Warehouse management methods, warehouse management equipment, warehouse management systems, electronic equipment, computer-readable storage media, and computer program products.

Abstract

The present disclosure provides warehouse management methods, apparatus, systems, equipment, and robots. Identifying attribute information including location information of a target location of a first container, which is a container for which a robot (12, 72) needs to perform a first operation, and when the target location is a deep location of a deep storage rack (13) and at least one second container (14) is placed in a location in front of the target location, determining at least one first cage from at least two vacant cages included in the robot, transmitting a first operation command to the robot to control the robot to take out each second container and place it in the at least one first cage, and transmitting a second operation command to the robot to control the robot to perform an operation corresponding to the second operation command on the first container, thereby taking out the first container from the target location or placing the first container in the target location, thereby reducing the number of robots, reducing the difficulty of scheduling, and optimizing warehouse management.

Description

Technical Field

[0001] This application claims the priority of the Chinese patent application with the application number 202210410348.2 and the invention title "Warehouse Management Method, Device, System, Equipment and Robot", which was filed with the Chinese Patent Office on April 19, 2022, and incorporates all its contents herein by reference.

[0002] This application relates to the technical field of smart warehouses, particularly to warehouse management methods, warehouse management devices, warehouse management systems, electronic equipment, Computer-readable storage media and Computer program products robots.

Background Art

[0003] In order to improve warehouse utilization rate, deep storage racks have emerged. A deep storage rack has a plurality of locations installed front and back. The deep storage rack can save the space of the warehouse and improve the warehouse utilization rate, but this type of rack causes inconvenience in loading and unloading goods. When it is necessary to perform the operation of taking out or storing goods for a location in the back, if there is a container placed at the corresponding front location, the operation of taking out or storing goods for the location in the back cannot succeed without moving the container.

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the prior art, usually, the first robot is controlled to carry out the container at the front location, and further, the second robot is controlled to execute the operation of taking out or storing goods for the location in the back. Since such a method requires multiple robots to cooperate with each other, the processing difficulty of the scheduling server, the warehouse management difficulty and the management cost will increase.

Means for Solving the Problems

[0005] In a first aspect, the warehouse management method provided in this disclosure is applied to a scheduling server in a warehouse system and to robots Purpose operation The process includes: identifying attribute information, including location information, of a target location for a first container which is a container that needs to be operated on; determining at least one first cage from at least two empty cages included in the robot, if the target location is a location at the back of a deep storage rack and at least one second container is located in a location in front of the target location corresponding to the target location; and sending a first operation command to the robot to control the robot to retrieve each second container and place them in at least one first cage, and sending a second operation command to the robot to control the robot to perform an operation on the first container corresponding to the second operation command, thereby retrieving the first container from the target location or placing the first container in the target location.

[0006] As an optional step, determining at least one first cage from at least two available cages included in the robot includes: determining whether or not there is at least one available location within the target range; if at least one available location exists, determining for each second container the first time required to control the robot to take out the second container and place it in the corresponding available location, and the second time required to control the robot to take out the second container and place it in the corresponding available cage; and comparing the first time and the second time for each second container, respectively, and determining at least one first cage from at least two available cages included in the robot based on the comparison result.

[0007] Optionally, the step of determining at least one first cage from at least two empty cages includes the steps of: obtaining location information of at least two empty cages; and determining at least one first cage from the empty cages based on the location information of each empty cage, wherein the empty cages include at least two third cages, or at least one second cage and at least two third cages, or at least two second cages and at least one third cage, wherein the second cages are relative to the first container Purpose operation When it is necessary to perform the second container, the third cage is used solely for temporary storage of the second container, and if the robot contains the second cage, the third cage is any cage of the robot other than the second cage, and if the robot does not contain the second cage, the third cage is any cage of the robot.

[0008] As an optional step, determining at least one first cage from the available cages based on the location information of each available cage includes the steps of: identifying the altitude difference between each available cage and the target location based on the location information of each available cage and the location information of the target location; and determining at least one first cage in order of increasing altitude difference between each available cage and the target location.

[0009] As an optional choice, the second time is the first time. That's all. In this case, the warehouse management method further includes the step of sending a third operational command to the robot to control the robot to retrieve the target second container and place it in a corresponding empty location, wherein the target second container is the second container whose corresponding second time is longer than the first time.

[0010] Optionally, the second operational command may include either an inbound command or an outbound command.

[0011] Optionally, the process includes sending a fourth operational command to the robot to control it to remove each second container from the first cage and place it in its corresponding forward location.

[0012] In a second aspect, the warehouse management method provided in this disclosure is applied to a robot in a warehouse system, the robot comprising at least two empty cages, and in response to a first operation command, at least one The second container is retrieved from the location preceding the target location and then the robot... at least one The process includes the steps of placing the container in a first cage and, in response to a second operation command, performing a corresponding operation on the first container to either remove the first container from the target location or place the first container in the target location, wherein the first and second operation commands are generated and transmitted by the scheduling server when the target location of the first container is located at the back of a deep storage rack and at least one second container is located in the location preceding the target location corresponding to the target location.

[0013] Optionally, the second operational command may include an inbound command and an outbound command.

[0014] Optionally, if the available cages include at least two third cages, or at least one second cage and at least two third cages, or at least two second cages and at least one third cage, the robot's first cage is determined based on the position information of the available cages.

[0015] Optionally, the process further includes the step of taking out the target second container and placing it in a corresponding vacant location in response to a third operation command, the third operation command being generated and transmitted by the scheduling server if the first time corresponding to the target second container is shorter than the second time, where the first time is the time required for the scheduling server to control the robot to take out the second container and place it in the corresponding vacant location, and the second time is the time required for the scheduling server to control the robot to take out the second container and place it in a corresponding vacant cage.

[0016] Optionally, the process may further include the step of removing each second container from the first cage and placing it in its corresponding front location in response to a fourth operational command.

[0017] In a third aspect, the warehouse management device provided in this disclosure is a robot Purpose operation The system includes: a determination module used to identify attribute information, including location information, of a target location of a first container which is a container that needs to be operated on; and, if the target location is a location at the back of a deep storage rack and at least one second container is placed in a location in front of the target location, a determination module used to determine at least one first cage from at least two empty cages included in the robot; and a transmission module used to send a first operation command to the robot to control the robot to take out each second container and place them in at least one first cage, and to send a second operation command to the robot to control the robot to perform an operation on the first container corresponding to the second operation command, thereby causing the first container to be taken out of the target location or placed in the target location.

[0018] Optionally, the decision module determines whether there is at least one available location within the target area, and if there is at least one available location, for each second container it determines a first time required to control the robot to retrieve the second container and place it in the corresponding available location, and a second time required to control the robot to retrieve the second container and place it in the corresponding available cage, and compares the first time and the second time for each second container, and based on the comparison results, determines at least one first cage from at least two available cages included in the robot.

