Shelf, warehouse storage device, control method, device, equipment, and readable storage medium

Abstract

The present application provides a shelf (100), a warehousing apparatus (200), a control method, an apparatus, a device and a readable storage medium, the shelf (100) including a plurality of first columns (110) and a plurality of second columns (120) spaced apart along a circumferential direction of the shelf (100), the first column (110) being located between two second columns (120) across the width of the shelf (100), a first beam (131) arranged along a horizontal direction, and a plurality of temporary storage members (132) spaced apart along both sides of the first beam (131); Both ends of the first beam (131) are respectively provided in the two first columns (110), and the temporary storage member (132) includes two support arms (132A) and a fork groove (132B) formed between the two support arms (132A), and at least one temporary storage lamella (130) used to provide a plurality of temporary storage positions (130), and at least one storage lamella (140) vertically spaced apart from the temporary storage lamella (130) via the first column (110) and the second column (120), and used to provide a plurality of storage positions.

Description

[Technical field]

[0001] This application claims priority to Chinese patent application No. 202110833027.9, filed on July 22, 2021 and entitled "Shelf, Warehousing Storage Apparatus, Control Method, Apparatus, Equipment and Readable Storage Medium," and to Chinese patent application No. 202121679914.7, filed on July 22, 2021 and entitled "Shelf and Warehousing Storage Apparatus," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of warehousing technology, and in particular to shelves, warehousing devices, control methods, devices, equipment and readable storage media. [Background technology]

[0003] A shelf is a device for storing cargo in a three-dimensional manner, and can increase the utilization efficiency of a warehouse.

[0004] Currently, in order to improve the efficiency of cargo storage and retrieval, a travel path along which a transport robot travels when loading cargo is usually provided at the bottom of the shelf, which takes up space on the shelf and limits the temporary storage capacity of the shelf, thereby causing space waste in scenarios where the cargo flow rate is low. Summary of the Invention

[0005] It is an object of the present application to provide a shelf, a warehousing apparatus, a control method, an apparatus, an equipment and a readable storage medium that at least solves the problem of wasted warehouse space that occurs when shelf flow rates are low.

[0006] In a first aspect, an embodiment of the present application provides a shelf, the shelf comprising: a plurality of first columns and a plurality of second columns spaced apart along a circumferential direction of the shelf, the first columns being located between two of the second columns across the width of the shelf; At least one temporary storage tier including a first beam arranged along a horizontal direction and a plurality of temporary storage members arranged at intervals along both sides of the first beam, each end of the first beam being provided in two first columns, the temporary storage member including two support arms and a fork groove formed between the two support arms, used to provide a plurality of temporary storage positions; At least one storage lamella is vertically spaced from the temporary storage lamella via the first column and the second column and is used to provide a plurality of storage locations.

[0007] In one embodiment, the plurality of buffer members are removably mounted to the first beam.

[0008] In a second aspect, an embodiment of the present application relates to a warehousing storage apparatus comprising a shelf according to any of the above embodiments.

[0009] In a third aspect, an embodiment of the present application provides a stocking control method applied to the shelf according to any one of the above embodiments, the method comprising: determining a first target shipment whose hit count satisfies a threshold condition based on the hit count of each shipment in the order information; directing a first robot to transport a first target cargo to a first temporary storage location; When a hit command for the first target cargo is detected, instructing the first robot to transport the first target cargo from the first temporary storage location to a work area for retrieving the first target cargo.

[0010] In a fourth aspect, an embodiment of the present application provides a retrieval control method applied to the shelf according to any one of the above embodiments, the control method comprising: determining a target shipment whose hit count satisfies a threshold condition based on the hit count of each shipment in the order information; determining a corresponding target staging location based on the storage location in which the target cargo is located; and instructing the second robot to transport the target cargo from the existing storage location to the target temporary storage location at a first time.

[0011] and instructing the first robot to transport the target cargo from the target temporary storage location to a work area for retrieving the target cargo at a second time later than the first time.

[0012] In a fifth aspect, an embodiment of the present application provides an entry control device applied to the shelf according to any one of the above embodiments, the control device comprising: a first determination module for determining a first target cargo whose hit count satisfies a threshold condition based on the hit count of each cargo in the order information; a first instruction module for instructing a first robot to transport a first target cargo to a first temporary storage location; and a second instruction module that, when a hit command for the first target cargo is detected, instructs the first robot to transport the first target cargo from the first temporary storage position to a work area for retrieving the first target cargo.

