In-warehouse picking control method and system

Abstract

An in-warehouse picking control method and system. The method is applied to a stereoscopic warehouse, which comprises a plurality of racks (10), wherein each rack (10) is provided with a plurality of layers of storage spaces (101), and goods boxes (104) are placed at storage locations in the storage spaces (101). According to the current order, a control server is configured to: on the basis of picked-goods information of the current order, determine a first target storage location (B1) where first picked goods (A1) are located; control a first in-warehouse picking robot (C1) corresponding to the first target storage location (B1) to pick up the first picked goods (A1) and place same onto a transferring assembly or transferring goods box of a ground freight robot (D1); dispatch the ground freight robot (D1) to move to a second target storage location (B2) where second picked goods (A2) are located, wherein the ground freight robot (D1) is located within a reachable range of a second in-warehouse picking robot (C2); control the second in-warehouse picking robot (C2) to pick up the second picked goods (A2) from the second target storage location (B2) and place the second picked goods onto the transferring assembly or transferring goods box of the ground freight robot (D1); and repeat the above steps to complete a rapid order fulfillment and outbound process.

Description

In-stock picking control method and system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 2023115750438, filed with the Chinese Patent Office on November 23, 2023, entitled “In-Warehouse Picking Control Method and System,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the technical field of warehouse picking, and in particular to a warehouse picking control method and system. Background Art

[0004] Warehousing is the most costly part of logistics. Existing warehousing systems require the construction of storage bases or centers. Modern logistics warehouses store goods in fixed environments and, under the guidance of business orders, process incoming, outgoing, returned, and consolidating goods by SKU, date, and sequence. For example, in existing three-dimensional warehousing systems, outgoing goods require warehouse robots to remove boxes or goods one by one from warehouse shelves. These robots then deliver the boxes or goods to workstations or picking systems.

[0005] Therefore, the existing warehousing and transportation systems not only have reduced warehousing entry and exit efficiency, insufficient space utilization and high ground costs, but are also unable to complete high-flow cargo transportation in a warehousing environment.

[0006] Public content

[0007] In view of this, the present disclosure provides an in-warehouse picking control method and related equipment to achieve high-flow cargo transportation in a warehousing environment.

[0008] To this end, this disclosure discloses:

[0009] A method for controlling in-stock picking, for use in a high-bay warehouse, wherein the high-bay warehouse includes a plurality of shelves, each of which is provided with multiple layers of storage space, and wherein cargo boxes are placed in storage locations of the storage space. According to a current order, the control server is configured to determine, based on the picked cargo information of the current order, a first target storage location where a first picked cargo is located;

[0010] Controlling the first in-stock picking robot corresponding to the first target storage location to take out the first picked goods and place them on the docking component or docking box of the ground freight robot;

[0011] Dispatching the ground freight robot to move to the second target storage location where the second picked goods are located, and the ground freight robot is located within the reach of the second in-stock picking robot;

[0012] The second in-stock picking robot takes the second picked goods from the second target storage location and places them on the docking component or docking box of the ground freight robot;

[0013] The above steps are repeated until all the picked goods are placed on the docking components or docking boxes of the ground freight robot, and the ground freight robot transports all the picked goods to the workstation.

[0014] Optionally, the first in-stock picking robot corresponding to the first target storage location takes out the first picked goods through the following steps:

[0015] Using the first push-pull box task module, it pulls the first cargo box containing the first picked goods out of the first target storage location;

[0016] After the first picking task module takes out the first picked goods, the first cargo box is pushed into the first target storage location;

[0017] and, utilizing a second push-pull box task module to pull the second cargo box containing the second picked goods out of the second target storage location;

[0018] After the second picking task module takes out the second picked goods, the second cargo box is pushed into the second target storage location.

[0019] Optionally, the in-warehouse picking robot includes: a picking task module and a box pushing and pulling task module:

[0020] The picking task module places the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and places them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism;

[0021] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0022] Alternatively, the shelf may have one or more shelf layers removed to provide a matching height to support the freight robot to operate on the ground.

[0023] Optionally, the fixed track transport device is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of the push-pull box task module;

[0024] The connection mechanism of the push-pull box task module is set up as follows:

[0025] Support structure for push-pull cargo box modules;

[0026] and, a transmission component for pushing and pulling the cargo box module.

[0027] On the other hand, the present disclosure also discloses an in-stock picking control method for a three-dimensional warehouse, wherein the three-dimensional warehouse includes a plurality of shelves, each of which is provided with a multi-layer storage space, and cargo boxes are placed in the storage spaces of the storage space. According to the return demand information, the control server is configured as follows:

[0028] Instructing the ground freight robot that executes the return instruction to move to the floor of the shelf where the first returned goods are located, and the first in-stock picking robot to take the first returned goods from the docking position or docking cargo box of the first ground freight robot and put it back into the storage position or cargo box to which the first returned goods belong;

[0029] The ground freight robot is dispatched to move to the floor of the shelf where the second returned goods are located, and the second in-stock picking robot takes the second returned goods out of the docking position or docking cargo box and puts it back into the storage position or cargo box to which the second returned goods belong;

[0030] The above steps are repeated until all returned goods are put back into the storage location or the cargo box.

[0031] Optionally, the first in-stock picking robot takes the first returned goods from the docking position or docking cargo box of the first ground freight robot and puts it back into the storage position or cargo box to which the first returned goods belong, by the following steps:

[0032] Using a first push-pull box task module, it pulls the first cargo box containing the first returned goods out of the first target storage location;

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

[0034] Furthermore, the second in-stock picking robot takes the second returned goods from the docking location or docking box and puts it back into the storage location or the box to which the second returned goods belong, which is achieved through the following steps:

[0035] Using the second push-pull box task module, it pulls the second cargo box to which the second returned goods belong out of the second target storage location;

[0036] After the second picking task module puts the second returned goods back into the second cargo box, the second pushing and pulling box task module pushes the second cargo box into the second target storage location.