[0019] Optionally, the decision module is used to acquire location information of at least two empty cages and, based on the location information of each empty cage, to determine at least one first cage from the empty cages, wherein the empty cages include at least two third cages, or include at least one second cage and at least two third cages, or include at least two second cages and at least one third cage, where the second cages are relative to the first container by the robot Purpose operation When it is necessary to perform the second container, the third cage is used solely for temporary storage of the second container, and if the robot contains the second cage, the third cage is any cage of the robot other than the second cage, and if the robot does not contain the second cage, the third cage is any cage of the robot.

[0020] Optionally, the decision module is used to determine at least one first cage in order of increasing altitude difference between each available cage and the target location, based on the location information of each available cage and the location information of the target location.

[0021] Optionally, the transmission module is further used to send a third operation instruction to the robot to control the robot to take out the second container to be targeted and place it in the corresponding empty location, where the second container to be targeted is a second container whose corresponding second time is longer than the first time.

[0022] Optionally, the second operation instruction includes either an inbound instruction or an outbound instruction.

[0023] Optionally, the transmission module is further used to send a fourth operation instruction to the robot to control the robot to take out each second container from the first cage and place it in the corresponding previous location. 。

[0024] As a fourth aspect, the warehouse management device provided in the present disclosure includes a processing module used to take out the second container from the location in front of the target location and place it in the first cage of the robot in response to the first operation instruction, and to execute the corresponding operation on the first container in response to the second operation instruction, so as to take out the first container from the target location or place the first container in the target location. The first operation instruction and the second operation instruction are generated and transmitted by the scheduling server when the target location of the first container is located at the location deep in the deep storage rack and at least one second container is placed at the location in front of the target location.

[0025] Optionally, the second operation instruction includes an inbound instruction and an outbound instruction.

[0026] Optionally, when the empty cage includes at least two third cages, or includes at least one second cage and at least two third cages, or includes at least two second cages and at least one third cage, the first cage of the robot is determined based on the location information of the empty cage.

[0027] Optionally, the processing module may also be used in response to a third operation command to retrieve the target second container and place it in a corresponding vacant location. The third operation command is generated and transmitted by the scheduling server when the first time corresponding to the target second container is shorter than the second time. The first time is the time required for the scheduling server to control the robot to retrieve the second container and place it in a corresponding vacant location, and the second time is the time required for the scheduling server to control the robot to retrieve the second container and place it in a corresponding vacant cage.

[0028] Optionally, the processing module may also be used in response to a fourth operational command to remove each second container from its corresponding first cage and place it in its corresponding front location.

[0029] In a fifth aspect, the warehouse management system provided in this disclosure includes a scheduling server and a robot, the scheduling server and the robot being communicated to each other, and the scheduling server to the robot Purpose operation The system identifies attribute information, including location information, of the target location of a first container which is a container that needs to be operated on. If the target location is a location at the back of a deep storage rack and at least one second container is placed in a location in front of the target location, the system determines at least one first cage from at least two empty cages included in the robot and uses it to send a first operation command and a second operation command to the robot. The robot responds to the first operation command by taking out at least one second container and placing it in at least one first cage, and responds to the second operation command by performing an operation on the first container corresponding to the second operation command, thereby taking the first container out of the target location or placing the first container in the target location.

[0030] Optionally, the scheduling server may determine whether at least one available location exists within the target range. If at least one available location exists, it may determine, for each second container, the first time required to control the robot to retrieve the second container and place it in the corresponding available location, and the second time required to control the robot to retrieve the second container and place it in the corresponding available cage. The first time and the second time corresponding to each second container are then compared, and the comparison results are used to determine at least one first cage from at least two available cages included in the robot.

[0031] Optionally, the scheduling server may acquire location information for at least two available cages and use it to determine at least one first cage from the available cages based on the location information for each available cage, wherein the available cages may include at least two third cages, or at least one second cage and at least two third cages, or at least two second cages and at least one third cage, where the second cages are relative to the first container Purpose operation When it is necessary to perform the second container, the third cage is used solely for temporary storage of the second container, and if the robot contains the second cage, the third cage is any cage of the robot other than the second cage, and if the robot does not contain the second cage, the third cage is any cage of the robot.

[0032] Optionally, the scheduling server may use the location information of each available cage and the location information of the target location to determine the altitude difference between each available cage and the target location, and then determine at least one first cage in order of the smallest altitude difference between each available cage and the target location.

[0033] Optionally, the scheduling server is further used to send a third operational command to the robot. The robot is further used to respond to the third operational command by retrieving a target second container and placing it in a corresponding available location, the target second container being a second container whose corresponding second time is longer than the first time.

[0034] Optionally, the second operational command may include either an inbound command or an outbound command.

[0035] Optionally, the scheduling server is further used to send a fourth operational command to the robot. The robot is further used in response to the fourth operational command to remove each second container from its corresponding first cage and place it in its corresponding front location.

[0036] In a sixth aspect, the electronic device provided in this disclosure includes at least one processor and a memory communicated to the at least one processor, the memory storing instructions executable by the at least one processor, and the instructions being executed by the at least one processor enabling the at least one processor to perform the method provided in the first aspect and any optional scheme thereof.

[0037] In a seventh aspect, the robot provided in this disclosure includes at least one processor and a memory communicated to the at least one processor, the memory storing instructions executable by the at least one processor, and the instructions being executed by the at least one processor so that the at least one processor can perform the method provided in the second aspect and any optional scheme thereof.

[0038] In an eighth aspect, a computer-readable storage medium provided in this disclosure stores computer execution commands, which, when executed by a processor, are used to implement the first aspect and any optional scheme thereof, or the second aspect and any optional scheme thereof.

[0039] In a ninth aspect, the computer program product provided in this disclosure includes a computer program / instruction, and when the computer program / instruction is executed by a processor, the first aspect and any optional thereof, or the second aspect and any optional thereof, is implemented.

[0040] The warehouse management method provided in this disclosure, warehouse management Device, warehouse management system, electronic device, Computer-readable storage media and Computer program products This can reduce the number of robots in the warehouse, lower the processing difficulty of the scheduling server and warehouse management, save warehouse management costs, and optimize the warehouse management process.

[0041] The warehouse management method provided in this disclosure, warehouse management Device, warehouse management system, electronic device, Computer-readable storage media and Computer program products is to the robot Purpose operationThe system identifies the attribute information of the target location of the first container that needs to be operated on, and if the target location is deep within a deep storage rack and at least one second container is located in the location preceding the target location, it determines at least one first cage from at least two empty cages included in the robot, sends a first operation command to the robot to control it to retrieve each second container and place them in at least one first cage, and sends a second operation command to the robot to control it to perform the operation corresponding to the second operation command on the first container, thereby retrieving the first container from the target location or placing the first container in the target location. This reduces the number of robots in the warehouse, lowers the processing difficulty of the scheduling server and warehouse management difficulty, saves warehouse management costs, and optimizes the warehouse management process. [Brief explanation of the drawing]

[0042] [Figure 1] Figure 1 is a schematic diagram of an application scenario of the warehouse management method provided in this disclosure. [Figure 2] Figure 2 is a schematic flowchart of the warehouse management method provided in this disclosure. [Figure 3] Figure 3 is another schematic flowchart of the warehouse management method provided in this disclosure. [Figure 4] Figure 4 is yet another schematic flowchart of the warehouse management method provided in this disclosure. [Figure 5] Figure 5 is a schematic diagram of the structure of the warehouse management device provided in this disclosure. [Figure 6] Figure 6 is another schematic diagram of the warehouse management device provided in this disclosure. [Figure 7] Figure 7 is a schematic diagram of the warehouse management system provided in this disclosure. [Figure 8] Figure 8 is a schematic diagram of the structure of the electronic device provided in this disclosure. [Figure 9] Figure 9 is a schematic diagram of the structure of the robot provided in this disclosure. [Modes for carrying out the invention]

[0043] While the drawings above illustrate some clear embodiments of this disclosure, a more detailed explanation follows. These drawings and textual descriptions are not intended to limit the scope of the concepts of this disclosure in any way, but are intended to illustrate the concepts of this disclosure to those skilled in the art by reference to specific embodiments.