[0013] In a sixth aspect, an embodiment of the present application provides a retrieval control device applied to the shelf according to any one of the above embodiments, the control device comprising: a third determination module for determining a target shipment whose hit count meets a threshold condition based on the hit count of each shipment in the order information; a fourth determination module for determining a corresponding target staging location based on the storage location where the target cargo is located; a fifth instruction module for instructing the second robot to transport the target cargo from the existing storage location to the target temporary storage location at a first time; and a sixth instruction module that instructs the first robot to transport the target cargo from the target temporary storage location to a work area for retrieving the target cargo at a second time that is later than the first time.

[0014] In a seventh aspect, an embodiment of the present application provides an electronic device including a processor and a memory, the memory and the processor communicating with each other by using an internal connection path, the memory configured to store instructions, the processor configured to execute the instructions stored in the memory, and when the processor executes the instructions stored in the memory, the processor performs the method in any embodiment of each of the previous aspects.

[0015] In an eighth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, which, when run on a computer, performs a method in any of the embodiments of the above aspects.

[0016] The advantages or beneficial effects of the above technical solution include at least that by installing multiple temporary storage members at intervals on both sides of the first beam, the number of temporary storage positions that can be provided by the same temporary storage tier can be increased, thereby improving the temporary storage capacity of the shelf; it is favorable to reducing the number of second robots by extending the working time of the second robot; and the shelf space can be fully utilized in scenes with low cargo flow rate, thereby avoiding waste of shelf space resources.

[0017] The above summary is merely illustrative of the specification and is not intended to be limiting in any manner. In addition to the exemplary aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily understood by reference to the drawings and the following detailed description. [Brief description of the drawings]

[0018] In the drawings, unless otherwise noted, the same reference numerals in multiple drawings indicate the same or similar parts or elements. The drawings are not necessarily drawn to scale. It is understood that the drawings illustrate some embodiments according to the present application and should not be considered as limiting the scope of the present application.

[0019] [Figure 1A] FIG. 2 is a structural schematic diagram of a shelf according to the first embodiment of the present application. [Figure 1B] FIG. 2 is a structural schematic diagram of a temporary storage substrate according to a first embodiment of the present application; [Diagram 2] FIG. 4 is a structural schematic diagram of a warehouse storage device according to a second embodiment of the present application. [Diagram 3] 10 is a flowchart showing a warehousing control method according to a third embodiment of the present application. [Figure 4A] 10 is a flowchart showing a warehousing control method according to a fourth embodiment of the present application. [Figure 4B] FIG. 2 is a schematic diagram of a scene according to an embodiment of the present application. [Diagram 5] 13 is a flowchart showing a method for controlling leaving a warehouse according to a fifth embodiment of the present invention. [Figure 6] FIG. 13 is a structural block diagram of a warehousing control device according to a sixth embodiment of the present application. [Figure 7] FIG. 13 is a structural block diagram of a delivery control device according to a seventh embodiment of the present invention. [Figure 8] FIG. 13 is a structural block diagram of an electronic device according to an eighth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Several exemplary embodiments are briefly described below. As will be appreciated by those skilled in the art, the described embodiments can be modified in various ways without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0021] FIG 1A is a structural schematic diagram of a shelf 100 according to a first embodiment of the present application. FIG 1B is a structural schematic diagram of a temporary storage lamella 130 according to a first embodiment of the present application. As shown in FIG 1A and FIG 1B, the shelf 100 may include a plurality of first columns 110, a plurality of second columns 120, at least one temporary storage lamella 130, and at least one storage lamella 140.

[0022] The multiple first columns 110 and the multiple second columns 120 are spaced apart along the circumferential direction of the shelf 100, and in the width direction of the shelf 100, the first column 110 is located between two adjacent second columns 120.

[0023] The temporary storage layer plate 130 includes a first beam 131 arranged along a horizontal direction and a plurality of temporary storage members 132 arranged at intervals along both sides of the first beam 131, each end of which is provided in one of the two first columns 110, and the temporary storage member 132 includes two support arms 132A and a fork groove 132B formed between the two support arms 132A. The temporary storage layer plate 130 is used to provide a plurality of temporary storage positions 133 as shown in the dashed frame of FIG. 1B.

