Loading / unloading control method, loading / unloading control device, loading / unloading system, and storage medium
Optimizing transporter routes in automated warehouses by utilizing high-back and low-back passages and aisles under racks addresses congestion issues, improving efficiency in warehousing and shipping operations.
Patent Information
- Application Number
- JP2024056755
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2023-12-28
- Filing Date
- 2024-03-29
- Publication Date
- 2025-07-10
AI Technical Summary
In automated warehouses, the complex routes planned for transporters to carry out inbound and outbound tasks often cause congestion, affecting efficiency.
A method is provided to optimize the routes of transporters by considering high-back and low-back passages under racks, aisles, and arrays, allowing for efficient movement of goods between temporary storage locations and target storage locations using a storage and retrieval device.
This approach reduces travel time and enhances the efficiency of warehousing and shipping operations by rationalizing transporter routes, minimizing congestion.
Smart Images
Figure 2025105385000001_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of warehouse storage technology, and more particularly, to an inbound and outbound control method, an inbound and outbound control device, an inbound and outbound system, and a storage medium.
Background Art
[0002] In an automated warehouse, goods are typically transported by a transporter to a temporary storage location under a target rack, and then moved from the temporary storage location to a storage location on the target rack by a storage and retrieval device equipped for the rack. In addition, goods may also be moved from a storage location on the target rack to a temporary storage location under the target rack by the storage and retrieval device, and then transported outside the warehouse by the transporter.
Summary of the Invention
Means for Solving the Problems
[0003] According to a first aspect of an embodiment of the present disclosure, determining a first target temporary storage location under a target rack based on a first target storage location of a first product on the target rack; determining an inbound route of a transporter based on the first target temporary storage location and the current location of the transporter; controlling the transporter to transport the first product along the inbound route to the first target temporary storage location; and controlling a storage and retrieval device to transfer the first product from the first target temporary storage location to the first target storage location. An inbound control method is provided.
[0004] In some embodiments, determining the storage path of the transporter comprises determining the storage path based on at least one of a low profile passage under each of a plurality of racks in the rack area, a high profile passage under each of the plurality of racks in the rack area, or an alley in the rack area, wherein the low profile passage enables the transporter to pass with the first product lifted to a low level, and the high profile passage enables the transporter to pass with the first product lifted to a high level.
[0005] In some embodiments, the first target temporary storage location is formed by a temporary storage bracket, and the low profile passage is a passage under the temporary storage bracket.
[0006] In some embodiments, controlling the transporter to transport the first product along the storage path to the first target temporary storage location includes controlling the transporter to move from the low profile passage under the target rack along the storage path to a first target point located below the first target temporary storage location, controlling the transporter to move from the first target point to a first temporary location in the high profile passage under the target rack, controlling the transporter to lift the first product to a predetermined height, and controlling the transporter to return to the first target point to place the first product on the first target temporary storage location.
[0007] In some embodiments, controlling the transporter to transport the first item along the inbound path to the first target temporary storage location includes controlling the transporter to move along the inbound path to a second temporary location within a low-back passage under a first rack adjacent to the target rack, where the low-back passage under the target rack is adjacent to a high-back passage under the first rack; controlling the transporter to move from the second temporary location to a third temporary location within the high-back passage under the first rack; controlling the transporter to lift the first item to a predetermined height; and controlling the transporter to cross a first array between the target rack and the first rack and move from the third temporary location to a first target point located below the first target temporary storage location to place the first item onto the first target temporary storage location.
[0008] In some embodiments, controlling the transporter to transport the first item along the inbound path to the first target temporary storage location includes controlling the transporter to move along the inbound path to a fourth temporary location within a low-back passage under a second rack adjacent to the target rack, where the high-back passage under the target rack is adjacent to the low-back passage under the second rack; controlling the transporter to cross a second array between the target rack and the second rack and move to a fifth temporary location within the high-back passage under the target rack; controlling the transporter to lift the first item to a predetermined height; and controlling the transporter to move to a first target point located below the first target temporary storage location to place the first item onto the first target temporary storage location.
[0009] In some embodiments, controlling the transporter to lift the first item to a predetermined height includes controlling the transporter to lift the first item to a predetermined height at a fifth temporary location that is adjacent to the first target location.
[0010] In some embodiments, controlling the transporter to move to the first target location includes controlling the transporter to move from a fifth temporary location to the first target location.
[0011] In some embodiments, controlling the transporter to lift the first item to a predetermined height includes controlling the transporter to move from a fifth temporary location along the high-back aisle under the target rack to a sixth temporary location and lift the first item to a predetermined height during the movement along the high-back aisle under the target rack, where the fifth temporary location is not adjacent to the first target location and the sixth temporary location is adjacent to the first target location.
[0012] In some embodiments, controlling the transporter to move to the first target location includes controlling the transporter to move from a sixth temporary location to the first target location.
[0013] In some embodiments, the transporter enters the low-back aisle of a designated rack from one end of the designated rack within the rack area along the inbound path and then continues to move to a first target location located below the first target temporary storage location along the inbound path, or the transporter enters the low-back aisle of the designated rack from one side of the designated rack along the inbound path and then continues to move to the first target location along the inbound path.
[0014] According to a second aspect of the embodiments of the present disclosure, based on a second target storage location of a second product on a target rack, determining a second target temporary storage location under the target rack; controlling a storage and retrieval device to transfer the second product from the second target storage location to the second target temporary storage location; determining a shipping route of a transporter based on the second target temporary storage location and a shipping target location; and controlling the transporter to transport the second product from the second target temporary storage location to the shipping target location along the shipping route. A shipping control method is provided.
[0015] In some embodiments, determining the shipping route of the transporter includes determining the shipping route based on at least one of a low-back passage under each of a plurality of racks in the rack area, a high-back passage under each of the plurality of racks in the rack area, or an aisle in the rack area, where the low-back passage enables the transporter to pass with the second product lifted to a low position, and the high-back passage enables the transporter to pass with the second product lifted to a high position.
[0016] In some embodiments, the second target temporary storage location is formed by a temporary storage bracket, and the low-back passage is a passage under the temporary storage bracket.