[0044] Illustrative embodiments are described in detail here, and these examples are shown in the drawings. Where the drawings are referred to in the following description, unless otherwise stated, the same numbers in different drawings refer to the same or similar elements. The embodiments described in the following illustrated embodiments are not representative of all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some forms of the present disclosure detailed in the "Claims".

[0045] Deep storage racks include multiple locations located at the front and back. While deep storage racks can save warehouse space and improve warehouse utilization, this type of rack makes loading and unloading goods inconvenient. When it is necessary to retrieve or store goods in a back location, if a container is placed in the corresponding front location, the container must be moved before the operation to the back location can be successfully performed. Conventional technology typically involves controlling a first robot to move the container from the front location, and then controlling a second robot to perform the retrieval or storage operation for the back location. This method requires multiple robots to cooperate with each other, which increases the processing complexity of the scheduling server, as well as the complexity and cost of warehouse management.

[0046] When a robot performs an operation on a location at the back of a deep storage rack, if a cage installed on the robot body can be used to temporarily store containers on locations in front of it, then an operation on a location at the back of the deep storage rack can be completed by a single robot, effectively reducing the processing difficulty of the scheduling server and the difficulty of warehouse management, saving management costs, and optimizing the warehouse system. Based on this, the warehouse management method provided in this disclosure is applied to the scheduling server in the warehouse system. First, the scheduling server determines whether the target location corresponding to a first container that needs to be received or shipped is a location at the back of a deep storage rack, and if the target location is a location at the back of the deep storage rack, it determines whether a container is placed in the corresponding location in front of it. If the target location is a location at the back of the deep storage rack, and If a container is placed in the corresponding location in front of the robot, the robot retrieves an empty first cage on the robot body. Then, it sends an operation command to the robot to control it to pick up at least one container placed in the location in front of it and place it in at least one first cage, and also to control the robot to perform an inbound or outbound operation on the first container.

[0047] Figure 1 is a schematic diagram of an application scenario of the warehouse management method provided in this disclosure. As shown in Figure 1, the scenario includes a scheduling server 11, a robot 12, and a deep storage rack 13. 13 This refers to a rack having multiple locations in the depth direction of the rack, and the direction of the arrow in Figure 1 is, rack This corresponds to the depth direction. Figure 1 shows a two-tiered location rack in a deep storage rack, with a second container 14 placed in the location in front of the two-tiered location rack.

[0048] The scheduling server 11 and the robot 12 are connected by communication. The robot 12 includes at least two cages.

[0049] The scheduling server 11 identifies the attribute information of the target location of the first container. do. The attribute information of the target location includes the location information of the target location. nothing. When the target location is the location at the back of the deep storage rack 13, for example, the location at the back of the two-tiered location rack shown in the diagram, and a second container 14 is placed in the location in front of the target location, The scheduling server 11 is Determine the first cage that is available on the main body of robot 12.

[0050] The first container is placed in robot 12. Purpose operation This is a container that needs to run [the command / function].

[0051] As an optional choice, Purpose operation This could be either a vehicle entry operation or a vehicle exit operation.

[0052] The scheduling server 11 further sends a first operation command to the robot 12 to control the robot 12 to retrieve the second container and place it in at least one first cage, and also sends a second operation command to the robot 12 to control the robot 12 to perform an operation on the first container corresponding to the second operation command.

[0053] Note that the "back location" of a deep storage rack refers to any location other than the location closest to the front of the rack, while the "front location" refers to any location on the deep storage rack that is in front of the target location.

[0054] Figure 2 is a schematic flowchart of the warehouse management method provided in this disclosure. This method is applied to a scheduling server in a warehouse system. As shown in Figure 2, the method includes the following steps.

[0055] S201: Identify the attribute information of the target location of the first container.

[0056] The attribute information of the target location includes the location information of the target location.

[0057] The attribute information of the target location may further include the cargo loading status of the preceding location corresponding to the target location.

[0058] A deep storage rack includes at least two locations in the depth direction. Specifically, in the depth direction of the rack Deep storage racks are It includes one location at the very front of the rack and at least one location behind that front location. however, The deepest locations in a deep storage rack are any location in the rack's depth direction other than the frontmost location, and the frontmost location corresponds to one or more deepest locations.

[0059] If the target location is at the back of a deep storage rack, it may correspond to one or more locations in front of it. In this case, the locations in front are those between the frontmost location of the rack and the target location. and The location closest to the camera That is This interpretation applies to all references to the foreground location in the following statements of this disclosure.

[0060] The first container is for the robot Purpose operation This is a container that needs to run [the command / function].

[0061] Purpose operation This could be either a vehicle entry operation or a vehicle exit operation.

[0062] Purpose operationIf this is an outbound operation, the first container is located at the target location.

[0063] The scheduling server receives attribute information of target locations entered by the user via an interaction interface, or receives attribute information of target locations transmitted from other devices. It may also verify the attribute information of target locations using a correspondence list of each container and location stored within itself.

[0064] S202: If the target location is at the back of a deep storage rack and there is at least one second container in the location in front of the target location, then at least one first cage is selected from at least two empty cages included in the robot. Decide To determine.

[0065] The cage on the robot body may include a general cage that can load containers at any time, i.e., a cage that can load containers regardless of whether the robot is moving or stationary, and may also include a dedicated cage for temporary storage of containers. This type of dedicated cage is used when the robot is in the first container against Purpose operation When you execute ni Temporary storage of container 2 Used solely for that purpose. , Purpose operation After the execution is complete, the second container in the dedicated cage is moved, and the dedicated cage is empty of containers while the robot is moving.

[0066] If the robot body contains only the above-mentioned general cages, then at least one first cage is determined from at least two empty general cages contained within the robot.

[0067] When the robot body includes the above general cage and the above dedicated cage, if at least two empty cages included in the robot contain at least one dedicated cage and one general cage, then the above at least one From the dedicated cages, at least one first cage is determined. If the robot has at least two empty cages, including at least one dedicated cage and at least two general cages, at least one first cage is determined from the at least one dedicated cage and at least two general cages.