[0024] The storage lamella 140 is vertically spaced apart from the temporary storage lamella 130 via the first column 110 and the second column 120, and the storage lamella 140 is used to provide a plurality of storage positions (not shown). Exemplarily, the storage lamella 140 includes a second beam 141 and a plurality of third beams 142 and a plurality of support plates 143 spaced apart along the horizontal direction, where both ends of the second beam 141 are provided in the two first columns 110, respectively, and the second beam 141 is parallel to the first beam 131, both ends of the third beam 142 are provided in the two second columns 120, respectively, and the third beam 142 is parallel to the second beam 141, and the plurality of support plates 143 are provided between the second beam 141 and the third beam 142 at intervals along the longitudinal direction of the shelf 100. Preferably, the storage lamina 140 may further include a fourth beam 144 disposed between adjacent first column 110 and second column 120, the fourth beam 144 being perpendicular to the second beam 141.

[0025] In an application scenario, referring to FIG. 2, when storing the cargo 230, the first robot 220 inserts the fork arm 221 into the fork groove 132B of the temporary storage tier 130 to lower its height, and places the transported cargo 230 on the temporary storage tier 130 for temporary storage, and the second robot (not shown) transports the cargo 230 on the temporary storage tier 130 to the storage tier 140 for storage. When taking out the cargo 230, the second robot transports the cargo 230 on the storage tier 140 to the temporary storage tier 130 for temporary storage, and the first robot 220 uses the fork arm 221 to insert into the fork groove 132B of the temporary storage tier 130, lifts the cargo 230, and takes out the cargo 230 from the temporary storage tier 130. The first robot 220 and the second robot use the temporary storage tier of the shelf 100 to transfer the cargo 230.

[0026] Here, the first robot 220 may be an automated guided vehicle (AGV) having a fork arm 221, and the fork arm 221 may be provided on the top of the first robot 220 or on the side of the first robot 220, and the embodiment of the present application does not limit the installation method of the fork arm 221 of the first robot 220. The second robot may be an AGV having a lifting mechanism and an inserting / removing mechanism, or may be a stacker, etc., and the embodiment of the present application does not limit the type of the second robot as long as it has a function of inserting and removing cargo 230 and transporting cargo 230.

[0027] In the above technical solution, by installing multiple temporary storage members 132 at intervals on both sides of the first beam 131, the number of temporary storage positions 133 that can be supplied by the same temporary storage layer 130 can be increased, thereby improving the temporary storage capacity of the shelf 100, which is favorable to reducing the number of second robots by extending the working time of the second robot, and making full use of the space of the shelf 100 in scenes with low cargo flow rate, thereby avoiding waste of spatial resources of the shelf 100.

[0028] In addition, since the cost of the second robot is usually several or even several tens of times higher than the cost of the first robot 220, by making full use of the second robot, it is possible to avoid waste of resources and reduce the costs of receiving and shipping.

[0029] In one alternative embodiment, the buffer locations 133 provided by the buffer lamella 130 are also used as storage locations to increase the number of storage locations on the shelf 100 .

[0030] In one embodiment, as shown in FIGS. 1A and 1B, a plurality of temporary storage members 132 are removably mounted to a first beam 131.

[0031] For example, the temporary storage member 132 on the first side 131A of the first beam 131 can be removed to form a running path for the first robot 220 to run between the first side 131A of the first beam 131 and the second column 120, thereby avoiding the first robot 220 and the second robot from sharing the running path, and making the shelf 100 suitable for scenes with a high cargo flow rate.

[0032] Based on this, the temporary storage members 132 can be installed on one or both sides of the first beam 131, so that the shelf 100 can be flexibly adapted to scenes with high cargo flow rates and scenes with low cargo flow rates.

[0033] In one embodiment, the first beam 131 is removably mounted on the first column 110. In this way, the shelf 100 can be adapted to different storage and retrieval needs by installing or not installing the temporary storage tier 130 according to actual needs, which is advantageous to improving the versatility of use of the shelf 100.

[0034] In one embodiment, as shown in FIG. 1B, the buffer location 133 is formed by adjacent support arms 132A of the buffer member 132 or adjacent buffer members 132.