[0017] In some embodiments, controlling the transporter to transport the second item from the second target temporary storage location along the outbound route to the outbound target location includes controlling the transporter to acquire the second item located at the second target temporary storage location in a high-lift state at the second target point under the second target temporary storage location, controlling the transporter to move to the seventh temporary location in the high-back passage under the target rack, controlling the transporter to switch from the high-lift state to the low-lift state at the seventh temporary location, controlling the transporter to return from the seventh temporary location to the second target point, and controlling the transporter to transport the second item from the second target point along the outbound route to the outbound target location.
[0018] In some embodiments, controlling the transporter to transport the second item from the second target temporary storage location along the outbound route to the outbound target location includes controlling the transporter to acquire the second item located at the second target temporary storage location in a high-lift state at the second target point under the second target temporary storage location, controlling the transporter to cross the third array between the target rack and the adjacent third rack at the second target point and move to the eighth temporary location in the high-back passage under the third rack, where the low-back passage under the target rack is adjacent to the high-back passage under the third rack, controlling the transporter to switch from the high-lift state to the low-lift state at the eighth temporary location, controlling the transporter to move from the eighth temporary location to the ninth temporary location in the low-back passage under the third rack, and controlling the transporter to transport the second item from the ninth temporary location along the outbound route to the outbound target location.
[0019] In some embodiments, controlling the transporter to transport the second product from the second target temporary storage location along the outbound route to the outbound target location includes controlling the transporter to acquire the second product located at the second target temporary storage location in a high-lifted state at the second target point under the second target temporary storage location, controlling the transporter to move to the seventh temporary location in the high-back passage under the target rack, controlling the transporter to switch from the high-lifted state to the low-lifted state, controlling the transporter to cross the fourth array between the target rack and the adjacent fourth rack and move to the tenth temporary location in the low-back passage under the fourth rack, wherein the high-back passage under the target rack is adjacent to the low-back passage under the fourth rack, and controlling the transporter to transport the second product from the tenth temporary location along the outbound route to the outbound target location.
[0020] In some embodiments, controlling the transporter to switch from the high-lifted state to the low-lifted state includes controlling the transporter to switch from the high-lifted state to the low-lifted state at the seventh temporary location.
[0021] In some embodiments, controlling the transporter to move to the tenth temporary location includes controlling the transporter to cross the fourth array from the seventh temporary location and move to the tenth temporary location.
[0022] In some embodiments, controlling the transporter to switch from the high-lifted state to the low-lifted state includes controlling the transporter to move from the seventh temporary location along the high-back passage under the target rack to the tenth temporary storage location, and controlling the transporter to switch from the high-lifted state to the low-lifted state during the movement along the high-back passage under the target rack.
[0023] In some embodiments, controlling the carrier to move to a tenth temporary location includes controlling the carrier to cross the fourth array from the tenth temporary location and move to the tenth temporary location.
[0024] In some embodiments, determining an empty path of the carrier based on a second target temporary storage location and the current location of the carrier, and controlling the carrier to move along the empty path to a second target point located below the target temporary storage location.
[0025] In some embodiments, determining an empty path of the carrier includes determining the empty path based on at least one of a low-back passage under each rack of a plurality of racks in the rack area, a high-back passage under each rack of the plurality of racks in the rack area, or an array in the rack area.
[0026] In some embodiments, determining an empty path of the carrier includes determining the empty path based on an array in the rack area.
[0027] According to a third aspect of the embodiments of the present disclosure, a first processing module configured to determine a first target temporary storage location under a target rack based on a first target storage location of a first product on the target rack, a second processing module configured to determine an inbound path of the carrier based on the first target temporary storage location and the current location of the carrier, a third processing module configured to control the carrier to transport the first product along the inbound path to the first target temporary storage location, and a fourth processing module configured to control a storage and retrieval device to transfer the first product from the first target temporary storage location to the first target storage location are provided.
[0028] According to a fourth aspect of the embodiments of the present disclosure, a fifth processing module configured to determine a second target temporary storage location under the target rack based on the second target storage location of the second product on the target rack, a sixth processing module configured to control the storage and retrieval device to transfer the second product from the second target storage location to the second target temporary storage location, a seventh processing module configured to determine the shipping route of the transporter based on the second target temporary storage location and the shipping target location, and an eighth processing module configured to control the transporter to transport the second product from the second target temporary storage location to the shipping target location along the shipping route are provided, and a shipping control device is provided.
[0029] According to a fifth aspect of the embodiments of the present disclosure, an in-out control device is provided, which includes a processor and a memory coupled to the processor, the memory stores program instructions, and when the program instructions are executed by the processor, the processor is caused to execute the method according to any one of the above embodiments.
[0030] According to a sixth aspect of the embodiments of the present disclosure, there is provided an inventory control device according to any one of the above embodiments, a plurality of racks, each rack of the plurality of racks including at least one layer formed of a storage space, an array being formed by the space between the plurality of racks, a plurality of racks, a transporter configured to transport a first product to a first target temporary storage location or to transport a second product out of the warehouse from a second target temporary storage location based on the control of the inventory control device, and a storage and retrieval device provided on the rack and configured to transfer the first product from the first target temporary storage location to a first target storage location or to transfer the second product from the second target storage location to the second target temporary storage location.
[0031] In some embodiments, a high-back passage and a low-back passage are provided under the racks, the high-back passage having a first height greater than the height of the transporter in the high-lift state, and the low-back passage having a second height greater than the height of the transporter in the low-lift state and less than the height of the transporter in the high-lift state.
[0032] In some embodiments, the storage and retrieval device is located above the array, the space under the storage and retrieval device having a third height greater than the height of the unloaded transporter and less than the height of the transporter in the low-lift state.
[0033] According to a seventh aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the method according to any one of the above embodiments.
[0034] According to an eighth aspect of the embodiments of the present disclosure, there is provided a computer program comprising computer instructions that, when executed by a processor, implement the method according to any one of the above embodiments.
[0035] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the disclosure with reference to the accompanying drawings.
[0036] To more clearly explain embodiments of the present invention or technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are briefly introduced below. It is clear that the drawings shown below are only some embodiments of the present disclosure. For those skilled in the art, other drawings could be obtained according to such drawings on the premise of not involving inventive efforts.
Brief Description of the Drawings
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Embodiments for Carrying Out the Invention
[0038] Hereinafter, the technical solutions of the embodiments of the present disclosure will be clearly and completely described with reference to the drawings of the embodiments. It is obvious that only some embodiments of the present disclosure are given herein, not all embodiments of the present disclosure. The following description of at least one exemplary embodiment is, in fact, merely for the purpose of explanation and is in no way intended as a limitation on the invention, its application, or its use. All other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative efforts shall be included within the protection scope of the present disclosure.