[0068] If the robot body includes both the general cage and the dedicated cage mentioned above, the dedicated cage should be positioned higher than the general cage. stomach. Since the containers are not loaded into the dedicated cage while the robot is moving, the center of gravity of the robot when fully loaded can be lowered, reducing shaking during movement and improving the safety of both the robot and the containers.

[0069] In one selectable embodiment, determining at least one first cage from at least two empty cages included in the robot involves obtaining positional information for at least two empty cages and determining at least one first cage from the empty cages based on the positional information for each empty cage.

[0070] An empty cage includes at least two third cages, or includes at least one second cage and at least two third cages, or includes at least two second cages and at least one third cage.

[0071] The second cage is a dedicated cage, and the robot is positioned relative to the first container. Purpose operation This cage is used solely for temporarily storing the second container when it is necessary to perform the second action. If the robot contains the second cage, the third cage is any of the robot's cages other than the second cage; if the robot does not contain the second cage, the third cage is any of the robot's cages.

[0072] Optionally, if the available cages include one second cage and one third cage, the second cage is determined to be the robot's first cage and is used to temporarily store the second container.

[0073] The scheduling server may obtain location information for all of the cages that are free, or it may obtain location information for only some of the cages.

[0074] For example, if an empty cage contains at least two third cages, or at least one second cage and at least two third cages, the scheduling server retrieves the location information for all empty cages. If an empty cage contains at least two second cages and at least one third cage, the scheduling server retrieves the location information for only all of the empty second cages.

[0075] By acquiring cage location information, the location information can be linked to rationally define the first cage, thereby increasing the cage utilization rate. Purpose operation This can ensure that it is carried out successfully.

[0076] Furthermore, as an optional choice, determining at least one first cage from the available cages based on the location information of each available cage includes identifying the altitude difference between each available cage and the target location based on the location information of each available cage and the location information of the target location, and determining at least one first cage in order of the smallest altitude difference between the location information of each available cage and the target location.

[0077] As can be seen from the above explanation, an empty cage may include a second cage or a third cage. The corresponding first cage may be either the second cage or the third cage.

[0078] According to this method, the first cage is selected from the closest one, reducing the handling time for the second container, and consequently shortening the entire processing process, thereby improving warehouse management efficiency.

[0079] Optionally, if the robot includes only one empty cage, and that cage is the third cage, and there are empty locations within the target range, the scheduling server may control the robot to remove each second container and place them in the empty locations.

[0080] S203: A first operation command is sent to the robot to control it to take out each of the second containers and place them in at least one of the first cages, and a second operation command is sent to the robot to control it to perform an operation on the first container corresponding to the second operation command, thereby either taking out the first container from the target location or placing the first container at the target location.

[0081] The first operational command is used to instruct the robot to retrieve each second container from the preceding location corresponding to the target location and place it in at least one first cage, that is, to temporarily store each second container in at least one first cage.

[0082] For example, if the target location corresponds to multiple second containers, the robot may take out each second container one by one and place them in at least one first cage, or it may take out multiple second containers together and place them in at least one first cage. One or more second containers can be placed in any one of the first cages.

[0083] As an optional choice, the second operation command is a storage command. and This includes either of the dispatch orders.

[0084] If the second operational command is a receiving command, the second operational command is used to control the robot to transport the first container and place it at the target location. If the second operational command is a retrieval command, the second operational command is used to control the robot to retrieve the first container from the target location and transport it to its destination (for example, to place it in its own cage).

[0085] Optionally, the second operation command may be sent after the robot has completed executing the first operation command, or it may be sent simultaneously with the first operation command.

[0086] Optionally, the first operation command includes location information for the first cage and attribute information for each of the second containers. The attribute information for the second containers may include location information for the location of the second container, container size information, etc.

[0087] Optionally, if there are no more than two empty cages on the robot body, or if only one empty cage exists, the robot can be controlled to retrieve each second container and place it in an empty location. In other words, each second container can be temporarily stored on the rack. Optionally, an empty location close to the target location can be selected to temporarily store the second container.

[0088] As an optional measure, if the number of empty cages on the robot body is less than the number of second containers, the robot may be controlled to remove each second container and place it in an empty location. Alternatively, the robot may be controlled to remove some of the second containers and place them in an empty location. Another Some of the second containers may be placed in empty cages.Optionally, each second container Based on the first and second times corresponding to the second container You can decide whether to place it in an empty location or in an empty cage.

[0089] The warehouse management method provided in this disclosure identifies the attribute information of the target location of a first container. If the target location is at the back of a deep storage rack and at least one second container is located in the location preceding the target location, the method determines an available first cage on the robot body, sends a first operation command to the robot to control it to retrieve each second container and place them in at least one first cage, and sends a second operation command to the robot to control it to perform an operation on the first container corresponding to the second operation command. This enables the temporary storage of containers in locations preceding the deep storage rack using the cage on the robot body as an intermediary. Not only does this provide a new warehouse management method, but it also optimizes the warehouse system, reduces the number of robots in the warehouse, lowers the processing difficulty of the scheduling server and the warehouse management difficulty, and saves management costs.

[0090] Figure 3 is another schematic flowchart of the warehouse management method provided in this disclosure. This method is applied to a scheduling server in a warehouse system. Based on the embodiment shown in Figure 2, Figure 3 further describes in detail how to determine the available first cage on the robot body. As shown in Figure 3, the method includes the following steps.

[0091] S301: Identify the attribute information of the target location of the first container.

[0092] S301 has the same or comparable technical characteristics as S201, and a detailed explanation can be found in S201, so it will not be repeated here.

[0093] S302: If the target location is at the back of a deep storage rack, and there is at least one second container in the location in front of the target location, determine whether there is at least one empty location within the target range.

[0094] An empty location is a location that is currently vacant, and specifically, it can be the location at the very front of the rack or a location at the very back of the rack. If the empty location is at the back, the corresponding location at the front must also be empty.

[0095] The scope may be a predetermined range corresponding to the target location, or a predetermined range corresponding to the second container.

[0096] The scheduling server may determine whether or not there are available locations within the target area using its own image acquisition means, or it may obtain information entered by the user and determine whether or not there are available locations within the target area based on that information. This is not limited to the above.

[0097] S303: If at least one empty location exists, for each second container, determine the first time required to control the robot to retrieve the second container and place it in the corresponding empty location, and the second time required to control the robot to retrieve the second container and place it in the corresponding empty cage.

[0098] Optionally, when calculating the first time, the free locations corresponding to the second container may include one or more free locations within the scope. Accordingly, any one of the second containers may correspond to one or more first times.

[0099] If the second container corresponds to one available location, that available location may be selected from at least one available location according to a predetermined rule. The predetermined rule is that the distance between that location and the location where the second container is located is the shortest. Ikoto , or The first time for the second container corresponding to the location in question may be the shortest.

[0100] When calculating the second time, the empty cages corresponding to the second container may include some or all of the empty cages. stomach. If the empty cage corresponding to the second container is part of the empty cages, and for example the empty cage corresponding to the second container is one empty cage, then that cage may be a cage selected from multiple empty cages according to a predetermined rule. For example the cage in which the second container is located Location The difference in altitude is the greatest small This is the cage. Also, for example, the second time corresponding to this cage is the shortest.

