Inbound control method and apparatus, outbound control method and apparatus, inbound and outbound system, and storage medium

Abstract

The present disclosure relates to the technical field of warehousing, and provides an inbound control method and apparatus, an outbound control method and apparatus, an inbound and outbound system, and a storage medium. The inbound control method comprises: on the basis of a first target storage location of first goods on a target shelf, determining a first target temporary storage location at the bottom layer of the target shelf; determining an inbound path of a handling device on the basis of the first target temporary storage location and the current position of the handling device; controlling the handling device to transport the first goods to the first target temporary storage location along the inbound path; and controlling a storage and retrieval device to transport the first goods from the first target temporary storage location to the first target storage location.

Description

In-and-out control method and device, in-and-out system and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on and claims priority to an application with CN application number 202311839638.X and filing date December 28, 2023. The disclosure content of the CN application is hereby introduced as a whole into this disclosure. Technical Field

[0003] The present disclosure relates to the field of warehousing technology, and in particular to a warehouse entry and exit control method and device, a warehouse entry and exit system, and a storage medium. Background Art

[0004] In an automated warehouse, handling equipment is used to move goods to a temporary storage location below the target shelf. Access equipment installed on the target shelf is used to move goods from the temporary storage location to the storage location on the target shelf. Access equipment is also used to move goods from the storage location on the target shelf to the temporary storage location below the target shelf, and handling equipment is used to move goods out of the warehouse.

[0005] Summary of the Invention

[0006] According to a first aspect of an embodiment of the present disclosure, a warehousing control method is provided, comprising: determining a first target temporary storage location located at the bottom layer of a target shelf based on a first target storage location of first goods on the target shelf; determining an warehousing path for the transporting equipment based on the first target temporary storage location and the current position of a transporting equipment; controlling the transporting equipment to transport the first goods to the first target temporary storage location along the warehousing path; and controlling an access device to transport the first goods from the first target temporary storage location to the first target storage location.

[0007] In some embodiments, determining the warehousing path of the handling equipment includes: determining the warehousing path based on the low-level channel and the high-level channel of the bottom layer of each shelf in the shelf area, and at least one of the lanes in the shelf area, wherein the low-level channel allows the handling equipment to lift the first cargo at a low level and pass through, and the high-level channel allows the handling equipment to lift the first cargo at a high level and pass through.

[0008] In some embodiments, the first target temporary storage location is formed by a temporary storage bracket, and the low-level channel is a channel located below the temporary storage bracket.

[0009] In some embodiments, controlling the transporting equipment to transport the first cargo to the first target temporary storage location along the warehousing path includes: controlling the transporting equipment to move along the warehousing path from the low-level channel on the bottom layer of the target shelf to a first target point below the first target temporary storage location; controlling the transporting equipment to move from the first target point to a first temporary location on the high-level channel on the bottom layer of the target shelf; controlling the transporting equipment to lift the first cargo to a predetermined height; and controlling the transporting equipment to return to the first target point so as to place the first cargo on the first target temporary storage location.

[0010] In some embodiments, controlling the transporting equipment to transport the first cargo to the first target temporary storage position along the warehousing path includes: controlling the transporting equipment to move along the warehousing path to a second temporary position on the low-level channel of the bottom layer of the first shelf adjacent to the target shelf, wherein the low-level channel of the bottom layer of the target shelf and the high-level channel of the bottom layer of the first shelf are adjacent; controlling the transporting equipment to move from the second temporary position to a third temporary position on the high-level channel of the bottom layer of the first shelf; controlling the transporting equipment to lift the first cargo to a predetermined height; controlling the transporting equipment to cross the first aisle between the target shelf and the first shelf, and move from the third temporary position to the first target point position below the first target temporary storage position, so as to place the first cargo on the first target temporary storage position.