[0035] In one example, the temporary storage position 133 may be composed of two support arms 132A of the temporary storage member 132 and an area surrounded thereby. As shown in the temporary storage position 133 located on the left side in FIG. 1B, the fork groove 132B of the temporary storage lamina 130 is located between the two support arms 132A, which is advantageous for cooperation between the temporary storage lamina 130 and the first robot 220 having a single fork arm 221. For example, the first robot 220 aligns the single fork arm 221 with the fork groove 132B of the temporary storage lamina 130 from the fork groove 132B side of the temporary storage lamina 130, and inserts the fork arm 221 directly into the fork groove 132B to take in and out the cargo 230.

[0036] In another example, the temporary storage position 133 is composed of adjacent support arms 132A of adjacent temporary storage members 132 and the area surrounded thereby, and as shown in the temporary storage position 133 located on the right side of Fig. 1B, the fork grooves 132B of the temporary storage lamina 130 are located on both sides of the temporary storage position 133, which is advantageous for cooperation between the temporary storage lamina 130 and the first robot 220 having double fork arms 221. For example, the first robot 220 aligns two fork arms 221 from the fork groove 132B side of the temporary storage lamina 130 with the fork grooves 132B on both sides of the temporary storage position 133, and directly inserts the two fork arms 221 into the two fork grooves 132B to take in and out the cargo 230.

[0037] In one embodiment, as shown in FIGS. 1A and 1B, the temporary storage lamina 130 further includes a plurality of fixing plates 134 and a plurality of wedge plates 135.

[0038] Each fixing plate 134 is connected between adjacent temporary storage members 132 and connected to the first beam 131. This not only enhances the strength between the support arm 132A and the first beam 131, but also improves the stability of the support arm 132A.

[0039] Each wedge plate 135 is connected between adjacent temporary storage members 132, and is provided at one end of the support arm 132A remote from the first beam 131. For example, the wedge plate 135 is connected between the outer sides of the adjacent support arms 132A of the adjacent temporary storage members 132, thus increasing the connection strength between the adjacent support arms 132A of the adjacent temporary storage members 132, which is advantageous to improving the load-bearing capacity of the temporary storage members 132.

[0040] 1A, 1B and 2, in one embodiment, a cargo loading / unloading aisle 150 in which the first robot 220 is placed is formed below the temporary storage tier 130. When loading / unloading cargo 230, if the first robot 220 is located in the cargo loading / unloading aisle 150, the fork groove 132B cooperates with the fork arm 221 of the first robot 220 to load / unload cargo 230. In this way, the first robot 220 can avoid occupying the space around the shelf 100 when loading / unloading cargo 230, and the space utilization rate can be improved.

[0041] In one embodiment, the cargo loading / unloading aisle 150 is also used for the first robot 220 to travel when it is empty. For example, when the first robot 220 is empty, if no cargo 230 is loaded on the fork arm 221 of the first robot 220, the height of the first robot 220 is low and the first robot 220 can travel through the loading / unloading aisle 150. In this way, when the first robot 220 is empty, it does not need to share the travel aisle with the second robot, which is advantageous for improving the efficiency of loading and unloading.

[0042] 1A, 1B and 2, in one embodiment, the second column 120 is provided on the outer periphery of the temporary storage lamella 130 and the storage lamella 140, and a first travel path (not shown) for the first robot 220 to travel on is formed on the side of the second column 120 opposite the temporary storage lamella 130. In this way, when the cargo 230 is loaded on the first robot 220, the first robot 220 can travel along the first travel path to transport the cargo 230.

[0043] 2 is a structural schematic diagram of a warehousing storage apparatus 200 according to a second embodiment of the present application. As shown in FIG. 2, the warehousing storage apparatus 200 may include a plurality of shelves 100 according to any of the above embodiments, and a second travel path 210 is formed between adjacent shelves 100 along which a second robot travels to transport cargo 230 between the temporary storage tier 130 and the storage tier 140.

[0044] For example, the vertical projection area of ​​the second running path 210 overlaps with the vertical projection area of ​​the first running path, so that the first robot 220 shares the running path with the second robot when cargo 230 is loaded, making the warehouse storage equipment 200 suitable for scenes with low cargo flow rates.

[0045] The second robot can transport cargo between the temporary storage tier 130 and the storage tier 140 of the same shelf 100 or adjacent shelves 100 .

[0046] 3 is a flowchart showing a storage control method according to a third embodiment of the present application. This storage control method is suitable for the shelf of any of the above embodiments. As shown in FIG. 3, the control method may include the following steps:

[0047] In S301, a first target cargo whose hit count satisfies a threshold condition is determined based on the hit count of each cargo in the order information.