[0101] For example, identifying a first time required to control a robot to retrieve a second container and place it in a corresponding empty location may be multiple first times required to control a robot to retrieve a second container and place it in each empty location, or it may be a first time required to control a robot to retrieve a second container and place it in the empty location closest to the second container.

[0102] For example, identifying the second time required to control the robot to retrieve the second container and place it in the corresponding empty cage could be multiple second times required to control the robot to retrieve the second container and place it in each empty cage, or to control the robot to retrieve the second container and determine the altitude difference between the second container and the nearest empty cage. small This could also involve determining the second time required to place the animal in an empty cage.

[0103] Optionally, one of the second containers may correspond to multiple first times and multiple second times, one first time and one second time, one first time and multiple second times, or multiple first times and one second time.

[0104] Optionally, for each second container, the first time period may be controlled to remove the second container and place it in the corresponding empty location, and then the robot may be controlled to return to the first container. Purpose operation This could also be the total time required to execute the command, and after its completion, to retrieve the second container from its corresponding free location and place it in a suitable location. This location could be the original location of the second container or any other location.

[0105] In the second time, the robot is controlled to remove the second container and place it in the corresponding empty cage, and then the robot is controlled to return to the first container. Purpose operation This could also be the total time required to execute the command, and after completion, to remove the second container from the empty cage and place it on the rack. Optionally, the second container may or may not be returned to its original location.

[0106] Optionally, the first time corresponding to each second container may be the sum of the time required to control the robot to retrieve the second container and place it in the corresponding empty location, and the time required to control the robot to retrieve the second container from the corresponding empty location and place it in a suitable location. This location may be the original location of the second container or any other location.

[0107] The second time may be the sum of the time required to control the robot to retrieve the second container and place it in the corresponding empty cage, and the time required to control the robot to retrieve the second container from the corresponding empty cage and place it in the rack. Optionally, the second container may or may not be returned to its original location.

[0108] S304: Compare the first time and the second time corresponding to each second container, and the comparison results However, the first time must be greater than or equal to the second time. Based on this, at least one first cage is determined from at least two empty cages included in the robot.

[0109] Optionally, if the first time corresponding to each second container is greater than or equal to the corresponding second time, at least one first cage is selected from at least two empty cages included in the robot. This at least one first cage is used to temporarily store each second container.

[0110] Furthermore, as described above, since any one second container may correspond to multiple second times, if, for any one second container, the first time corresponding to that second container is greater than or equal to all of the corresponding second times, then determining at least one first cage from at least two empty cages included in the robot may specifically mean determining the cage corresponding to the shortest second time among the multiple second times corresponding to that second container as the first cage corresponding to that second container. It is also possible that any one second container corresponds to only one second time, in which case the cage corresponding to that second time is determined as the first cage corresponding to that second container.

[0111] Optionally, if the second container contains both a first-type container where the corresponding first time is equal to or greater than the corresponding second time, and a second-type container where the corresponding first time is shorter than the corresponding second time, then at least one first cage may be selected from at least two available cages in the robot, and that at least one first cage may be used to temporarily store the first-type containers, while the second-type containers may be temporarily stored in an available location.

[0112] If the first time corresponding to each second container is shorter than the corresponding second time, the second container is temporarily stored in an available location.

[0113] Furthermore, as described above, since any one second container may correspond to multiple first times, if all first times corresponding to a second container are shorter than the corresponding second times, then temporarily storing the second container in an empty location may specifically mean determining the location corresponding to the shortest first time among the multiple first times corresponding to the second container as the empty location for temporary storage of the second container, and then temporarily storing the second container in that empty location. It is also possible that any one second container corresponds to only one first time, in which case the second container will be temporarily stored in the empty location corresponding to that first time.

[0114] Optionally, the process further includes, for any one of the second containers, sending a third operational command to the robot if the first time is shorter than the second time, to control the robot to retrieve the second container and place it in a corresponding empty location.

[0115] If the first time is shorter than the second time, it means that the time required to temporarily store the second container using an empty location as an intermediary is shorter than the time required to temporarily store the second container using the cage on the robot body as an intermediary. Therefore, if the first time is shorter than the second time, by controlling the robot to retrieve each second container and place it in an empty location, the operation on the second container can be completed in a shorter time, shortening the overall processing process and improving warehouse management efficiency.

[0116] S305: A first operation command is sent to the robot to control it to take out each of the second containers and place them in at least one of the first cages, and a second operation command is sent to the robot to control it to perform an operation on the first container corresponding to the second operation command, thereby either taking out the first container from the target location or placing the first container at the target location.

[0117] S305 has the same or equivalent technical characteristics as S203, and a detailed explanation can be found in S203, so it will not be repeated here.

[0118] Optionally, the following steps may also be included. S306: A fourth operational command is sent to the robot to control it to remove at least one second container from the corresponding first cage and place it in the corresponding front location.

[0119] According to this method, for the first container Purpose operation After the execution is complete, the second container can be returned to its original position. This not only simplifies warehouse management and improves warehouse management efficiency, but also reduces the load on the robot and increases the utilization rate of the robot cage.

[0120] The warehouse management method provided in this disclosure is based on the above embodiment and further determines whether or not there is at least one empty location within the target area. If at least one empty location exists, for each second container, it identifies a first time required to control the robot to retrieve the second container and place it in the corresponding empty location, and a second time required to control the robot to retrieve the second container and place it in the corresponding empty cage. The first time and the second time corresponding to each second container are compared, and based on the comparison result, at least one first cage is determined from at least two empty cages included in the robot. Furthermore, a first operation command is sent to the robot to control it to retrieve each second container and place it in at least one first cage, and a second operation command is sent to the robot to control it to execute the operation corresponding to the second operation command on the first container. This effectively shortens the execution time of the first operation performed on the second container, thereby improving warehouse management efficiency and enhancing the processing efficiency and utilization rate of the robot.

[0121] Figure 4 is another schematic flowchart of the warehouse management method provided in this disclosure. The method is applied to a robot in a warehouse system, the robot includes at least two empty cages. As shown in Figure 4, the method includes the following steps:

[0122] S401: In response to the first operation command, retrieve at least one second container from a preceding location corresponding to the target location and place it in at least one first cage of the robot.

[0123] Optionally, the first operation command includes location information for the first cage and attribute information for each of the second containers. The attribute information for the second containers may include location information for the location of the second container, container size information, etc.

[0124] Optionally, if the available cages include at least two third cages, or at least one second cage and at least two third cages, the robot's first cage is the available cage with the smallest altitude difference from the target location.

[0125] S402: In response to the second operation command, the first container is either removed from the target location or placed back into the target location by performing the corresponding operation on the first container.

[0126] The first and second operation commands are generated and transmitted by the scheduling server when the target location of the first container is located at the back of the deep storage rack, and at least one second container is located in the location in front of the target location.

[0127] The second operational command may be either a dispatch command or a return command.