[0037] Optionally, the in-warehouse picking robot includes: a picking task module and a box pushing and pulling task module;

[0038] The picking task is to place the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or to take the goods out of the docking assembly or docking box and place them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism;

[0039] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0040] Alternatively, the shelf may have one or more shelf layers removed to provide a matching height to support the freight robot to operate on the ground.

[0041] Optionally, the fixed track transport device is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of the push-pull box task module;

[0042] The connection mechanism of the push-pull box task module is set up as follows:

[0043] Support structure for push-pull cargo box modules;

[0044] and, a transmission component for pushing and pulling the cargo box module.

[0045] On the other hand, the present disclosure also discloses an in-stock picking control method for a high-bay warehouse, wherein the high-bay warehouse includes a plurality of shelves, each of which is provided with multiple layers of storage space, and wherein cargo boxes are placed in storage locations of the storage space, wherein the control server is configured to determine a first target storage location where a first cargo box is located based on a container consolidation request;

[0046] A box pulling step is to instruct the ground freight robot that executes the box closing instruction to move to the floor of the shelf where the first target storage location is located, and control the box pulling task module corresponding to the first target storage location to place the first cargo box on the docking component of the ground freight robot;

[0047] In the box merging step, the ground freight robot is dispatched to move to the shelf where the second box is located, and the in-stock picking robot corresponding to the second box takes out some or all of the goods in the first box from the first box and puts them into the second box;

[0048] The above-mentioned box closing steps are executed cyclically until the first box is emptied.

[0049] Optionally, the consolidation request information is specifically a consolidation request for the same SKU.

[0050] Optionally, the in-stock picking robot corresponding to the second cargo box takes out part or all of the goods in the first cargo box from the first cargo box and places them into the second cargo box, which is specifically achieved by the following steps:

[0051] Using the push-pull box task module, pull the second cargo box to which the second cargo belongs out of the second target storage location;

[0052] After the in-warehouse picking robot corresponding to the second cargo box puts part or all of the goods in the first cargo box into the second cargo box, it pushes the second cargo box into the second target storage location.

[0053] Optionally, the in-warehouse picking robot includes: a picking task module and a box pushing and pulling task module;

[0054] The picking task module places the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and places them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism;

[0055] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0056] Alternatively, the shelf may have one or more shelf layers removed to provide a matching height to support the freight robot to operate on the ground.

[0057] Optionally, the fixed track transport device is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of the push-pull box task module;

[0058] The connection mechanism of the push-pull box task module is set up as follows:

[0059] Support structure for push-pull cargo box modules;

[0060] and, a transmission component for pushing and pulling the cargo box module.

[0061] On the other hand, the present disclosure further discloses an in-stock picking control method for a high-bay warehouse, wherein the high-bay warehouse includes a plurality of shelves, each of which is provided with a multi-layer storage space, and wherein cargo boxes are placed in storage locations of the storage space, and according to a current order: the control server is configured to determine, based on reverse bin request information, a first target storage location where a first reverse bin cargo box is located;

[0062] Instructing the ground freight robot that executes the reverse-close box instruction to move to the first target storage location, and controlling the first in-stock picking robot corresponding to the first target storage location to take out all the goods in the reverse-close box one or more times and place them on the docking position of the ground freight robot or on the docking box;

[0063] The ground freight robot is dispatched to move to the shelf where the target cargo box for receiving reverse-packed goods is located. The second in-warehouse picking robot takes out all reverse-packed goods from the docking position or docking cargo box of the ground freight robot and puts them into the target cargo box for receiving reverse-packed goods.

[0064] Optionally, the first in-stock picking robot takes out all the goods in the reverse container one or more times and places them on the docking position or docking container of the ground freight robot, which is achieved by the following steps:

[0065] Use the first push-pull box task module to pull the reverse-closed box out of its target storage location;

[0066] After the first picking task module takes out all the goods once or multiple times, the first box pushing and pulling task module pushes the reverse box into the corresponding target storage location;

[0067] Furthermore, the second in-stock picking robot takes out all the reverse-packed goods from the docking position or docking box of the ground freight robot and places them into the target box that receives the reverse-packed goods. This is achieved by the following steps:

[0068] Using the second pushing and pulling box task module, the target cargo box that receives the reverse-closed box goods is pulled out from the target storage location to which it belongs. After the second picking task module puts all the reverse-closed box goods into the target cargo box that receives the reverse-closed box goods, the second pushing and pulling box task module pushes the target cargo box that receives the reverse-closed box goods into the target storage location to which it belongs.

[0069] Optionally, the in-warehouse picking robot includes: a picking task module and a box pushing and pulling task module;

[0070] The picking task module places the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and places them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism;

[0071] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0072] Alternatively, the shelf may have one or more shelf layers removed to provide a matching height to support the freight robot to operate on the ground.

[0073] Optionally, the fixed track transport device is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of the push-pull box task module;

[0074] The connection mechanism of the push-pull box task module is set up as follows:

[0075] Support structure for push-pull cargo box modules;

[0076] and, a transmission component for pushing and pulling the cargo box module.

[0077] Optionally, the reverse box closing request information is specifically: a reverse box closing request for the same SKU.