[0048] The order information may be a number of historical orders or cargo demands stored in an order pool.

[0049] In one example, determining the first target shipment includes determining a hit count for each shipment in the historical order information, and determining the shipment with a hit count equal to or greater than a threshold count as the first target shipment. In this manner, the first target shipment can be predicted using the historical order information.

[0050] In another example, determining the first target cargo includes determining a cargo for which the demand number of the cargo in the order pool is equal to or greater than a quantity threshold as the first target cargo. In this manner, the first target cargo can be calculated using the demand number of the cargo in the order pool.

[0051] In S302, a first robot is instructed to transport a first target cargo to a first temporary storage location.

[0052] In S303, when a hit command for the first target cargo is detected, an instruction is issued to the first robot to transport the first target cargo from the first temporary storage location to a work area for unloading the first target cargo.

[0053] According to the above technical proposal, the first robot instructs the first target cargo whose hit count meets the threshold condition to be transported to the first temporary storage location for temporary storage, and the second robot is not instructed to transport the first target cargo from the first temporary storage location to the target storage location, and the second robot omits the operation of transporting the first target cargo between the first temporary storage location and the target storage location, thereby reducing the frequency of delivery of the first target cargo. Thus, when a hit command for the first target cargo is detected, the first robot is immediately instructed to transport the first target cargo from the first temporary storage location to the work area and release it, which is advantageous to improving the efficiency of loading and unloading in low cargo flow scenarios.

[0054] 4A is a flowchart showing a warehousing control method according to a fourth embodiment of the present application. As shown in FIG. 4A, the control method may further include the following steps:

[0055] In S401, based on the hit count of each cargo in the order information, a second target cargo whose hit count does not satisfy the threshold condition is determined.

[0056] Here, determining the second target cargo may mean determining as the second target cargo a cargo whose number of hits in the historical order information is less than a number threshold, or may mean determining as the second target cargo a cargo whose demand quantity in the order pool is less than a quantity threshold.

[0057] In S402, the first robot is instructed to transport a second target cargo to a second temporary storage location.

[0058] In S403, when a transport completion signal transmitted from the first robot is received, the second robot is instructed to transport the second target cargo from the second temporary storage location to the target storage location corresponding to the second target cargo.

[0059] According to the above technical solution, when the first robot instructs the second target cargo, the hit count of which does not meet the threshold condition, to be transported to a second temporary storage location, and receives a transportation completion signal from the first robot, the second robot is immediately instructed to transport the second target cargo from the second temporary storage location to the corresponding target storage location for storage, thereby preventing the second target cargo from occupying the temporary storage location.

[0060] In one embodiment, as shown in FIG. 4B, the first temporary storage location 133A and the second temporary storage location 133B are provided adjacent to each other.

[0061] 4B, the shelves 100 are arranged in a matrix such that the temporary storage positions 133 are arranged in a manner of 6 rows and 12 columns. In one example, the first temporary storage position 133A and the second temporary storage position 133B may be adjacent to each other along the width direction of the shelf 100, for example, the temporary storage position 133 located in the first row L1 is set as the first temporary storage position 133A, and the temporary storage position 133 located in the second row L2 is set as the second temporary storage position 133B. In this way, the first robot 220 and the second robot travel on both sides of the shelf 100 along the longitudinal direction of the shelf 100, respectively, thereby reducing the occupation of the passage between the first robot 220 and the second robot, which is advantageous to improving the efficiency of loading and unloading in a low-flow cargo scene.

[0062] Alternatively, in another example, the first temporary storage location 133A and the second temporary storage location 133B may be arranged adjacent to each other along the length of the shelf 100. For example, the temporary storage location 133 located in the first row R1 and the third row R3 may be set as the first temporary storage location 133A, and the temporary storage location 133 located in the second row R2 and the fourth row R4 may be set as the second temporary storage location 133B. This helps to improve the efficiency with which the first robot 220 and the second robot use the first temporary storage location 133A and the second temporary storage location 133B to transfer cargo, and helps to improve the efficiency of loading and unloading in cargo situations with high flow rates.

[0063] 5 is a flowchart showing a retrieval control method according to a fifth embodiment of the present application. This retrieval control method is applied to the shelf of any of the above embodiments. As shown in FIG. 5, the control method may include the following steps.

[0064] In S501, a target cargo whose hit count satisfies a threshold condition is determined based on the hit count of each cargo in the order information.