[0128] If the second operation command is an outbound command, the robot performing the corresponding operation on the first container includes removing the first container from the target location, and if the second operation command is an inbound command, the robot performing the corresponding operation on the first container includes placing the first container at the target location.

[0129] Optionally, the second operation command may be received after the robot has executed the first operation command, or it may be received simultaneously with the first operation command.

[0130] Optionally, performing a corresponding operation on the first container includes, if the second operation command is a receiving command, removing the first container from the robot's cage and placing it at the target location, and if the second operation command is a shipping command, removing the first container from the target location and placing it in the robot's fourth cage. The fourth cage is the third cage of the robot, which is currently empty.

[0131] Optionally, the method further includes the step of taking out the target second container and placing it in a corresponding empty location in response to a third operational command.

[0132] The third operation command is generated and sent by the scheduling server if the first time corresponding to the target second container is shorter than the second time.

[0133] Optionally, one of the second containers may correspond to multiple first times and multiple second times, one first time and one second time, one first time and multiple second times, or multiple first times and one second time.

[0134] Optionally, for each second container, the first time period may be controlled to remove the second container and place it in the corresponding empty location, and then the robot may be controlled to return to the first container. Purpose operation This is the total time required to execute the command, and after its completion, to retrieve the second container from its corresponding free location and place it in the location preceding the target location.

[0135] In the second time, the robot is controlled to remove the second container and place it in the corresponding empty cage, and then the robot is controlled to return to the first container. Purpose operation Execute the command, and after it is completed, the second container Corresponding available cagesThis is the total time required to retrieve the item and place it in the preceding location corresponding to the target location.

[0136] Optionally, the first time corresponding to each second container is the sum of the time required to control the robot to retrieve the second container and place it in the corresponding empty location, and the time required to control the robot to retrieve the second container from the corresponding empty location and place it in the location preceding the target location.

[0137] The second time is the sum of the time required to control the robot to retrieve the second container and place it in the corresponding empty cage, and the time required to control the robot to retrieve the second container from the corresponding empty cage and place it in the location preceding the target location.

[0138] Optionally, the method further includes the step of removing each second container from the corresponding first cage and placing it in the corresponding front location in response to a fourth operational command.

[0139] The warehouse management method provided in this disclosure allows for the temporary storage of a container located in front of a deep storage rack by using an empty cage on the robot body as an intermediary. This is achieved by retrieving a second container in response to a first operation command, placing it in a first cage on the robot, and then performing a corresponding operation on the first container in response to a second operation command. This method not only provides a new warehouse management method but also optimizes the warehouse system, reduces the number of robots, lowers the processing difficulty of the scheduling server and warehouse management, and saves management costs.

[0140] Figure 5 is a schematic diagram of the structure of the warehouse management device provided in this disclosure. As shown in Figure 5, the device includes a determination module 51 and a transmission module 52.

[0141] The decision module 51 identifies the attribute information of the target location of the first container. The attribute information of the target location includes the location information of the target location, and the first container is used by the robot. Purpose operation This is a container that needs to run [the command / function].

[0142] The decision module 51 further determines at least one first cage from at least two empty cages included in the robot if the target location is a location at the back of a deep storage rack and at least one second container is placed in the location in front of the target location.

[0143] The transmitting module 52 transmits a first operation command to the robot to control the robot to take out each second container and place it in at least one first cage, and also transmits a second operation command to the robot to control the robot to perform an operation on the first container corresponding to the second operation command, thereby causing the first container to be taken out of the target location or placed in the target location.

[0144] Optionally, the decision module 51 determines whether there is at least one available location within the target range. If at least one available location exists, for each second container, it determines a first time required to control the robot to retrieve the second container and place it in the corresponding available location, and a second time required to control the robot to retrieve the second container and place it in the corresponding available cage. It then compares the first and second times for each second container and, based on the comparison results, determines at least one first cage from at least two available cages included in the robot.

[0145] Optionally, the decision module 51 specifically acquires position information for at least two empty cages and, based on the position information for each empty cage, determines at least one first cage from the empty cages. The empty cages include at least two third cages, or include at least one second cage and at least two third cages, or include at least two second cages and at least one third cage, where the second cages are relative to the first container by the robot Purpose operation When it is necessary to perform the second container, the third cage is used solely for temporary storage of the second container, and if the robot contains the second cage, the third cage is any cage of the robot other than the second cage, and if the robot does not contain the second cage, the third cage is any cage of the robot.

[0146] As an optional choice, the decision module 51 specifically identifies the altitude difference between each available cage and the target location based on the location information of each available cage and the location information of the target location, and determines at least one first cage in order of the smallest altitude difference between the location information of each available cage and the target location.

[0147] Optionally, the transmitting module 51 further transmits a third operation command to the robot to control it, causing it to retrieve the target second container and place it in a corresponding empty location. The target second container is the second container whose corresponding second time is longer than the first time.

[0148] Optionally, the second operational command may include either an inbound command or an outbound command.

[0149] Optionally, the transmitting module 52 may also be used to transmit a fourth operation command to the robot to control it to remove each second container from its corresponding first cage and place it in its corresponding front location.

[0150] The warehouse management device is capable of executing the warehouse management method shown in Figure 2 or Figure 3 above. The details and effects of this method can be found in the section on the embodiment of the method, so a detailed explanation will not be repeated here.

[0151] Figure 6 is a schematic diagram of another structure of the warehouse management device provided in this disclosure. As shown in Figure 6, the device includes a processing module 61.

[0152] The processing module 61, in response to the first operation command, retrieves the second container from the location preceding the target location and places it in the robot's first cage, and in response to the second operation command, performs the corresponding operation on the first container to either retrieve the first container from the target location or place the first container in the target location. The first and second operation commands are generated and transmitted by the scheduling server when the target location of the first container is located at the back of the deep storage rack and at least one second container is placed in the location preceding the target location.

[0153] Optionally, the second operational command may include an inbound command and an outbound command.

[0154] Optionally, if the available cages include at least two third cages, or at least one second cage and at least two third cages, or at least two second cages and at least one third cage, the robot's first cage is determined based on the position information of the available cages.

[0155] Optionally, the processing module 61 may, in response to a third operation command, retrieve the target second container and place it in the corresponding empty location. The third operation command is the target second container againstIf the corresponding first time is shorter than the second time, it is generated and transmitted by the scheduling server. The first time is the time required for the scheduling server to control the robot to retrieve the second container and place it in the corresponding available location, and the second time is the time required for the scheduling server to control the robot to retrieve the second container and place it in the corresponding available cage.

[0156] Optionally, the processing module 61 may, in response to a fourth operation command, remove each second container from the corresponding first cage and place it in the corresponding front location.

[0157] The warehouse management device is capable of executing the warehouse management method shown in Figure 4 above. The details and effects of this method can be found in the section on the embodiment of the method, so a detailed explanation will not be repeated here.

[0158] Figure 7 is a schematic diagram of the structure of the warehouse management system provided in this disclosure. As shown in Figure 7, the system includes a scheduling server 71 and a robot 72, and the scheduling server 71 and the robot 72 are connected by communication.