[0039] Unless otherwise specified, the relative arrangements, numerical expressions, and values of the components and steps described in these examples do not limit the scope of the present invention.
[0040] At the same time, it should be understood that for the sake of simplicity in the description, the dimensions of the various parts shown in the drawings are not drawn to actual scale.
[0041] Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, these techniques, methods, and devices should be regarded as part of this specification.
[0042] Any specific values in all the examples shown and discussed in this specification should be construed merely as illustrative and not as limiting. Therefore, other examples of the exemplary embodiments can have different values.
[0043] It should be noted that like reference numerals and letters are represented by like ones in the accompanying drawings, and thus, once an item is defined in one drawing, there is no need to discuss it further in the accompanying drawings.
[0044] The inventor has noticed that in today's warehouse storage industry, the complex routes planned for the transporter to carry out frequent inbound and outbound tasks tend to cause congestion and affect the inbound and outbound efficiency.
[0045] In view of this, the present disclosure provides an inbound and outbound control method that can effectively improve the inbound and outbound efficiency of the transporter.
[0046] As shown in FIG. 1, the warehouse includes a plurality of racks 5 each having a plurality of layers of storage spaces, and each storage space can store one type of commodity. As used herein, the term "inbound operation" refers to moving a commodity from an external work station to a target inbound location, and the term "outbound operation" refers to moving a commodity from a target outbound location to an external work station.
[0047] In the inbound operation of Commodity 1, a transporter 2 (such as a transfer carriage) is used to transport the inbound commodity from the work station 3 through the transfer zone 4 to a temporary storage location under the rack 5, and then a storage and retrieval device 6 (such as a commodity storage mechanism on the rack) is used to store Commodity 1 from the temporary storage location to the target inbound storage location. In the outbound operation of the commodity, the storage and retrieval device 6 is used to transfer the outbound commodity 1 from the target outbound location to the temporary storage location, and then the transporter 2 is used to transport the outbound commodity 1 from the temporary storage location through the transfer zone 4 to the work station 3.
[0048] For example, each rack 5 can be equipped with one or more storage and retrieval devices 6.
[0049] For example, the transporter 2 is an automated guided vehicle with an automatic navigation function that can travel between a temporary storage location and a work station, and has a loading mechanism capable of picking up goods at the temporary storage location.
[0050] Note that the work station 3 is a work location for picking goods, and generally includes a distribution rack or a distribution slot. An operator or a robotic arm can wait at the work station for the transporter to transport the goods, select from the goods, and complete the picking.
[0051] FIG. 1 shows, for illustrative purposes, one work station located on one side of the rack. It can be understood that a plurality of work stations can be set as needed, and the position of the work station relative to the rack can also be specified as needed.
[0052] As shown in FIG. 2, the rack 5 includes a plurality of layers, each layer having a plurality of storage locations that are separate from each other. Below the rack, there are a high-back passage 21 and a low-back passage 22, and a temporary storage bracket 23 is above the low-back passage 22. The storage and retrieval device 6 is located above the array 24.
[0053] Note that the high-back passage 21 has a first height h1, and the low-back passage 22 has a second height h2. The storage and retrieval device 6 moves above the array 24, and when the storage and retrieval device 6 is in its lowest position, the space below the storage and retrieval device 6 has a third height h3.
[0054] The first height h1 is greater than the height of the transporter with the goods lifted to a high position. The second height h2 is greater than the height of the transporter with the goods lifted to a low position and less than the height of the transporter with the goods lifted to a high position. The third height h3 is greater than the height of the unloaded transporter and less than the height of the transporter with the goods lifted to a low position. In this case, the high-back passage 21 enables the passage of the transporter with the goods lifted to a high position, the low-back passage 22 enables the passage of the transporter with the goods lifted to a low position, and the array 24 enables the passage of the unloaded transporter.
[0055] In addition, the unloaded transporter can cross the array 24 and move from the bottom of one rack to the bottom of an adjacent rack. If there is no interference from the storage and retrieval device 6, the transporter with the goods lifted to a low position can also cross the array 24 and move from the bottom of one rack to the bottom of an adjacent rack.
[0056] Therefore, in order to shorten the travel time of the transporter and effectively improve the efficiency of the warehousing and shipping operations, it is possible to rationally plan the travel route of the transporter by taking into account the array between the racks, the high-back passage under the racks, and the low-back passage under the racks.
[0057] FIG. 3 is a flowchart of a warehousing control method according to an embodiment of the present disclosure. In some embodiments, the following warehousing control method is implemented by a warehousing control device.
[0058] In step 301, based on the first target storage location of the first product on the target rack, the first target temporary storage location under the target rack is determined.
[0059] In some embodiments, the first target temporary storage location is formed by a temporary storage bracket, and the low-back passage is the passage under the temporary storage bracket.
[0060] In step 302, based on the first target temporary storage location and the current location of the transporter, the inbound route of the transporter is determined.
[0061] In some embodiments, the inbound route is determined based on at least one of the low-back passages under each of the plurality of racks in the rack area, the high-back passages under each of the plurality of racks in the rack area, or the aisles in the rack area. The low-back passage allows the transporter to pass with the first commodity lifted to a low position, and the high-back passage allows the transporter to pass with the first commodity lifted to a high position.
[0062] In step 303, the transporter is controlled to transport the first commodity along the inbound route to the first target temporary storage location.
[0063] In some embodiments, the transporter enters the low-back passage of a designated rack in the rack area from one end of the designated rack along the inbound route, and then continues to move to a first target point located below the first target temporary storage location along the inbound route.
[0064] For example, as shown in FIG. 4, a transporter 40 for transporting commodities enters the low-back passage 42 of a designated rack in the rack area from one end of the designated rack, and then continues to move to a first target point 44 along the inbound route. During this procedure, the transporter 40 can move within the high-back passage 41 and the low-back passage 42 under each rack, as well as within the aisle 43 as needed.
[0065] For example, as shown in FIG. 5, the transporter 40 enters the low-back passage under a certain rack from one end of the rack, passes through a plurality of racks and aisles, and finally reaches the first target point 44.