[0078] On the other hand, the present disclosure also discloses an in-stock picking control system, comprising:

[0079] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the aforementioned in-warehouse picking control method.

[0080] In the present disclosure, cargo picking equipment is used in conjunction with a push-pull box module, as well as a freight robot at the bottom of the shelf, to complete high-flow picking, returns, box consolidation and other key tasks according to the needs of the current order. The cargo picking equipment is provided with a horizontal track for the movement of the columns. By configuring the shelves and modifying the shelf layers at the bottom of the storage space, an operating channel is provided for the freight robot or the picking robot, which fundamentally solves the problem of waste of existing storage space and makes in-warehouse picking possible in dense shelf scenarios. On this basis, cargo boxes can be stored and retrieved through the push-pull box module, and placed in the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking assembly, so that cargo warehousing, cargo / cargo box transfer and cargo / cargo box picking can be completed smoothly in the storage space. On the basis of in-warehouse picking of goods, the utilization rate of storage space, the high speed of goods in and out, and the picking efficiency are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0082] Figure 1 shows a structural diagram of a storage rack;

[0083] Figure 2 is a schematic diagram of the structure of the freight robot;

[0084] FIG3 is a flowchart of the first picking and delivery method in the in-warehouse picking control method;

[0085] FIG4 is a schematic structural diagram of an automatic three-dimensional warehouse when picking and dispatching goods in a warehouse picking control method according to an embodiment;

[0086] FIG5 is a schematic diagram of the picking and delivery business flow of an automatic three-dimensional warehouse in a method for controlling in-warehouse picking according to an embodiment;

[0087] FIG6 is a flowchart of the second picking and delivery process in the in-warehouse picking control method;

[0088] Figure 7 is a schematic diagram of the structure of the cargo picking equipment;

[0089] Figure 8 is a structural diagram of a fixed track transmission device;

[0090] Figure 9 is a schematic diagram of the cargo picking equipment structure and the fixed track transmission equipment structure;

[0091] FIG10 is a flowchart of a first return method in a method for controlling in-stock picking according to an embodiment;

[0092] FIG11 is a schematic structural diagram of an automatic three-dimensional warehouse for return business in a method for controlling in-warehouse picking according to an embodiment;

[0093] FIG12 is a schematic diagram of the return business flow of a three-dimensional warehouse in a method for controlling in-stock picking according to one embodiment;

[0094] FIG13 is a flowchart of a second return method in a method for controlling in-stock picking according to an embodiment;

[0095] FIG14 is a flowchart of a box-closing process in a method for controlling in-stock picking according to an embodiment;

[0096] FIG15 is a schematic structural diagram of an automatic three-dimensional warehouse during a box-closing operation in a method for controlling in-warehouse picking according to an embodiment;

[0097] FIG16 is a schematic diagram of the container consolidation business flow of a three-dimensional warehouse in a method for controlling in-stock picking according to one embodiment;

[0098] FIG17 is a flowchart of a third return method in a method for controlling in-stock picking according to an embodiment;

[0099] FIG18 is a flowchart of the first reverse bin closing method in a method for controlling in-stock picking according to an embodiment;

[0100] FIG19 is a schematic structural diagram of an automatic three-dimensional warehouse during the reverse box closing operation in the in-warehouse picking control method according to one embodiment;

[0101] FIG20 is a schematic diagram of the reverse box closing business flow of a three-dimensional warehouse in a method for controlling in-stock picking according to an embodiment;

[0102] FIG21 is a flowchart of a second reverse bin closing method in a method for controlling in-stock picking according to an embodiment;

[0103] Figure 22 is a schematic diagram of the structure of the in-warehouse picking control system. DETAILED DESCRIPTION

[0104] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Generally, the components of the embodiments of the present disclosure described and shown in the drawings herein can be arranged and designed in various different configurations.

[0105] Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the present disclosure as claimed, but merely represents selected embodiments of the present disclosure. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort shall fall within the scope of protection of the present disclosure.

[0106] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0107] In the description of the present disclosure, it should be noted that the terms "upper," "lower," "vertical," "horizontal," "inner," and "outer" and the like indicate positions or location relationships based on the positions or location relationships shown in the accompanying drawings, or the positions or location relationships in which the disclosed product is typically placed when in use. These terms are intended solely to facilitate the description of the present disclosure and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present disclosure. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0108] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0109] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on the specific circumstances.

[0110] The following describes some embodiments of the present disclosure in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0111] Figure 1 shows a structural diagram of a storage rack, a rack 10 (rack), used for storage. The rack 10 is provided with a multi-layer storage space 101 (reservation unit), and a cargo box 104 (bin) is placed in a storage position 103 (slot) of the storage space 101. The rack is laterally supported by a partition 102 to provide support for the cargo box 104.

[0112] Referring to Figure 2, multiple ground-mounted freight robots (AGVs) 105 can dock cargo boxes and goods. These robots operate on the bottom floor of the shelf. In practical implementations, these robots can be AGVs (Automated Guided Vehicles, also commonly referred to as AGV carts) or AMRs (Autonomous Mobile Robots).

[0113] In this specification, the control server is a centrally controlled cloud server or local server that coordinates the working status of the cargo picking equipment and fixed track transmission equipment in the warehouse.

[0114] In the picking and delivery scenario, referring to Figures 3 and 4, the control server is configured as follows:

[0115] S11: Based on the picked goods information of the current order, determine the first target storage location B1 where the first picked goods A1 is located;

[0116] S12: Control the first in-stock picking robot C1 corresponding to the first target storage location B1 to take out the first picked cargo A1 and place it on the docking component or docking box of the ground freight robot D1;

[0117] S13: dispatching the ground freight robot D1 to move to the second target storage location B2 where the second picked cargo A2 is located. The ground freight robot position D1 is within the reach of the second in-stock picking robot C2.