[0065] Here, the method of determining the target cargo can refer to the method of determining the first target cargo in the above-mentioned warehousing control method, and the description thereof will be omitted here.

[0066] In S502, a corresponding target temporary storage location is determined based on the storage location where the target cargo exists.

[0067] For example, determining the target staging location may be to determine a staging location that is closest to the storage location where the target cargo is located as the target staging location for the target cargo.

[0068] In S503, at a first time, the second robot is instructed to transport the target cargo from the existing storage location to the target temporary storage location.

[0069] In S504, an instruction is given to the first robot to transport the target cargo from the target temporary storage position to a work area for retrieving the target cargo at a second time, the second time being later than the first time.

[0070] Exemplarily, the first time may be 20:00 on the first day and the second time may be 8:00 on the second day, where if it is 20:00 on the first day, the second robot is instructed to transport the target cargo to the target temporary storage location, and if it is 8:00 on the second day, the first robot is instructed to transport the target cargo to the work area.

[0071] At 8:00 on the second day, the second robot can be instructed to transport the target cargo that has not been transported to the target temporary storage location, or the second robot can be instructed to transport the cargo whose hit count does not satisfy the threshold condition from the temporary storage location to the storage location, or the second robot can be instructed to charge in the charging standby area. This allows the second robot to be fully utilized.

[0072] In the above technical solution, at a first time, the second robot is instructed to transport the target cargo from the storage location to the target temporary storage location, and at a second time, the first robot is instructed to transport the target cargo from the target temporary storage location to the work area, thereby extending the work time of the second robot, reducing the number of second robots deployed, improving the utilization rate of the second robots, and being advantageous in reducing the costs of storing and unloading cargo.

[0073] FIG. 6 is a structural block diagram of an entry control device 600 according to a sixth embodiment of the present application. This entry control device 600 is applied to the shelf of any of the above-mentioned embodiments. As shown in FIG. 6, this entry control device 600 includes: a first determination module 610 for determining a first target shipment whose hit count satisfies a threshold condition based on the hit count of each shipment in the order information; a first instruction module 620 for instructing the first robot to transport a first target cargo to a first temporary storage location; and a second instruction module 630 that, when a hit command for the first target cargo is detected, instructs the first robot to transport the first target cargo from the first temporary storage location to a work area for retrieving the first target cargo.

[0074] In one embodiment, the storage control device 600 includes: a second determination module for determining a second target shipment whose hit count does not satisfy the threshold condition based on the hit count of each shipment in the order information; a third instruction module for instructing the first robot to transport a second target cargo to a second temporary storage location; The robot may further include a fourth instruction module that, when a transport completion signal transmitted from the first robot is received, instructs the second robot to transport the second target cargo from the second temporary storage location to a target storage location corresponding to the second target cargo.

[0075] FIG. 7 is a structural block diagram of a take-out control device 700 according to a seventh embodiment of the present invention. This take-out control device 700 is applied to the shelf of any of the above-mentioned embodiments. As shown in FIG. 7, this take-out control device 700 includes: a third determination module 710 for determining a target shipment whose hit count meets a threshold condition based on the hit count of each shipment in the order information; A fourth determination module 720 for determining a corresponding target staging location based on the storage location where the target cargo is located; a fifth instruction module 730 for instructing the second robot to transport the target cargo from the existing storage location to the target staging location at a first time; and a sixth instruction module 740 that instructs the first robot to transport the target cargo from the target temporary storage location to a work area for retrieving the target cargo at a second time that is later than the first time.

[0076] For the functions of each module in each device of the embodiment of the present application, reference can be made to the corresponding description of the above method, but the description will be omitted here.

[0077] Fig. 8 is a structural block diagram of an electronic device according to an eighth embodiment of the present application. As shown in Fig. 8, the electronic device includes a memory 810 and a processor 820, and the memory 810 stores a computer program executable by the processor 820. When the processor 820 executes the computer program, the method in the above embodiment is realized. The number of the memory 810 and the processor 820 may be one or more.

[0078] The electronic device further includes a communication interface 830 for communicating with an external device and for interactive transmission of data.

[0079] When the memory 810, the processor 820, and the communication interface 830 are implemented independently, the memory 810, the processor 820, and the communication interface 830 can be connected to each other and communicate with each other by using a bus. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be classified into an address bus, a data bus, a control bus, etc. For ease of presentation, only one bold line is shown in FIG. 8, but this does not indicate that only one bus or one type of bus exists.