[0011] In some embodiments, controlling the transporting equipment to transport the first cargo to the first target temporary storage position along the warehousing path includes: controlling the transporting equipment to move along the warehousing path to a fourth temporary position on the low-level channel of the bottom layer of the second shelf adjacent to the target shelf, wherein the high-level channel of the bottom layer of the target shelf and the low-level channel of the bottom layer of the second shelf are adjacent; controlling the transporting equipment to cross the second aisle between the target shelf and the second shelf from the fourth temporary position and move to a fifth temporary position on the high-level channel of the bottom layer of the target shelf; controlling the transporting equipment to lift the first cargo to a predetermined height; controlling the transporting equipment to move to the first target point position below the first target temporary storage position so as to place the first cargo on the first target temporary storage position.

[0012] In some embodiments, controlling the transport equipment to lift the first cargo to a predetermined height includes: controlling the transport equipment to lift the first cargo to a predetermined height at the fifth temporary position, wherein the fifth temporary position is adjacent to the first target point.

[0013] In some embodiments, controlling the transport device to move to the first target location includes: controlling the transport device to move from the fifth temporary location to the first target location.

[0014] In some embodiments, controlling the transporting equipment to lift the first cargo to a predetermined height includes: controlling the transporting equipment to move from the fifth temporary position to the sixth temporary position along the high-level channel of the bottom layer of the target shelf, and lifting the first cargo to a predetermined height during the movement along the high-level channel of the bottom layer of the target shelf, wherein the fifth temporary position is not adjacent to the first target point, and the sixth temporary position is adjacent to the first target point.

[0015] In some embodiments, controlling the transport device to move to the first target location includes: controlling the transport device to move from the sixth temporary location to the first target location.

[0016] In some embodiments, the transporting equipment enters the low-level channel of the designated shelf from one end of the designated shelf in the shelf area along the warehousing path, and continues to move along the warehousing path to the first target point below the first target temporary storage position; or, the transporting equipment enters the low-level channel of the designated shelf from the side of the designated shelf along the warehousing path, and continues to move along the warehousing path to the first target point.

[0017] According to a first aspect of an embodiment of the present disclosure, a method for controlling outbound storage is provided, comprising: determining a second target temporary storage location located at the bottom layer of a target shelf based on a second target storage location of second goods on the target shelf; controlling an access device to transport the second goods from the second target storage location to the second target temporary storage location; determining an outbound path for a transport device based on the second target temporary storage location and an outbound target location; and controlling the transport device to transport the second goods from the second target temporary storage location to the outbound target location along the outbound path.

[0018] In some embodiments, determining the outbound path of the handling equipment includes: determining the outbound path based on the low-level channel and the high-level channel of the bottom layer of each shelf in the shelf area, and at least one of the lanes in the shelf area, wherein the low-level channel allows the handling equipment to lift the first cargo at a low level and pass through, and the high-level channel allows the handling equipment to lift the first cargo at a high level and pass through.

[0019] In some embodiments, the second target temporary storage location is formed by a temporary storage bracket, and the low-level channel is a channel located below the temporary storage bracket.

[0020] In some embodiments, controlling the handling equipment to transport the second cargo from the second target temporary storage location to the delivery target location along the delivery path includes: controlling the handling equipment to obtain the second cargo located on the second target temporary storage location in a high-position lifting state at the second target point located below the second target temporary storage location; controlling the handling equipment to move to the seventh temporary location on the high-position channel on the bottom layer of the target shelf; controlling the handling equipment to switch from the high-position lifting state to the low-position lifting state at the seventh temporary location; controlling the handling equipment to return from the seventh temporary location to the second target location; controlling the handling equipment to transport the second cargo from the second target location to the delivery target location along the delivery path.

[0021] In some embodiments, controlling the handling equipment to transport the second cargo from the second target temporary storage position to the delivery target position along the delivery path includes: controlling the handling equipment to obtain the second cargo located on the second target temporary storage position in a high-level lifting state at the second target point position below the second target temporary storage position; controlling the handling equipment to cross the third aisle between the target shelf and the adjacent third shelf from the second target point position and move to the eighth temporary position on the high-level channel of the bottom layer of the third shelf, wherein the low-level channel of the bottom layer of the target shelf and the high-level channel of the bottom layer of the third shelf are adjacent; controlling the handling equipment to switch from the high-level lifting state to the low-level lifting state at the eighth temporary position; controlling the handling equipment to move from the eighth temporary position to the ninth temporary position on the low-level channel of the bottom layer of the third shelf; controlling the handling equipment to transport the second cargo from the ninth temporary position to the delivery target position along the delivery path.