[0118] S14: The second in-stock picking robot C2 takes the second picked cargo A2 from the second target storage location B2 and places it on the docking assembly or docking box of the ground freight robot D1;

[0119] The above steps are repeated until all the picked goods are placed on the docking components or docking boxes of the ground freight robot, and the ground freight robot transports all the picked goods to the workstation.

[0120] The purpose of this loop is to understand that, based on Figure 5, depending on the order, the number of items to be picked may be three or more, distributed across different shelves. Based on the process from S11 to S14, the in-stock picking robot can pick the items from the shelves where the items are located and place them on the docking assembly or docking box of the ground freight robot D1.

[0121] Combining Figures 4 and 5, it can be seen that in a picking and delivery order, the ground freight robot D1 can continuously accept and transport the goods out of the warehouse according to the storage location of the picked goods without having to repeatedly go back and forth to the workstation.

[0122] In the prior art, the ground freight robot D1 carries a single cargo repeatedly back to the workstation or sorting platform, that is, the delivery of cargo A1, A2, and A3 depends on the ground freight robot D1 making three round trips to achieve complete delivery.

[0123] In the present disclosure, the in-warehouse picking robot can directly place the picked goods A1, A2, and A3 into the docking assembly or docking cargo box of the ground freight robot D1, and use the path planning function of the ground freight robot (the path of the ground freight robot is represented by a dotted line in the figure) to operate continuously to reduce the number of round trips, eliminating the need for the ground freight robot D1 to carry a single cargo repeatedly back to the workstation or sorting table to waste time picking and shipping goods, so that the picking and shipping business can reach warehouses with a cargo box storage capacity of more than 100,000 boxes and a flow rate of 10,000 boxes / hour, which improves the operating efficiency by nearly 100% compared with the existing technology.

[0124] Referring to Figure 7, a cargo picking device 1 is installed on the shelf, and the cargo picking device 1 drives the picking task module 2 to place the cargo 3 into the docking assembly or docking box 4 of the ground cargo robot 105 running at the bottom of the shelf 10, or take it out from the docking assembly or docking box 4 and place it into the cargo box 104; the picking task module 2 includes at least: a first movable part 13 and a picking mechanism 20.

[0125] The arrangement of the goods picking device 1 on the shelf 10 is specifically implemented as follows:

[0126] The connection mechanism of the first transverse rail 11, the first column 12, the first movable member 13 and the picking task module 2, wherein:

[0127] The first transverse rail 11 is fixed on the shelf 10;

[0128] It should be noted that the first transverse rail 11 is fixed on the beam or column of the shelf 10. When the shelf is laterally long, the transverse rail needs to be fixed with the help of the beam and column of the single shelf (rack) and extend to the adjacent shelf beam.

[0129] The first column 12 is vertically arranged on the first transverse rail 11 and can slide transversely;

[0130] The first upright post 12 slides along the first transverse rail 11 to position the first movable member 13 in each column of the shelf.

[0131] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12;

[0132] The first movable member 13 is configured to move laterally and longitudinally, thereby enabling the first movable member 13 to be positioned at each tier of the shelf.

[0133] The first movable member 13 is provided with a connecting mechanism 15 of the picking task module 2;

[0134] Driven by the first movable member 13, the picking task module 2 utilizes the picking mechanism to store and retrieve the goods 3, and places and operates the docking assembly or docking box of the ground freight robot 105 at the bottom of the shelf;

[0135] It should be noted that in the present disclosure, the bottom partition of the storage shelf is removed. Here, the partition represents the components that provide storage space support for different types of storage shelves, as well as surrounding components such as beams that provide stability for each shift. Removing the partition to provide a matching height actually requires blocking the surrounding components that block the ground freight robot from running on the ground, and the partition is not limited to the setting material and style in the storage shelf. It supports the ground freight robot to run on the ground and complete the docking action. The bottom partition between adjacent columns of the storage shelf is removed to form the docking position 25 of the ground freight robot. It should be supplemented that the bottom partition of the shelf includes the partition itself and the fixed beam, so that the ground freight robot can be provided with activity space by removing the partition itself and / or the fixed beam.

[0136] More specifically, the picking mechanism has: a suction mechanism 201 and / or a picking mechanism (not shown), the suction mechanism 201 and / or the picking mechanism, which can be connected to the connecting mechanism 15 of the picking task module, that is: an extension component of the suction mechanism 201 and / or the picking mechanism, which can be a multi-segment robotic arm with freedom, connected to the first movable part 13, wherein the suction mechanism 201 can form and maintain contact with the goods through the suction force generated until the goods 3 are placed in the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking assembly and placed in the cargo box.

[0137] 4, 5, 6 and 7, the first in-stock picking robot corresponding to the first target storage location takes out the first picked goods, which is achieved through the following steps:

[0138] S21: using the first push-pull box task module E1, which pulls the first cargo box containing the first picked cargo A1 out of the first target storage location B1;

[0139] S22: With reference to FIG4 , after the first picking task module C1 takes out the first picked goods A1, the first cargo box is pushed into the first target storage location B1;

[0140] And, S23: using the second push-pull box task module E2, it pulls the second cargo box containing the second picked cargo A2 out of the second target storage location B2;

[0141] S24: After the second picking task module C2 takes out the second picked goods A2, the second cargo box is pushed into the second target storage location B2.