[0066] In other embodiments, the transporter enters the low-back passage of a designated rack from one side of the designated rack along the inbound route, and then continues to move to the first target point along the inbound route.
[0067] For example, as shown in FIG. 6, a transporter 40 for transporting goods enters a low-back passage 42 of a designated rack from one side of the designated rack and then moves to a first target point 44 along the storage path. During this procedure, the transporter 40 can move within the high-back passage 41 under each rack, within the low-back passage 42 under each rack, and within the array 43 as needed.
[0068] Note that the transporter can transport the first item to the first target point in various ways. This will be specifically described below with reference to Embodiments 1 to 3.
[0069] Embodiment 1:
[0070] 1) As shown in FIG. 7A, the transporter is controlled to move from the low-back passage under the target rack along the storage path to a first target point 80.
[0071] 2) The transporter 70 is controlled to move from the first target point 80 to a first temporary location 81 within the high-back passage under the target rack.
[0072] As shown in FIG. 7B, the transporter 70 adjusts its posture. Next, as shown in FIG. 7C, the transporter 70 moves to the first temporary location 81 within the high-back passage.
[0073] 3) The transporter is controlled to lift the first item to a predetermined height.
[0074] As shown in FIG. 7D, the transporter 70 adjusts its posture. Next, as shown in FIG. 7E, the transporter 70 lifts the first item to a predetermined height.
[0075] 4) As shown in FIG. 7F, the transporter 70 is controlled to return to the first target point 80 in order to place the first item on a first target temporary storage location 71.
[0076] Next, as shown in FIG. 7G, the transporter 70 retracts the expansion mechanism and enters the unloaded state.
[0077] Embodiment 2:
[0078] 1) As shown in FIG. 8A, the transporter 70 is controlled to move along the inbound path to a second temporary location 82 in the low-back passage under the first rack adjacent to the target rack, where the low-back passage under the target rack is adjacent to the high-back passage under the first rack.
[0079] 2) As shown in FIG. 8B, the transporter 70 is controlled to move from the second temporary location 82 to a third temporary location 83 in the high-back passage under the first rack and is controlled to lift the first item to a predetermined height.
[0080] 3) As shown in FIG. 8C, the transporter 70 is controlled to cross the first array between the target rack and the first rack to place the first item on the first target temporary storage location 71 and to move from the third temporary location 83 to the first target point 80.
[0081] Next, as shown in FIG. 8D, the transporter 70 retracts the expansion mechanism and enters the unloaded state.
[0082] Embodiment 3:
[0083] 1) As shown in FIG. 9A, the transporter 70 is controlled to move along the inbound path to a fourth temporary location 84 in the low-back passage under the second rack adjacent to the target rack, where the high-back passage under the target rack is adjacent to the low-back passage under the second rack.
[0084] 2) As shown in FIG. 9B, the transporter 70 crosses the second array between the target rack and the second rack, moves from the fourth temporary location to the first temporary location 81 in the high-back passage under the target rack, and is controlled to lift the first item to a predetermined height.
[0085] 3) As shown in FIG. 9C, the transporter 70 is controlled to move to the first target point 80 in order to place the first product on the first target temporary storage location 71.
[0086] Next, as shown in FIG. 9D, the transporter 70 retracts the extension mechanism and enters the unloaded state.
[0087] Note that in FIG. 9B, the transporter 70 may lift the first product to a predetermined height at its current location, or may lift the first product to a predetermined height during movement.
[0088] For example, as shown in FIG. 10A, the transporter 70 is controlled to cross the array from the temporary location 84 and reach the temporary location 81 in the high-back passage under the target rack. The transporter 70 is controlled to lift the first product to a predetermined height at the temporary location 81 and then reach the first target point 80.
[0089] For example, as shown in FIG. 10B, the transporter 70 is controlled to cross the array from the temporary location 84 and reach the temporary location 85 in the high-back passage under the target rack. While the transporter 70 moves from the temporary location 85 to the temporary location 81, the first product is lifted to a predetermined height. When reaching the temporary location 81, the transporter can proceed directly to the first target point 80. Obviously, in this way, the time for the transporter 70 to lift the first product to a predetermined height in a stationary state can be effectively saved, thereby improving the operating efficiency of the transporter.
[0090] Returning to FIG. 3, in step 304, the storage and retrieval device is controlled to transfer the first product from the first target temporary storage location to the first target storage location.
[0091] In the warehousing control method provided in the above-described embodiment of the present disclosure, in order to shorten the travel time of the transporter and effectively improve the efficiency of the warehousing operation and the shipping operation, it is possible to rationally plan the travel route of the transporter by taking into account the aisle between the racks, the high-back passage under the racks, and the low-back passage under the racks.
[0092] FIG. 11 is a flowchart of a shipping control method according to an embodiment of the present disclosure. In some embodiments, the following shipping control method is implemented by a shipping control device.
[0093] In step 1101, based on the second target storage location of the second product on the target rack, a second target temporary storage location under the target rack is determined.
[0094] In some embodiments, the second target temporary storage location is formed by a temporary storage bracket, and the low-back passage is the passage under the temporary storage bracket.
[0095] In step 1102, the storage and retrieval device is controlled to transfer the second product from the second target storage location to the second target temporary storage location.
[0096] In step 1103, based on the second target temporary storage location and the shipping target location, the shipping route of the transporter is determined.
[0097] In some embodiments, the shipping route is determined based on at least one of the low-back passages under each of the plurality of racks in the rack area, the high-back passages under each of the plurality of racks in the rack area, or the aisle in the rack area, where the low-back passage allows the transporter to pass with the second product lifted to a low position, and the high-back passage allows the transporter to pass with the second product lifted to a high position.
[0098] In step 1104, the transporter is controlled to transport the second product from the second target temporary storage location along the outbound route to the outbound target location.
[0099] Note that the unloaded transporter may be located inside or outside the rack area. In this case, the unloaded route of the transporter is determined based on the second target temporary storage location and the current location of the transporter. Next, the transporter is controlled to move along the unloaded route to the second target point located below the target temporary storage location.
[0100] In some embodiments, the unloaded route is determined based on at least one of the low-back passages under each of the plurality of racks in the rack area, the high-back passages under each of the plurality of racks in the rack area, or the aisles in the rack area.
[0101] For example, the unloaded route is determined based on the aisles in the rack area.