[0159] The scheduling server 71 identifies the attribute information of the target location of the first container. The attribute information of the target location includes the location information of the target location, and the first container is assigned to the robot. Purpose operation This is a container that needs to be executed. If the target location is at the back of a deep storage rack and there is at least one second container in the location in front of the target location, then at least one first cage is selected from at least two empty cages included in the robot, and a first operation command and a second operation command are sent to the robot 72.

[0160] In response to the first operation command, the robot 72 takes out the second container and places it in at least one of the first cages, and in response to the second operation command, it performs an operation on the first container corresponding to the second operation command, thereby either taking the first container out of the target location or placing the first container back into the target location.

[0161] Optionally, the scheduling server 71 determines whether there is at least one available location within the target range. If at least one available location exists, it determines, for each second container, the first time required to control the robot to retrieve the second container and place it in the corresponding available location, and the second time required to control the robot to retrieve the second container and place it in the corresponding available cage. It then compares the first time and the second time for each second container and, based on the comparison result, determines at least one first cage from at least two available cages included in the robot.

[0162] Optionally, the scheduling server 71 obtains location information for at least two available cages and, based on the location information for each available cage, determines at least one first cage from the available cages. The available cages may include at least two third cages, or at least one second cage and at least two third cages, or at least two second cages and at least one third cage, where the second cages are relative to the first container by the robot. Purpose operation When it is necessary to perform the second container, the third cage is used solely for temporary storage of the second container, and if the robot contains the second cage, the third cage is any cage of the robot other than the second cage, and if the robot does not contain the second cage, the third cage is any cage of the robot.

[0163] As an optional choice, the scheduling server 71 specifically identifies the altitude difference between each available cage and the target location based on the location information of each available cage and the location information of the target location, and determines at least one first cage in order of the smallest altitude difference between the location information of each available cage and the target location.

[0164] Optionally, the scheduling server 71 further transmits a third operation command to the robot.

[0165] Robot 72 further responds to the third operational command by taking out the target second container and placing it in the corresponding empty location. The target second container is the second container whose corresponding second time is longer than the first time.

[0166] Optionally, the second operational command may include either an inbound command or an outbound command.

[0167] Optionally, the scheduling server 71 further transmits a fourth operation command to the robot.

[0168] Robot 72 further responds to the fourth operational command by removing each second container from its corresponding first cage and placing it in its corresponding front location.

[0169] The warehouse management system is capable of implementing the above-described warehouse management method, and its details and effects can be found in the section on the implementation of the method; therefore, a detailed explanation will not be repeated here.

[0170] Figure 8 is a schematic diagram of the structure of the electronic device provided in this disclosure. As shown in Figure 8, the electronic device of this embodiment includes a processor 81 and a memory 82, the processor 81 and the memory 82 being communicated together. The memory 82 is used to store computer programs. The processor 81 is used to call the computer programs stored in the memory 82 to implement the method in the above embodiment.

[0171] Optionally, the electronic device may further include a transceiver 83 for enabling communication with other devices.

[0172] The electronic device is capable of performing the warehouse management method shown in Figure 2 or Figure 3 above, and its details and effects can be found in the section on the embodiment of the method, so no further explanation will be given.

[0173] Figure 9 is a schematic diagram of the structure of the robot provided in this disclosure. As shown in Figure 9, the robot of this embodiment includes a processor 91 and a memory 92, the processor 91 and the memory 92 being communicated together. The memory 92 is used to store computer programs. The processor 91 is used to call the computer programs stored in the memory 92 to implement the method in the above embodiment.

[0174] Optionally, the robot may further include a transceiver 93 for communicating with other devices.

[0175] The robot is capable of performing the warehouse management method shown in Figure 4 above. The details and effects of this method can be found in the section on the embodiment of the method, so a repetition of the explanation will not be provided.

[0176] This disclosure further provides a computer-readable storage medium. The computer-readable storage medium stores computer execution commands, which, when executed by a processor, are used to implement the method in any one of the above-described embodiment.

[0177] The computer execution command stored in the computer-readable storage medium can realize the above-described warehouse management method when executed by the processor, but its contents and effects can be found in the section on the embodiment of the method, so we will not repeat the explanation here.

[0178] This disclosure further provides a computer program product including a computer program / directive. When the computer program / directive is executed by a processor, the method in any one of the above-described embodiment of the method is realized.

[0179] The computer execution commands stored in the computer-readable storage medium can realize the above-described warehouse management method when executed by the processor, but their contents and effects can be found in the section on the embodiment of the method, so we will not repeat the explanation.

[0180] Finally, the embodiments described above are used solely to illustrate the technical scheme of this disclosure and are not limiting. While the disclosure has been described in detail with reference to the embodiments, those skilled in the art will understand that the technical schemes described in the embodiments can be further modified or some or all of the technical features can be replaced with equivalent ones. However, such modifications or replacements will not cause the essence of the technical scheme to deviate from the scope of the technical schemes of the embodiments of this disclosure.

Claims

1. Applicable to scheduling servers in warehouse systems, A step of identifying attribute information, including location information, of the target location of a first container, which is a container that needs to be used to perform a target operation on a robot, If the target location is a location at the back of a deep storage rack, and at least one second container is placed in a location in front of the target location, the steps include determining at least one first cage from at least two empty cages included in the robot, The process includes the steps of: transmitting a first operation command to the robot to control the robot to remove each of the second containers and place them in the at least one first cage; and transmitting a second operation command to the robot to control the robot to perform an operation on the first container corresponding to the second operation command, thereby removing the first container from the target location or placing the first container in the target location. The step of determining at least one first cage from at least two empty cages included in the robot is: The steps include determining whether or not there is at least one available location within the target area, If at least one available location exists, the steps include: determining, for each of the second containers, a first time required to control the robot to retrieve the second container and place it in the corresponding available location, and a second time required to control the robot to retrieve the second container and place it in the corresponding available cage; The process includes the step of comparing the first time and the second time corresponding to each of the second containers, and determining, based on the comparison result that the first time is greater than or equal to the second time, to select at least one first cage from at least two empty cages included in the robot as the cage for placing the second container, Warehouse management method.

2. The step of determining at least one first cage from the at least two empty cages is: The steps include obtaining location information for at least two of the aforementioned empty cages, The step of determining the at least one first cage from the available cages based on the location information of each of the available cages, The empty cage includes at least two third cages, or includes at least one second cage and at least two third cages, or includes at least two second cages and at least one third cage, wherein the second cage is used solely for temporarily storing the second container when the robot needs to perform a target operation on the first container, and if the robot includes the second cage, the third cage is any cage of the robot other than the second cage, and if the robot does not include the second cage, the third cage is any cage of the robot. The warehouse management method according to claim 1.

3. The step of determining the at least one first cage from the available cages based on the location information of each of the available cages is: A step of identifying the altitude difference between each of the empty cages and the target location based on the location information of each empty cage and the location information of the target location, The step of determining the at least one first cage in order of increasing altitude difference between the location information of each of the empty cages and the target location, The warehouse management method according to claim 2.