[0142] First of all, it needs to be clarified that the first push-pull box task module E1 is a matching task module for pushing and pulling the first cargo box where the first picked cargo A1 is located. The first push-pull box task module can be the facade transmission equipment, or the fixed track transmission equipment. The push-pull cargo box module is used to pull out the target cargo box at the target storage position of the target shelf. The picking task module 2 of the cargo picking equipment, that is, the picking task module, picks the target cargo in the target cargo box.

[0143] 8 , in the present disclosure, the in-warehouse picking robot includes: a picking task module and a box pushing and pulling task module.

[0144] Referring to Figure 8, when the facade transport device is a fixed track transport device, the setting of the fixed track transport device on the shelf is specifically implemented as: a first transverse track 11, a first column 12, a first movable part 13, and a connecting mechanism of the push-pull box task module 14.

[0145] It should be clarified that in the present disclosure, the aisle direction of the multiple rows of shelves is recorded as the x-axis, the direction perpendicular to the ground and the x-axis is recorded as the y-axis, and the height direction of the shelves is recorded as the z-axis.

[0146] It should be noted here that the push-pull module of the push-pull box task module 14 can realize the storage and retrieval operations of cargo boxes that are densely arranged, adjacent to each other, or connected in a three-dimensional warehouse. For example, in the depth direction (y-axis), the push-pull arm of the push-pull box task module can be used to store and retrieve one of the multiple cargo boxes.

[0147] Referring to the situations in Figures 8 and 9, when the picking task module 2 and / or the pushing and pulling box task module 14 are both installed on the first transverse rail, the first column, and the first movable part, the connecting mechanism of the picking task module and the connecting mechanism of the pushing and pulling box task module can be integrated to drive the picking task module to sort goods and drive the pushing and pulling box task module to store cargo boxes.

[0148] Referring to Figure 9, in another case, when the picking task module and / or the pushing and pulling box task module are both installed on the first transverse track, the first column, and the first movable part, the connecting mechanism of the picking task module and the connecting mechanism of the pushing and pulling box task module are set separately and cooperated according to the current task.

[0149] In this embodiment, the fixed track conveyor and the cargo picking device are respectively installed on different columns. In large, densely populated warehouses, such as warehouses storing more than 100,000 cartons and with a throughput of 10,000 cartons per hour, multiple fixed track conveyor and cargo picking devices can be installed on the same shelf to accommodate high-volume order requirements. For example, when the fixed track conveyor and cargo picking device work together, for example, if order A's item X or a certain SKU (Stock Keeping Unit) needs to be shipped, the fixed track conveyor uses a push-pull box task module, i.e., a push-pull box module, to pull the target box out of the target storage location on the target shelf, allowing item X to be picked up by the suction mechanism 201 and / or picking mechanism of the cargo picking device. Before picking up, an identification module is required to identify item X or the SKU. This identification module can be installed on the cargo picking device and / or the fixed track conveyor. This identification module can be installed on the cargo picking device and / or the fixed track conveyor. The recognition module can be a monocular camera, a laser camera or a depth-of-field camera.

[0150] Referring to Figures 10 and 11, a method for controlling in-stock picking is used in a three-dimensional warehouse. The three-dimensional warehouse includes multiple shelves, each of which has multiple storage spaces, and cargo boxes are placed in the storage spaces. According to the return demand information, the control server is configured as follows:

[0151] S31: Instructing the ground freight robot D1 executing the return instruction to move to the floor of the shelf where the first returned item A1 is located;

[0152] S32: The first in-stock picking robot C1 takes the first returned cargo A1 from the docking position or docking box of the ground freight robot D1 that executes the return instruction, and puts it back into the storage position or the box to which the first returned cargo A1 belongs (marked as box B1 in FIG10 );

[0153] S33: dispatching the ground freight robot to move to the shelf where the second returned goods A2 are located, and the second in-stock picking robot C2 takes the second returned goods A2 out of the docking position or docking box and puts it back into the storage position or box to which the second returned goods belong (marked as box B2 in FIG10 );

[0154] S34: The above steps are repeated until all returned goods are put back into the storage location or the cargo box.

[0155] The above steps are repeated, referring to Figure 11, until all returned goods are placed back into the cargo box, at which point the ground freight robot empties all returned goods it is carrying. This loop is designed to address the fact that, depending on the order, the number of returned goods may be three or more. Based on the process steps S31-S33, the required returned goods A1, A2, and A3 can be removed from the ground freight robot's docking assembly or docking cargo box. The in-stock picking robot then grasps or picks them up and returns them to the corresponding cargo boxes.

[0156] 10, 11, 12, and 13, the first in-stock picking robot takes the first returned goods from the docking position or docking box of the first ground freight robot and puts it back into the storage position or box to which the first returned goods belong, which is achieved by the following steps:

[0157] S41: using the first push-pull box task module E1, which pulls the first cargo box containing the first returned goods out of the first target storage location;

[0158] S42: After the first picking task module puts the first returned goods A1 back into the first cargo box, the first box pushing and pulling task module E1 pushes the first cargo box into the first target storage location;

[0159] And, S43: using the second push-pull box task module E2, it pulls the second cargo box containing the second returned cargo A2 out of the second target storage location;

[0160] S44: After the second picking task module puts the second returned goods back into the second cargo box, the second pushing and pulling box task module E2 is used to push the second cargo box into the second target storage location.

[0161] In combination with Figures 10, 11, 12 and 13, it can be seen that in a return order, the ground freight robot D1 places all returned goods (A1, A2, A3) in the docking assembly or docking box of the ground freight robot according to the order to be returned, and can perform continuous goods returns.