[0102] Note that the inbound operation and the outbound operation are often performed continuously. As shown in FIG. 12, the transporter 121 transports the first product along the inbound route 131 to the first temporary storage location 122. Next, the unloaded transporter 121 reaches the second temporary storage location 123 along the unloaded route 132 and acquires the second product. Then, the transporter 121 transports the second product along the outbound route 133 to the outbound target location.
[0103] As shown in FIG. 12, the unloaded transporter 121 can select various routes to reach the second temporary storage location 123 from the first temporary storage location 122. For example, the transporter 121 can move straight along the low-back passage where the first temporary storage location 122 is located to reach the second temporary storage location 123. However, since the transporter 121 is unloaded, its height is low, and the transporter 121 can move along the array. Therefore, in this case, by planning a route including the array, on the one hand, it is possible to ensure that the transporter 121 can smoothly reach the destination, and on the other hand, the transporter 121 does not occupy the low-back passage or the high-back passage so as not to interfere with other transporters carrying goods.
[0104] In addition, as shown in FIG. 12, the inbound route 131 of the transporter 121 may or may not overlap with the outbound route 133 of the transporter 121. It should be noted that when the inbound route 131 and the outbound route 133 do not overlap, it is possible to ensure that the inbound route 131 of the transporter 121, the unloaded route 132 of the transporter 121, and the outbound route 133 of the transporter 121 form a loop. In this way, the loop can effectively avoid congestion between different transporters passing on the same route.
[0105] In the embodiment shown in FIG. 12, the transporter 121 enters the rack area from one end of the rack and exits the rack area from the other end of the rack. In the embodiment shown in FIG. 13, the transporter 121 enters the rack area from one side of the rack and exits the rack area from the other side of the rack.
[0106] For simplicity, only one outbound route 133 is shown in FIG. 13. The outbound route 133, the unloaded route 132, and the inbound route 131 form a loop.
[0107] Note that the transporter can transport the second product from the second target temporary storage location to the shipping target location in various ways. This will be specifically described below with reference to Embodiments 4 to 6.
[0108] Embodiment 4:
[0109] 1) As shown in FIG. 14A, the transporter 141 is controlled to move to the second target point 150 in the low-back passage under the target rack.
[0110] 2) As shown in FIG. 14B, the transporter 141 is controlled to acquire the second product located at the second target temporary storage location 142 in a high-lifted state.
[0111] 3) As shown in FIG. 14C, the transporter 141 is controlled to move to the seventh temporary location 151 in the high-back passage under the target rack.
[0112] 4) As shown in FIG. 14D, the transporter 141 is controlled to switch from the high-lifted state to the low-lifted state at the seventh temporary location 151.
[0113] 5) As shown in FIG. 14E, the transporter 141 is controlled to return from the seventh temporary location 151 to the second target point 150.
[0114] Next, the transporter 141 is controlled to transport the second product from the second target point 150 to the shipping target location along the shipping route.
[0115] Embodiment 5:
[0116] 1) As shown in FIG. 15A, the transporter 141 is controlled to move to the second target point 150 in the low-back passage under the target rack.
[0117] 2) As shown in FIG. 15B, the transporter 141 is controlled to acquire the second product located at the second target temporary storage location 142 in a high-lifted state.
[0118] 3) As shown in FIG. 15C, the transporter 141 is controlled to cross the third array between the target rack and the third rack adjacent thereto at the second target point and move to the eighth temporary location 152 in the high-back passage under the third rack, where the low-back passage under the target rack is adjacent to the high-back passage under the third rack.
[0119] 4) As shown in FIG. 15D, the transporter 141 is controlled to switch from the high-lifted state to the low-lifted state at the eighth temporary location 152.
[0120] 5) As shown in FIG. 15E, the transporter 141 is controlled to move from the eighth temporary location 152 to the ninth temporary location 153 in the low-back passage under the third rack.
[0121] Next, the transporter 141 is controlled to transport the second product from the ninth temporary location 153 along the shipping route to the shipping target location.
[0122] Embodiment 6:
[0123] 1) As shown in FIG. 16A, the transporter 141 is controlled to move to the second target point 150 in the low-back passage under the target rack.
[0124] 2) As shown in FIG. 16B, the transporter 141 is controlled to acquire the second product located at the second target temporary storage location 142 in a high-lifted state.
[0125] 3) As shown in FIG. 16C, the transporter 141 is controlled to move to the temporary location 151 in the high-back passage under the target rack and switch from the high-lifted state to the low-lifted state.
[0126] 4) As shown in FIG. 16D, the transporter 141 is controlled to cross the fourth array between the target rack and the fourth rack adjacent thereto and move to a temporary location 154 in the low-back passage under the fourth rack, where the high-back passage under the target rack is adjacent to the low-back passage under the fourth rack.
[0127] Next, the transporter 141 is controlled to transport the second product from the temporary location 154 along the outbound path to the outbound target location.
[0128] Note that in FIG. 16C, the transporter 141 may lift the second product to a predetermined height at its current position, or may lift the second product to a predetermined height during movement.
[0129] For example, as shown in FIG. 17A, the transporter 141 moves from the second target point 150 to a temporary location 151 in the high-back passage under the target rack, switches from the high-lift state to the low-lift state at the temporary location 151, and then is controlled to cross the array from the temporary location 151 and reach a temporary location 154 in the low-back passage under the adjacent rack. Next, the transporter 141 is controlled to move from the temporary location 154 to the outbound target location.
[0130] As another example, as shown in FIG. 17B, the transporter 141 is controlled to move from the second target point 150 to a temporary location 151 in the high-back passage under the target rack, and then to move from the temporary location 151 to a temporary location 155 along the high-back passage. While the transporter 141 moves from the temporary location 151 to the temporary location 155, the transporter 141 is controlled to switch from the high-lift state to the low-lift state. Next, the transporter 141 is controlled to cross the array and reach a temporary location 154 in the low-back passage under the adjacent rack. Then, the transporter 141 is controlled to move from the temporary location 154 to the outbound target location. Apparently, in this way, it is possible to effectively save the time for the transporter 141 to switch from the high-lift state to the low-lift state under the stationary station, thereby improving the operation efficiency of the transporter.
[0131] FIG. 18 is a structural diagram of a warehousing control device according to an embodiment of the present disclosure. As shown in FIG. 18, the warehousing control device includes a first processing module 181, a second processing module 182, a third processing module 183, and a fourth processing module 184.