[0080] Optionally, in a particular implementation, if the memory 810, the processor 820, and the communication interface 830 are integrated into one chip, the memory 810, the processor 820, and the communication interface 830 can communicate with each other by using an internal interface.

[0081] An embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, which, when executed by the processor 820, implements a method according to an embodiment of the present application.

[0082] An embodiment of the present application further provides a chip, the chip including a processor 820 configured to call up and execute instructions stored in the memory 810 from the memory 810, thereby causing an electronic device in which the chip is installed to perform a method according to an embodiment of the present application.

[0083] An embodiment of the present application further provides a chip including an input interface, an output interface, a processor 820, and a memory 810, where the input interface, the output interface, the processor 820, and the memory 810 are connected via an internal connection path, and the processor 820 is configured to execute code in the memory 810, and when the code is executed, the processor 820 is configured to perform a method provided in an embodiment of the present application.

[0084] It should be understood that the processor 820 may be a Central Processing Unit (CPU), another general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or another programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. The general-purpose processor may be a microprocessor or any conventional processor, or the like. It should be noted that the processor 820 may be a processor supporting the Advanced RISC Machine (ARM) architecture.

[0085] Additionally, optionally, the memory 810 may include read-only memory and random access memory, and may further include non-volatile random access memory. The memory 810 may be volatile or non-volatile memory, and may include both volatile and non-volatile memory. Non-volatile memory may include Read-Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), or flash memory. Volatile memory may include Random Access Memory (RAM) used as an external cache. By way of example and not limitation, many forms of RAM are available. For example, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synch link dynamic random access memory (SLDRAM), and direct memory bus random access memory (DRRAM).

[0086] In the above embodiments, all or part may be realized by software, hardware, firmware, or any combination thereof. When realized using software, all or part may be realized in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another.

[0087] In the present description, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described with reference to the embodiment or example are included in at least one embodiment or example of the present application. In addition, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more of the embodiments or examples. In addition, unless mutually inconsistent, a person skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described herein.

[0088] Moreover, the terms "first" and "second" are merely for ease of explanation and should not be understood to indicate or imply the relative importance or quantity of the indicated technical features. Thus, a feature qualified with "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise clearly and specifically limited, "plurality" means two or more than two.

[0089] Any process or method description depicted in a flowchart or otherwise described herein may be understood as representing a module, segment, or portion of code that includes one or more executable instructions for implementing specific logical functions or process steps. Also, the scope of the preferred embodiments of the present application includes other embodiments in which functions may be performed in an order different from that illustrated or described, including substantially concurrently or in reverse order depending on such functions.

[0090] The logic and / or steps represented in the flowcharts or otherwise described herein may be viewed, for example, as an ordered list of executable instructions for implementing logical functions, and may be tangibly embodied in any computer-readable medium for use with or in connection with an instruction-executing system, device, or apparatus (e.g., a computer-based system, a system including a processor, or other system that can obtain instructions from and execute instructions from an instruction-executing system, device, or apparatus).

[0091] It should be understood that each part of the present application can be realized by hardware, software, firmware, or a combination thereof. In the above embodiments, a plurality of steps or methods may be realized by software or firmware stored in a memory and executed by a suitable instruction execution system. All or some steps of the method of the above embodiments can be completed by instructing related hardware by a program, which is stored in a computer-readable storage medium, and includes one or a combination of the steps of the method embodiments when the program is executed.

[0092] In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, each unit may exist physically alone, or two or more units may be integrated into one module. The integrated module may be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it may be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.

[0093] As described above, the above are merely specific embodiments of the present application, and the scope of protection of the present application is not limited thereto, and a person skilled in the art may easily think of various modifications or replacements within the technical scope disclosed in the present application, all of which should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be determined based on the scope of the claims.

Claims

1. A shelf, a plurality of first columns and a plurality of second columns spaced apart along a circumferential direction of the shelf, the first columns being located between two of the second columns across a width of the shelf; at least one temporary storage lamella including a first beam arranged along a horizontal direction and a plurality of temporary storage members arranged at intervals along both sides of the first beam, the ends of the first beam being respectively provided in the two first columns, the temporary storage member including two support arms and a fork groove formed between the two support arms, the temporary storage lamella being used to provide a plurality of temporary storage positions; at least one storage lamella vertically spaced from the temporary storage lamella via the first column and the second column, the storage lamella being used to provide a plurality of storage locations.