[0162] In the prior art, the ground freight robot D1 carries a single cargo repeatedly back to the workstation for return. That is, the return of cargo A1, A2, and A3 depends on the ground freight robot D1 making three round trips to achieve the return.

[0163] In the present disclosure, the in-warehouse picking robot directly takes the returned goods from the docking assembly or docking box of the ground freight robot D1, and uses the path planning function of the ground freight robot (the path of the ground freight robot is represented by a dotted line in the figure) to operate continuously to reduce the number of round trips, eliminating the need for the ground freight robot D1 to carry a single return cargo back to the workstation repeatedly and waste return time, thereby improving the return business's operating efficiency by nearly 100% compared to existing technologies.

[0164] The structures and principles of the in-warehouse picking robot and the ground freight robot involved in this embodiment can refer to the previous embodiments. In this business scenario, they will not be repeated in description and illustration.

[0165] Referring to Figures 14 and 15, a method for controlling in-stock picking is used in a three-dimensional warehouse. The three-dimensional warehouse includes multiple shelves, each of which is provided with multiple layers of storage space, and cargo boxes are placed in the storage locations of the storage space. The control server is configured as follows:

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

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

[0168] S53: In the box-packing step, the ground freight robot D1 is dispatched to move to the shelf where the second box B2 is located. The in-stock picking robot C1 corresponding to the second box B2 takes some or all of the goods (marked as A1 and A2 in the figure) from the first box B1 and puts them into the second box B2.

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

[0170] The above steps are repeated, as shown in Figure 16, until the ground freight robot removes the cargo boxes of the original goods on the shelf and transports the empty box B1 away through the above steps. The purpose of this loop step is to, based on the needs of box consolidation, place certain goods that need to be transferred into boxes, which may be 3 pieces (A1, A2, A3) or more, into the corresponding boxes, in order to obtain empty boxes for use in transshipment, shipping, warehousing, and other processes. Based on the process of S51-S53, the goods in the boxes that need to be converted into empty boxes can be taken out from the docking box of the ground freight robot D1, and the in-stock picking robot will grab or suck them to obtain the empty boxes and transport them away.

[0171] The consolidation request information is specifically a consolidation request for the same SKU. In most application scenarios, consolidation requests occur between containers with the same SKU, which facilitates quick identification and shortens the consolidation path of the ground freight robot, thereby improving consolidation efficiency.

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

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

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

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

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

[0177] In the present disclosure, however, the picking robot D1 places a cargo box B1 (along with the goods A1, A2, and A3) inside it onto the docking assembly of the ground freight robot. It then sequentially closes the boxes, first placing A1 and A2 into the target box, and then A3 into the target box. The picking robot then directly removes the closed-box goods from the ground freight robot D1's cargo box B1. Using the ground freight robot's path planning function (the ground freight robot's path is indicated by a dotted line in the figure), the picking robot continuously operates, reducing the number of round trips and eliminating the time it takes for the ground freight robot D1 to repeatedly carry the box back to the workstation or sorting platform to empty it. This improves the efficiency of the closing operation by nearly 100% compared to existing technologies.

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

[0179] Referring to Figures 18 and 19, a method for controlling in-stock picking is used in a three-dimensional warehouse. The three-dimensional warehouse includes multiple shelves, each of which has multiple storage spaces, and boxes are placed in the storage spaces. According to the current order: the control server is configured as follows:

[0180] S71: Based on the reverse container request information, determine the first target storage location E1 where the first reverse container B1 is located;

[0181] S72: Instruct the ground freight robot D1 that executes the reverse-close instruction to move to the first target storage location E1, and control the first in-stock picking robot C1 corresponding to the first target storage location E1 to take out all the goods (marked as A1 and A2 in the figure) in the reverse-closed box B1 one or more times and place them on the docking position or docking box of the ground freight robot D1;

[0182] S73: Dispatch the ground freight robot to move to the shelf where the target cargo box for receiving reverse-packed goods is located. The second in-warehouse picking robot C2 takes out all reverse-packed goods from the docking position or docking cargo box of the ground freight robot D1 and puts them into the target cargo box B2 for receiving reverse-packed goods.

[0183] The above steps are repeated, with reference to FIG20, until the ground freight robot empties the cargo boxes of the original goods on the shelf through the above steps. The purpose of this loop step is that, according to the reverse box demand, some goods that need to be reversed may be 3 pieces (A1, A2, A3) or more, and need to be put into the target cargo boxes B2 and B4 to receive the goods, so as to obtain empty boxes for use in the processes such as transshipment, shipping, and warehousing. Then, based on the process of S71-S73, the goods in the cargo boxes that need to be turned into empty boxes can be controlled by the first in-stock picking robot corresponding to the first target storage location to be taken out from the cargo box B1 that needs to be reversed and placed in the docking cargo box B3 of the ground freight robot, thereby obtaining an empty box B1. Then, the second in-stock picking robot that matches the cargo box that receives these goods is used to grab or absorb (the figure shows that goods A1 and goods A2 are placed in cargo box B2, and goods A3 is placed in cargo box B4) and placed in the cargo boxes B2 and B4 that receive these goods.

[0184] 20 and 21 , the first in-warehouse picking robot takes out all the goods in the reverse container one or more times and places them on the docking position or docking container of the ground freight robot, which is achieved by the following steps:

[0185] S81: Using the first push-pull box task module, pull the reverse-closed box out of the target storage location;

[0186] S82: After the first picking task module takes out all the goods once or multiple times, the first box pushing and pulling task module pushes the reverse box into the corresponding target storage location (the shearing direction in FIG18 );

[0187] Furthermore, the second in-stock picking robot takes out all the reverse-packed goods from the docking position or docking box of the ground freight robot and places them into the target box that receives the reverse-packed goods. This is achieved by the following steps:

[0188] S83: Use the second box pushing and pulling task module to pull the target cargo box that receives the reverse-closed goods out from the target storage location to which it belongs. After the second picking task module puts all the reverse-closed goods into the target cargo box that receives the reverse-closed goods, the second box pushing and pulling task module pushes the target cargo box that receives the reverse-closed goods into the target storage location to which it belongs.