[0132] The first processing module 181 is configured to determine a first target temporary storage location under the target rack based on the first target storage location of the first product on the target rack.
[0133] In some embodiments, the first target temporary storage location is formed by a temporary storage bracket, and the low-back passage is a passage under the temporary storage bracket.
[0134] The second processing module 182 is configured to determine the warehousing route of the transporter based on the first target temporary storage location and the current location of the transporter.
[0135] In some embodiments, the storage path is determined based on at least one of a low-back passage under each of a plurality of racks in the rack area, a high-back passage under each of the plurality of racks in the rack area, or an array in the rack area. The low-back passage allows the transporter to pass with the first product lifted to a low position, and the high-back passage allows the transporter to pass with the first product lifted to a high position.
[0136] The third processing module 183 is configured to control the transporter to transport the first product along the storage path to the first target temporary storage location.
[0137] In some embodiments, the third processing module 183 transports the first product to the first target temporary storage location according to a manner involved in any of the embodiments shown in FIGS. 4 to 10.
[0138] The fourth processing module 184 is configured to control the storage and retrieval device to transfer the first product from the first target temporary storage location to the first target storage location.
[0139] FIG. 19 is a structural diagram of a shipping control device according to an embodiment of the present disclosure. As shown in FIG. 19, the shipping control device includes a fifth processing module 191, a sixth processing module 192, a seventh processing module 193, and an eighth processing module 194.
[0140] The fifth processing module 191 is configured to determine a second target temporary storage location under the target rack based on the second target storage location of the second product on the target rack.
[0141] In some embodiments, the second target temporary storage location is formed by a temporary storage bracket, and the low-back passage is a passage under the temporary storage bracket.
[0142] The sixth processing module 192 is configured to control the storage and retrieval device to transfer the second product from the second target storage location to the second target temporary storage location.
[0143] In some embodiments, the storage and retrieval device transfers the second product from the second target storage location to the second target temporary storage location.
[0144] The seventh processing module 193 is configured to determine the outbound route of the transporter based on the second target temporary storage location and the outbound target location.
[0145] In some embodiments, the outbound route is determined based on at least one of the low-back passages under each of the plurality of racks in the rack area, the high-back passages under each of the plurality of racks in the rack area, or the array in the rack area, where the low-back passage allows the transporter to pass with the second product lifted to a low position, and the high-back passage allows the transporter to pass with the second product lifted to a high position.
[0146] The eighth processing module 194 is configured to control the transporter to transport the second product from the second target temporary storage location to the outbound target location along the outbound route.
[0147] In some embodiments, the eighth processing module 194 transfers the second product to the second target temporary storage location in a manner involved in any of the embodiments shown in FIGS. 12 to 17.
[0148] FIG. 20 is a structural diagram of an inbound / outbound control device according to an embodiment of the present disclosure. As shown in FIG. 20, the inbound / outbound control device includes a memory 201 and a processor 202.
[0149] Memory 201 is used to store instructions. Processor 202 is coupled to Memory 201 and is configured to perform a method involved in any one of the embodiments shown in FIGS. 3 and 11 based on the instructions stored in the memory.
[0150] As shown in FIG. 20, the inventory control device further includes a communication interface 203 for implementing information exchange with other devices. In addition, the inventory control device further includes a bus 204. The processor 202, the communication interface 203, and the memory 201 communicate with each other through the bus 204.
[0151] Memory 201 can include a high-speed RAM memory and can also include a non-volatile memory such as at least one disk storage device. Memory 201 can also be a memory array. Memory 201 can also be divided into blocks, and those blocks can be combined according to specific rules into virtual volumes.
[0152] In addition, the processor 202 can be a central processing unit (CPU), or can be an application-specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of the present disclosure.
[0153] The present disclosure further discloses a computer-readable storage medium storing computer instructions that, when executed by a processor, implement a method according to any one of the embodiments shown in FIGS. 3 and 11.
[0154] The present disclosure further discloses a computer program comprising computer instructions that, when executed by a processor, implement a method according to any one of the embodiments shown in FIGS. 3 and 11.
[0155] FIG. 21 is a structural diagram of an inventory system according to an embodiment of the present disclosure. As shown in FIG. 21, the inventory system includes a plurality of racks, each having at least one layer composed of a storage space, and an array is formed by the space between the plurality of racks. The inventory system further includes an inventory control device 211, a transporter 212, and a storage and retrieval device 213 provided on the rack. The inventory control device 211 can be an inventory control device according to any one of the embodiments shown in FIG. 20.
[0156] Based on the control of the inventory control device 211, the transporter 212 is configured to transport the first product to the first target temporary storage location or to transport the second product out of the warehouse from the second target temporary storage location.
[0157] The storage and retrieval device 213 is configured to transfer the first product from the first target temporary storage location to the first target storage location or to transfer the second product from the second target storage location to the second target temporary storage location.
[0158] As shown in FIG. 2, note that the high-back passage and the low-back passage are provided under the rack. The high-back passage has a first height greater than the height of the transporter in the high-lift state, and the low-back passage has a second height greater than the height of the transporter in the low-lift state and less than the height of the transporter in the high-lift state.
[0159] Furthermore, the storage and retrieval device 213 is located above the array, and the space under the storage and retrieval device has a third height, which is greater than the height of the unloaded transporter and less than the height of the transporter in the low-lift state.
[0160] According to the above embodiments of the present disclosure, in order to shorten the travel time of the transporter and effectively improve the efficiency of the warehousing and outbound operations, it is possible to rationally plan the travel route of the transporter by taking into account the array between the racks, the high-back passage under the racks, and the low-back passage under the racks.
[0161] In some embodiments, the above functional modules can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, or any suitable combination thereof for implementing the functions described in the present disclosure.
[0162] Those skilled in the art will understand that all or part of the steps for implementing the method in the above embodiments can be completed by hardware or a program that instructs the relevant hardware, where the program can be stored in a computer-readable storage medium. The storage medium can be a read-only memory (ROM), a magnetic disk, or a compact disc (CD).
[0163] The above description of the present invention is provided for purposes of illustration and description, but is not exhaustive and is not intended to limit the present invention to the forms disclosed herein. Various modifications and variations will be apparent to those skilled in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention so that those skilled in the art can understand the present invention and contemplate various embodiments with various modifications suitable for specific uses.
