instruction based on a first face rotation parameter corresponding to the first carrier surface; The tallying device is configured to: transfer the first inventory object to the third carrier surface based on the tallying instruction; The second handling device is configured to perform a rotation operation on the second carrier based on the rotation instruction.

17. An electronic device, characterized in that: include: one or more processors and memory; The memory is configured to: store one or more programs; Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the tally method according to any one of claims 1-14.

18. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the tallying method according to any one of claims 1 to 14 is implemented.

19. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the tally method according to any one of claims 1 to 14.

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