[0189] In combination with Figures 18, 19, 20 and 21, it can be seen that in a return order, the ground freight robot D1 carries all the goods in the cargo box that needs to be emptied according to the requirements of the box to be emptied, and can continuously fold the box to obtain one or more empty boxes.

[0190] In the prior art, the ground freight robot D1 carries the cargo box and individual cargoes back to the workstation repeatedly for unpacking operations. That is, unpacking cargoes A1, A2, and A3 depends on the ground freight robot D1 making three round trips to empty the cargo box.

[0191] That is, the in-warehouse picking robot directly takes out all the goods in the cargo box that needs to be unpacked and puts them into the docking component or docking cargo box of the ground freight robot D1, and uses the path planning function of the ground freight robot to save the ground freight robot D1 from carrying a single cargo box repeatedly to take out and unpack the goods, which wastes time.

[0192] It should be noted that in this embodiment, the reverse container request information is specifically a reverse container request for the same SKU. In most application scenarios, reverse container requests occur between containers with the same SKU, which facilitates rapid identification and shortens the reverse container travel path of the ground freight robot, thereby improving reverse container efficiency.

[0193] The structures and principles of the in-warehouse picking robot and the ground freight robot involved in this embodiment can refer to the previous embodiments. In this business scenario, they will not be repeated in description and illustration.

[0194] Referring to FIG22 , the present disclosure also discloses a warehouse picking control system, including:

[0195] at least one processor; and

[0196] A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the in-warehouse picking control method in the above embodiment.

[0197] FIG22 shows a computing device 60 for matching the method of FIG1 to FIG5 , including:

[0198] It should be noted that the computing device 60 shown in FIG22 is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.

[0199] As shown in Figure 22, the server is implemented as a general-purpose computing device 60. Components of the computing device 60 may include, but are not limited to, at least one processor 61, at least one memory 62, and a bus 63 connecting different system components (including the memory 62 and the processor 61).

[0200] Bus 63 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, and a processor or local bus using any of a variety of bus architectures.

[0201] The memory 62 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 621 and / or a cache memory 622 , and may further include a read-only memory (ROM) 623 .

[0202] The memory 62 may also include a program / utility 625 having a set (at least one) of program modules 624, such program modules 624 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0203] The computing device 60 may also communicate with one or more external devices 64 (e.g., a keyboard, pointing device, etc.), one or more devices that enable a user to interact with the computing device 60, and / or any device that enables the computing device 60 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication may occur via an input / output (I / O) interface 65. Furthermore, the computing device 60 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 68. As shown, the network adapter 68 communicates with the other modules that make up the computing device 60 via a bus 63. It should be understood that, although not shown, other hardware and / or software modules may be used in conjunction with the computing device 60, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0204] In some possible implementations, a computing device according to the present disclosure may include at least one processor and at least one memory (e.g., a first server). The memory stores program code that, when executed by the processor, causes the processor to perform the steps of the system permission activation method according to various exemplary embodiments of the present disclosure described above in this specification.

[0205] In summary, in the present disclosure, cargo picking equipment is used in conjunction with a push-pull box module, as well as a freight robot at the bottom of the shelf, to complete high-flow picking, returns, boxing and other key tasks according to the needs of the current order. The cargo picking equipment is provided with a horizontal track for the movement of the columns. By configuring the shelves and transforming the shelf layers at the bottom of the storage space, an operating channel is provided for the freight robot or the picking robot, which fundamentally solves the problem of waste of existing storage space and makes in-warehouse picking possible in dense shelf scenarios. On this basis, cargo boxes can be stored and retrieved through the push-pull box module, and placed in the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking assembly, so that cargo warehousing, cargo / cargo box transfer and cargo / cargo box picking can be completed smoothly in the storage space. On the basis of in-warehouse picking of goods, the utilization rate of storage space, the high speed of goods in and out, and the picking efficiency are greatly improved.

[0206] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other; the above embodiments in this specification are only used to illustrate the technical solutions of the present disclosure, rather than to limit it; although the present disclosure has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure. Industrial Applicability

[0207] The above solution, through the configuration of shelves and the modification of the shelf layers at the bottom of the storage space, provides an operating channel for freight robots or picking robots, fundamentally solving the problem of existing storage space waste and making in-stock picking possible in densely packed shelf scenarios. Furthermore, cargo boxes can be stored and retrieved through push-pull box modules and placed in or removed from the docking assembly or docking box of the freight robot operating at the bottom of the shelf, allowing for smooth storage, cargo / carton transfer, and cargo / carton picking within the storage space. This significantly improves storage space utilization, cargo entry and exit speed, and picking efficiency while achieving in-stock picking.

Claims

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

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

3. The in-warehouse picking control method according to claim 1 or 2, characterized in that: The in-stock picking robot includes: a picking task module and a push-pull box task module: The picking task module puts the goods into the docking assembly or docking box of the ground freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and puts them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the ground freight robot to operate on the ground.

4. The in-warehouse picking control method according to claim 3, characterized in that: The picking mechanism comprises: a suction mechanism and / or a picking mechanism; the suction mechanism and / or the picking mechanism are connected to the first movable part through the connecting mechanism of the picking task module.