Description of Reference Numerals
[0164] 1 Commodity, Outbound Commodity 2 Transporter 3 Workstation 4 Transfer Zone 5 Racks 6 Storage and Retrieval Device 21 High-Back Passage 22 Low-Back Passage 23 Temporary Storage Bracket 24 Array 40 Conveyor 41 High-Back Passage 42 Low-Back Passage 43 Array 44 First Target Location 70 Conveyor 71 First Target Temporary Storage Location 80 First Target Location 81 First Temporary Location 82 Second Temporary Location 83 Third Temporary Location 84 Fourth Temporary Location 85 Temporary Location 121 Conveyor 122 First Temporary Storage Location 123 Second Temporary Storage Location 131 Inbound Route 132 Unloaded Route 133 Outbound Route 141 Conveyor 142 Second Target Temporary Storage Location 150 Second Target Location 151 Seventh Temporary Location 152 Eighth Temporary Location 153 Ninth Temporary Location 154 Temporary Location 155 Temporary Location 181 First Processing Module 182 Second Processing Module 183 Third Processing Module 184 Fourth Processing Module 191 Fifth Processing Module 192 Sixth Processing Module 193 Seventh Processing Module 194 The eighth processing module 201 Memory 202 Processor 203 Communication interface 204 Bus 211 In-out control device 212 Conveyor 213 Storage and retrieval device h1 The first height h2 The second height h3 The third height
Claims
1. Determining a first target temporary storage location under the target rack based on a first target storage location of a first product on the target rack; Determining an inbound route of the transporter based on the first target temporary storage location and the current location of the transporter; Controlling the transporter to transport the first product along the inbound route to the first target temporary storage location; Controlling a storage and retrieval device to transfer the first product from the first target temporary storage location to the first target storage location An inbound control method comprising:
2. The step of determining the inbound route of the transporter is Determining the inbound route based on at least one of a low-back passage under each of a plurality of racks in the rack area, a high-back passage under each of the plurality of racks in the rack area, or an array in the rack area, wherein the low-back passage enables the transporter to pass with the first product lifted to a low position, and the high-back passage enables the transporter to pass with the first product lifted to a high position; The inbound control method according to Claim 1, comprising:
3. The first target temporary storage location is formed by a temporary storage bracket, and the low-back passage is a passage under the temporary storage bracket. The inbound control method according to Claim 2.
4. The step of controlling the transporter to transport the first product along the inbound route to the first target temporary storage location is Controlling the transporter to move from a low-back passage under the target rack to a first target point located below the first target temporary storage location along the inbound route; Controlling the transporter to move from the first target point to a first temporary location in a high-back passage under the target rack; Controlling the transporter to lift the first product to a predetermined height; Controlling the transporter to return to the first target point to place the first product on the first target temporary storage location The warehousing control method according to claim 3, including
5. The step of controlling the transporter to transport the first product along the warehousing route to the first target temporary storage location is The step of controlling the transporter to move along the warehousing route to a second temporary location in the low-back passage under the first rack adjacent to the target rack, wherein the low-back passage under the target rack is adjacent to the high-back passage under the first rack, The step of controlling the transporter to move from the second temporary location to a third temporary location in the high-back passage under the first rack, The step of controlling the transporter to lift the first product to a predetermined height, The step of controlling the transporter to cross the first array between the target rack and the first rack to place the first product on the first target temporary storage location, and move from the third temporary location to a first target point located below the first target temporary storage location, The warehousing control method according to claim 3, including
6. The step of controlling the transporter to transport the first product along the warehousing route to the first target temporary storage location is The step of controlling the transporter to move along the warehousing route to a fourth temporary location in the low-back passage under the second rack adjacent to the target rack, wherein the high-back passage under the target rack is adjacent to the low-back passage under the second rack, The step of controlling the transporter to cross the second array between the target rack and the second rack and move to a fifth temporary location in the high-back passage under the target rack, The step of controlling the transporter to lift the first product to a predetermined height, The step of controlling the transporter to move to a first target point located below the first target temporary storage location to place the first product on the first target temporary storage location, The warehousing control method according to claim 3, including
7. The step of controlling the transporter to lift the first product to the predetermined height is Controlling the transporter to lift the first product to the predetermined height at the fifth temporary location, wherein the fifth temporary location is adjacent to the first target location The warehousing control method according to claim 6, comprising this step
8. The step of controlling the transporter to move to the first target location Comprises the step of controlling the transporter to move from the fifth temporary location to the first target location The warehousing control method according to claim 7, comprising this step
9. The step of controlling the transporter to lift the first product to the predetermined height Comprises the step of controlling the transporter to move from the fifth temporary location along the high-back passage under the target rack to a sixth temporary location, and to lift the first product to the predetermined height during the movement along the high-back passage under the target rack, wherein the fifth temporary location is not adjacent to the first target location and the sixth temporary location is adjacent to the first target location The warehousing control method according to claim 6, comprising this step
10. The step of controlling the transporter to move to the first target location Comprises the step of controlling the transporter to move from the sixth temporary location to the first target location The warehousing control method according to claim 9, comprising this step
11. The transporter enters the low-back passage of the designated rack from one end of the designated rack within the rack area along the warehousing route, and then continues to move to the first target location located below the first target temporary storage location along the warehousing route, or The transporter enters the low-back passage of the designated rack from one side of the designated rack along the warehousing route, and then continues to move to the first target location along the warehousing route The warehousing control method according to any one of claims 1 to 10
12. Determining a second target temporary storage location under the target rack based on a second target storage location of a second product on the target rack Controlling the storage and retrieval device to transfer the second product from the second target storage location to the second target temporary storage location; Determining an outbound route of the transporter based on the second target temporary storage location and the outbound target location; Controlling the transporter to transport the second product from the second target temporary storage location to the outbound target location along the outbound route An outbound control method comprising.
13. The step of determining the outbound route of the transporter is Determining the outbound route based on at least one of a low-back passage under each of a plurality of racks in the rack area, a high-back passage under each of the plurality of racks in the rack area, or an array in the rack area, wherein the low-back passage enables the transporter to pass with the second product lifted to a low position, and the high-back passage enables the transporter to pass with the second product lifted to a high position. The outbound control method according to claim 12, comprising.