2. The shelf of claim 1 , wherein the plurality of buffer members are removably mounted to the first beam.

3. The shelf of claim 1 , wherein the first beam is removably mounted to the first column.

4. The shelf of claim 1 , wherein the buffer locations are formed by the buffer members or adjacent support arms of adjacent buffer members.

5. The temporary storage plate is a plurality of fixing plates connected between adjacent ones of the temporary storage members and connected to the first beam; 2. The shelf of claim 1, further comprising a plurality of wedge plates each connected between adjacent ones of said buffer members and disposed at an end of said support arm remote from said first beam.

6. 2. The shelf according to claim 1, wherein an access passage in which a first robot is placed is formed below the temporary storage tier, and when loading and unloading cargo, if the first robot is positioned in the access passage, the fork groove cooperates with a fork arm of the first robot to load and unload the cargo.

7. The shelf according to claim 6 , wherein the loading / unloading aisle is further used for traveling of the first robot when the shelf is empty.

8. The shelf according to claim 6, wherein the second column is provided on an outer periphery of the temporary storage lamella and the storage lamella, and a first running passage for the first robot to run on is formed on the side of the second column away from the temporary storage lamella.

9. A plurality of shelves according to any one of claims 1 to 8, A warehouse storage apparatus, wherein a second travel path for a second robot to travel is formed between adjacent shelves, and the second robot is used to transport cargo between the temporary storage tier and the storage tier.

10. A storage control method applied to the shelf according to any one of claims 1 to 8, determining a first target shipment whose hit count satisfies a threshold condition based on the hit count of each shipment in the order information; directing a first robot to deliver the first target cargo to a first buffer location; and when a hit command for the first target cargo is detected, instructing the first robot to transport the first target cargo from the first temporary storage location to a work area for retrieving the first target cargo.

11. determining a second target cargo whose hit count does not satisfy a threshold condition based on the hit count of each cargo in the order information; directing the first robot to transport the second target cargo to a second buffer location; The warehousing control method according to claim 10, further comprising: when a transport completion signal transmitted from the first robot is received, instructing a second robot to transport the second target cargo from the second temporary storage location to a target storage location corresponding to the second target cargo.

12. A retrieval control method applied to the shelf according to any one of claims 1 to 8, determining a target shipment whose hit count satisfies a threshold condition based on a hit count of each shipment in the order information; determining a corresponding target staging location based on the storage location where the target cargo is located; directing a second robot to transport the target cargo from an existing storage location to the target staging location at a first time; and instructing a first robot to transport the target cargo from the target temporary storage location to a work area for retrieving the target cargo at a second time later than the first time.

13. A storage control device that is applied to the shelf according to any one of claims 1 to 8, a first determination module for determining a first target cargo whose hit count satisfies a threshold condition based on a hit count of each cargo in the order information; a first instruction module for instructing a first robot to transport the first target cargo to a first temporary storage location; a second instruction module that, when a hit command for the first target cargo is detected, instructs the first robot to transport the first target cargo from the first temporary storage position to a work area for retrieving the first target cargo.

14. a second determination module for determining a second target cargo whose hit count does not satisfy a threshold condition based on the hit count of each cargo in the order information; a third instruction module for instructing the first robot to transport the second target cargo to a second temporary storage location; The warehousing control device of claim 13, further comprising: a fourth instruction module that, when a transport completion signal transmitted from the first robot is received, instructs a second robot to transport the second target cargo from the second temporary storage location to a target storage location corresponding to the second target cargo.

15. A retrieval control device that is applied to the shelf according to any one of claims 1 to 8, a third determination module for determining a target cargo whose hit count satisfies a threshold condition based on a hit count of each cargo in the order information; a fourth determination module for determining a corresponding target staging location based on the storage location where the target cargo is located; a fifth instruction module for instructing a second robot to transport the target cargo from an existing storage location to the target staging location at a first time; and a sixth instruction module that instructs a first robot to transport the target cargo from the target temporary storage location to a work area for retrieving the target cargo at a second time that is later than the first time.

16. 11. An electronic device comprising a processor and a memory, the memory storing instructions which, when loaded and executed by the processor, implement the method of claim 10.

17. A computer program is stored in the A computer-readable storage medium, the computer program causing a processor to execute the method of claim 10.

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