5. The in-warehouse picking control method according to any one of claims 2 to 4, characterized in that: The arrangement of the goods picking equipment on the shelf is specifically realized as: a connecting mechanism of a first transverse track, a first column, a first movable part and a picking task module.

6. The in-warehouse picking control method according to any one of claims 2 to 5, characterized in that: The fixed track transmission equipment is specifically implemented on the shelf as follows: a connection mechanism between the first transverse track, the first column, the first movable part and the push-pull box task module; The connection mechanism of the push-pull box task module is set up as follows: Support structure for push-pull cargo box modules; And, a transmission component for pushing and pulling the cargo box module.

7. The in-warehouse picking control method according to any one of claims 2 to 6, characterized in that: The push-pull module of the push-pull box task module realizes the operation of storing and retrieving cargo boxes that are densely arranged, adjacent to each other or have a connected relationship in the three-dimensional warehouse.

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

9. The in-warehouse picking control method according to claim 8, characterized in that: The first in-stock picking robot takes the first returned goods out of the docking position or docking cargo box of the first ground cargo robot and puts it back into the storage position or cargo box to which the first returned goods belong, which is achieved through the following steps: Using the first push-pull box task module, it pulls the first cargo box to which the first returned goods belong out of the first target storage location; After the first picking task module puts the first returned goods back into the first cargo box, the first push-pull box task module pushes the first cargo box into the first target storage location; And, the second in-stock picking robot takes out the second returned goods from the docking position or the docking cargo box and puts it back into the storage position or the cargo box to which the second returned goods belong, which is achieved through the following steps: Using the second push-pull box task module, it pulls the second cargo box to which the second returned goods belong from the second target storage location; After the second picking task module puts the second returned goods back into the second cargo box, the second pushing and pulling box task module pushes the second cargo box into the second target storage location.

10. The in-warehouse picking control method according to claim 8 or 9, characterized in that: The in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module; The picking task is to put the goods into the docking assembly or docking box of the ground freight robot running at the bottom of the shelf, or take the goods out of the docking assembly or docking box and put them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

11. The in-warehouse picking control method according to claim 9 or 10, characterized in that: The fixed track transmission equipment is specifically implemented on the shelf as follows: a connection mechanism between the first transverse track, the first column, the first movable part and the push-pull box task module; The connection mechanism of the push-pull box task module is set up as follows: Support structure for push-pull cargo box modules; And, a transmission component for pushing and pulling the cargo box module.

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

13. The in-warehouse picking control method according to claim 12, characterized in that: The consolidation request information specifically includes: a consolidation request for the same SKU.

14. The in-warehouse picking control method according to claim 12 or 13, characterized in that: The in-stock picking robot corresponding to the second cargo box takes out part or all of the goods in the first cargo box from the first cargo box and puts them into the second cargo box, which is specifically achieved through the following steps: Using the push-pull box task module, pull the second cargo box belonging to the second cargo out of the second target storage location; After the in-stock picking robot corresponding to the second cargo box puts part or all of the goods in the first cargo box into the second cargo box, the second cargo box is pushed into the second target storage location.

15. The in-warehouse picking control method according to any one of claims 12 to 14, characterized in that: The in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module; The picking task module puts the goods into the docking assembly or docking box of the ground freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and puts them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

16. The in-warehouse picking control method according to any one of claims 12 to 15, characterized in that: The fixed track transmission equipment is specifically implemented on the shelf as follows: a connection mechanism between the first transverse track, the first column, the first movable part and the push-pull box task module; The connection mechanism of the push-pull box task module is set up as follows: Support structure for push-pull cargo box modules; And, a transmission component for pushing and pulling the cargo box module.

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

18. The in-warehouse picking control method according to claim 17, characterized in that: The first in-stock picking robot takes out all the goods in the reverse container one or more times and places them on the docking position or docking container of the ground freight robot, which is achieved through the following steps: Using the first push-pull box task module, pull the reverse-closed box out of the target storage location; After the first picking task module takes out all the goods once or multiple times, the first box pushing and pulling task module pushes the reverse box into the corresponding target storage location; And, the second in-stock picking robot takes out all the reverse-packed goods from the docking position or docking box of the ground freight robot and puts them into the target box that receives the reverse-packed goods, which is achieved through the following steps: Using the second push-pull box task module, the target cargo box that receives the reverse-closed box goods is pulled out from the corresponding target storage location. After the second picking task module puts all the reverse-closed box goods into the target cargo box that receives the reverse-closed box goods, the second push-pull box task module pushes the target cargo box that receives the reverse-closed box goods into the corresponding target storage location.

19. The in-warehouse picking control method according to claim 17 or 18, characterized in that: The in-warehouse picking robot comprises: a picking task module and a box pushing and pulling task module; The picking task module puts the goods into the docking assembly or docking box of the ground freight robot running at the bottom of the shelf, or takes the goods out of the docking assembly or docking box and puts them into the cargo box; the picking task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

20. The in-warehouse picking control method according to claim 18 or 19, characterized in that: The fixed track transmission equipment is specifically implemented on the shelf as follows: a connection mechanism between the first transverse track, the first column, the first movable part and the push-pull box task module; The connection mechanism of the push-pull box task module is set up as follows: Support structure for push-pull cargo box modules; And, a transmission component for pushing and pulling the cargo box module.

21. The in-warehouse picking control method according to any one of claims 17 to 20, characterized in that: The reverse box closing request information specifically includes: a reverse box closing request for the same SKU.

22. A warehouse picking control system, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described in any one of claims 1-21.

Images