14. The second target temporary storage location is formed by a temporary storage bracket, and the low-back passage is a passage under the temporary storage bracket. The outbound control method according to claim 13.
15. The step of controlling the transporter to transport the second product from the second target temporary storage location to the outbound target location along the outbound route is Controlling the transporter to acquire the second product located at the second target temporary storage location in a high-lifted state at a second target point under the second target temporary storage location; Controlling the transporter to move to a seventh temporary location in the high-back passage under the target rack; Controlling the transporter to switch from the high-lifted state to a low-lifted state at the seventh temporary location; Controlling the transporter to return from the seventh temporary location to the second target point; controlling the transporter to transport the second product from the second target location to the shipping target location along the shipping route The shipping control method according to claim 14, comprising the above step.
16. The step of controlling the transporter to transport the second product from the second target temporary storage location to the shipping target location along the shipping route is controlling the transporter to acquire the second product located at the second target temporary storage location in a high-lifted state at a second target location under the second target temporary storage location controlling the transporter to cross a third aisle between the target rack and an adjacent third rack at the second target location and move to an eighth temporary location in a high-back aisle under the third rack, wherein the low-back aisle under the target rack is adjacent to the high-back aisle under the third rack controlling the transporter to switch from a high-lifted state to a low-lifted state at the eighth temporary location controlling the transporter to move from the eighth temporary location to a ninth temporary location in a low-back aisle under the third rack controlling the transporter to transport the second product from the ninth temporary location to the shipping target location along the shipping route The shipping control method according to claim 14, comprising the above steps.
17. The step of controlling the transporter to transport the second product from the second target temporary storage location to the shipping target location along the shipping route is controlling the transporter to acquire the second product located at the second target temporary storage location in a high-lifted state at a second target location under the second target temporary storage location controlling the transporter to move to a seventh temporary location in a high-back aisle under the target rack controlling the transporter to switch from a high-lifted state to a low-lifted state Controlling the transporter to cross a fourth array between the target rack and a fourth rack adjacent to the target rack and move to a tenth temporary location in a low-back passage under the fourth rack, wherein the high-back passage under the target rack is adjacent to the low-back passage under the fourth rack Controlling the transporter to transport the second item from the tenth temporary location along the outbound route to the outbound target location The outbound control method according to claim 14, comprising:
18. The step of controlling the transporter to switch from a high-lift state to a low-lift state is Controlling the transporter to switch from a high-lift state to a low-lift state at the seventh temporary location The outbound control method according to claim 17, comprising:
19. The step of controlling the transporter to move to the tenth temporary location is Controlling the transporter to cross the fourth array from the seventh temporary location and move to the tenth temporary location The outbound control method according to claim 18, comprising:
20. The step of controlling the transporter to switch from a high-lift state to a low-lift state is Controlling the transporter to move from the seventh temporary location along the high-back passage under the target rack to the tenth temporary location; and Controlling the transporter to switch from a high-lift state to a low-lift state during the movement along the high-back passage under the target rack The outbound control method according to claim 17, comprising:
21. The step of controlling the transporter to move to the tenth temporary location is Controlling the transporter to cross the fourth array from the tenth temporary location and move to the tenth temporary location The outbound control method according to claim 20, comprising:
22. Determining an empty route of the transporter based on the second target temporary storage location and the current location of the transporter; and Controlling the transporter to move along the empty route to a second target point located below the target temporary storage location The outgoing shipment control method according to any one of claims 12 to 21, further comprising
23. The step of determining the non-loaded path of the transporter is the step of determining the non-loaded path based on at least one of the low-back passages under each of the plurality of racks in the rack area, the high-back passages under each of the plurality of racks in the rack area, or the arrays in the rack area The outgoing shipment control method according to claim 22, comprising
24. The step of determining the non-loaded path of the transporter is the step of determining the non-loaded path based on the arrays in the rack area The outgoing shipment control method according to claim 23, comprising
25. A first processing module configured to determine a first target temporary storage location under the target rack based on a first target storage location of a first product on the target rack; A second processing module configured to determine an incoming path of the transporter based on the first target temporary storage location and the current location of the transporter; A third processing module configured to control the transporter to transport the first product along the incoming path to the first target temporary storage location; A fourth processing module configured to control the storage and retrieval device to transfer the first product from the first target temporary storage location to the first target storage location An incoming shipment control device comprising
26. A fifth processing module configured to determine a second target temporary storage location under the target rack based on a second target storage location of a second product on the target rack; A sixth processing module configured to control the storage and retrieval device to transfer the second product from the second target storage location to the second target temporary storage location; A seventh processing module configured to determine an outgoing path of the transporter based on the second target temporary storage location and the outgoing target location An eighth processing module configured to control the transporter to transport the second product from the second target temporary storage location to the shipping target location along the shipping route A shipping control device comprising the same. **Claim 27** A processor, A memory coupled to the processor, storing program instructions, and when the program instructions are executed by the processor, causing the processor to execute the method according to any one of claims 1 to 24, the memory An inbound / outbound control device comprising the same. **Claim 28** The inbound / outbound control device according to claim 27, A plurality of racks, each rack of the plurality of racks comprising at least one layer consisting of a storage space, and an array being formed by the space between the plurality of racks, the plurality of racks A transporter configured to transport a first product to a first target temporary storage location or to transport a second product out of the warehouse from a second target temporary storage location based on the control of the inbound / outbound control device, A storage and retrieval device provided on the rack and configured to transfer the first product from the first target temporary storage location to the first target storage location or to transfer the second product from the second target storage location to the second target temporary storage location An inbound / outbound system comprising the same. **Claim 29** A high-back passage and a low-back passage are provided under the rack, the high-back passage having a first height greater than the height of the transporter in the high-lift state, and the low-back passage having a second height greater than the height of the transporter in the low-lift state and less than the height of the transporter in the high-lift state, The inbound / outbound system according to claim 28. **Claim 30** The storage and retrieval device is located above the array, the space under the storage and retrieval device having a third height, the third height being greater than the height of the transporter in the unloaded state and less than the height of the transporter in the low-lift state, The inbound / outbound system according to claim 29. **Claim 31** A computer-readable storage medium storing computer instructions that, when executed by a processor, implement the method according to any one of claims 1 to 24. **Claim 32** A computer program comprising computer instructions which, when executed by a processor, implement the method according to any one of claims 1 to 24.