4. The comparison result further includes the step of transmitting a third operation command to the robot based on the finding that the first time is shorter than the second time, thereby controlling the robot to retrieve the target second container and place it in a corresponding empty location, wherein the target second container is the second container for which the corresponding first time is shorter than the second time. The warehouse management method according to claim 1.

5. The further step includes transmitting a fourth operation command to the robot to control the robot to remove each of the second containers from the corresponding first cage and place them in the corresponding front location. A warehouse management method according to any one of claims 1 to 4.

6. This applies to a robot in a warehouse system, the robot comprising at least two empty cages, In response to a first operation command, the steps include: taking at least one second container from a location preceding the target location and placing it in at least one first cage of the robot; The process includes the step of performing a corresponding operation on the first container in response to a second operation command, thereby removing the first container from the target location or placing the first container in the target location, The first and second operation commands are generated and transmitted by the scheduling server when the target location of the first container is located at the back of the deep storage rack, and at least one second container is located in the location in front of the target location. A warehouse management method, If the target location of the first container is located at the back of the deep storage rack, and at least one second container is located in the front location corresponding to the target location, the scheduling server determines the at least one first cage from at least two available cages included in the robot. The decision made by the scheduling server is, To determine whether or not there is at least one vacant location within the target area, If at least one available location exists, for each of the second containers, a first time required to control the robot to retrieve the second container and place it in the corresponding available location, and a second time required to control the robot to retrieve the second container and place it in the corresponding available cage, are to be determined. The process includes comparing the first time and the second time corresponding to each of the second containers, and determining, based on the comparison result that the first time is greater than or equal to the second time, to select at least one first cage from at least two empty cages included in the robot as the cage for placing the second container, Warehouse management method.

7. This is used to identify attribute information, including location information, of the target location of the first container, which is a container that needs to be used to perform a target operation on a robot. Furthermore, if the target location is a location at the back of a deep storage rack, and at least one second container is placed in a location in front of the target location, a determination module is used to determine at least one first cage from at least two empty cages included in the robot, The system includes a transmission module used to either remove the first container from the target location or place the first container in the target location, by transmitting a first operation command to the robot to control the robot to remove the second container and place it in the first cage, and by transmitting a second operation command to the robot to control the robot to perform an operation on the first container corresponding to the second operation command, The decision made by the aforementioned decision module is To determine whether or not there is at least one vacant location within the target area, If at least one available location exists, for each of the second containers, a first time required to control the robot to retrieve the second container and place it in the corresponding available location, and a second time required to control the robot to retrieve the second container and place it in the corresponding available cage, are to be determined. The process includes comparing the first time and the second time corresponding to each of the second containers, and determining, based on the comparison result that the first time is greater than or equal to the second time, to select at least one first cage from at least two empty cages included in the robot as the cage for placing the second container, Warehouse management equipment.

8. The system includes a processing module used to retrieve the first container from the target location or to place the first container at the target location by performing a corresponding operation on the first container in response to a first operation command, and to retrieve the first container from the target location or to place the first container at the target location, in response to a second operation command. The first and second operation commands are generated and transmitted by the scheduling server when the target location of the first container is located at the back of the deep storage rack, and at least one second container is located in the location in front of the target location. If the target location of the first container is located at the back of the deep storage rack, and at least one second container is located in the front location corresponding to the target location, the scheduling server determines at least one of the first cages from at least two available cages included in the robot. The decision made by the scheduling server is, To determine whether or not there is at least one vacant location within the target area, If at least one available location exists, for each of the second containers, a first time required to control the robot to retrieve the second container and place it in the corresponding available location, and a second time required to control the robot to retrieve the second container and place it in the corresponding available cage, are to be determined. The process includes comparing the first time and the second time corresponding to each of the second containers, and determining, based on the comparison result that the first time is greater than or equal to the second time, to select at least one first cage from at least two empty cages included in the robot as the cage for placing the second container, Warehouse management equipment.

9. It includes a scheduling server and a robot, and the scheduling server and the robot are connected by communication. The scheduling server is used to identify attribute information, including location information, of the target location of a first container which is a container that needs to be made to perform a target operation on the robot, and if the target location is a location at the back of a deep storage rack and at least one second container is placed in a location in front of the target location, to determine at least one first cage from at least two empty cages included in the robot, and to transmit a first operation command and a second operation command to the robot. The robot is used to retrieve the first container from the target location or to place the first container in the target location by responding to the first operation command by taking out the at least one second container and placing it in the at least one first cage, and by performing an operation on the first container corresponding to the second operation command in response to the second operation command. The decision made by the scheduling server is, To determine whether or not there is at least one vacant location within the target area, If at least one available location exists, for each of the second containers, a first time required to control the robot to retrieve the second container and place it in the corresponding available location, and a second time required to control the robot to retrieve the second container and place it in the corresponding available cage, are to be determined. The process includes comparing the first time and the second time corresponding to each of the second containers, and determining, based on the comparison result that the first time is greater than or equal to the second time, to select at least one first cage from at least two empty cages included in the robot as the cage for placing the second container, Warehouse management system.

10. At least one processor, Includes a memory that is communicated to at least one of the processors, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to cause the at least one processor to perform the warehouse management method according to any one of claims 1 to 4. electronic equipment.

11. A computer-readable storage medium in which computer execution commands are stored, wherein when a processor executes the computer execution commands, the warehouse management method described in any one of claims 1 to 4 is realized. Computer-readable storage medium.

12. A computer program product including a computer program, wherein when the computer program is executed by a processor, the warehouse management method described in any one of claims 1 to 4 is realized. Computer program products.

13. Applicable to scheduling servers in warehouse systems, A step of identifying attribute information, including location information, of the target location of a first container, which is a container that needs to be used to perform a target operation on a robot, If the target location is a location at the back of a deep storage rack, and at least one second container is placed in a location in front of the target location, the steps include determining at least one first cage from at least two empty cages included in the robot, The process includes the steps of: transmitting a first operation command to the robot to control the robot to remove each of the second containers and place them in the at least one first cage; and transmitting a second operation command to the robot to control the robot to perform an operation on the first container corresponding to the second operation command, thereby removing the first container from the target location or placing the first container in the target location. The step of determining at least one first cage from the at least two empty cages is: The steps include obtaining location information for at least two of the aforementioned empty cages, The step of determining the at least one first cage from the available cages based on the location information of each of the available cages, The empty cage includes at least two third cages, or includes at least one second cage and at least two third cages, or includes at least two second cages and at least one third cage, wherein the second cage is used solely for temporarily storing the second container when the robot needs to perform a target operation on the first container, and if the robot includes the second cage, the third cage is any cage of the robot other than the second cage, and if the robot does not include the second cage, the third cage is any cage of the robot. The step of determining the at least one first cage from the available cages based on the location information of each of the available cages is: A step of identifying the altitude difference between each of the empty cages and the target location based on the location information of each empty cage and the location information of the target location, The step of determining the at least one first cage in order of increasing altitude difference between the location information of each of the empty cages and the target location, Warehouse management method.

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