[0022] In some embodiments, controlling the handling equipment to transport the second cargo from the second target temporary storage position to the delivery target position along the delivery path includes: controlling the handling equipment to obtain the second cargo located on the second target temporary storage position in a high-level lifting state at the second target point position below the second target temporary storage position; controlling the handling equipment to move to the seventh temporary position on the high-level channel of the bottom layer of the target shelf; controlling the handling equipment to switch from the high-level lifting state to the low-level lifting state; controlling the handling equipment to cross the fourth aisle between the target shelf and the adjacent fourth shelf, and move to the tenth temporary position on the low-level channel of the bottom layer of the fourth shelf, wherein the high-level channel of the bottom layer of the target shelf and the low-level channel of the bottom layer of the fourth shelf are adjacent; controlling the handling equipment to transport the second cargo from the eleventh temporary position to the delivery target position along the delivery path.

[0023] In some embodiments, controlling the transport device to switch from a high-position lifting state to a low-position lifting state includes: controlling the transport device to switch from a high-position lifting state to a low-position lifting state at the seventh temporary position.

[0024] In some embodiments, controlling the transport device to move to the eleventh temporary position includes: controlling the transport device to move from the seventh temporary position through the fourth lane to the tenth temporary position.

[0025] In some embodiments, controlling the transport device to switch from a high-position lifting state to a low-position lifting state includes: controlling the transport device to move from the seventh temporary position to the eleventh temporary storage position along the high-position channel of the bottom layer of the target shelf, and in the process of moving along the high-position channel of the bottom layer of the target shelf, controlling the transport device to switch from a high-position lifting state to a low-position lifting state.

[0026] In some embodiments, controlling the transport device to move to the tenth temporary position includes: controlling the transport device to traverse the fourth lane from the eleventh temporary position to move to the tenth temporary position.

[0027] In some embodiments, an empty path of the transport device is determined based on the second target temporary storage location and the current position of the transport device; and the transport device is controlled to move along the empty path to a second target point located below the target temporary storage location.

[0028] In some embodiments, determining the empty path of the handling equipment includes: determining the empty path based on the low-level channel and the high-level channel of the bottom layer of each shelf in the shelf area, and at least one of the lanes in the shelf area.

[0029] In some embodiments, determining the empty path of the handling equipment includes: determining the empty path according to lanes in the shelf area.

[0030] According to a third aspect of an embodiment of the present disclosure, there is provided a warehousing control device, comprising: a first processing module configured to determine a first target temporary storage location located at the bottom layer of a target shelf according to a first target storage location of a first commodity on the target shelf; a second processing module configured to determine an warehousing path of the transporting device according to the first target temporary storage location and a current position of the transporting device; a third processing module configured to control the transporting device to transport the first commodity to the first target temporary storage location along the warehousing path; and a fourth processing module configured to control an access device to transport the first commodity from the first target temporary storage location to the first target storage location.

[0031] According to the fourth aspect of an embodiment of the present disclosure, a warehouse-out control device is provided, including: a fifth processing module, configured to determine a second target temporary storage location located at the bottom layer of the target shelf according to the second target storage location of the second goods on the target shelf; a sixth processing module, configured to control the access device to transport the second goods from the second target storage location to the second target temporary storage location; a seventh processing module, configured to determine the warehouse-out path of the handling device according to the second target temporary storage location and the warehouse-out target location; and an eighth processing module, configured to control the handling device to transport the second goods from the second target temporary storage location to the warehouse-out target location along the warehouse-out path.

[0032] According to a fifth aspect of an embodiment of the present disclosure, a warehouse entry and exit control device is provided, comprising: a memory configured to store instructions; a processor coupled to the memory, the processor being configured to execute a method as described in any of the above embodiments based on the instructions stored in the memory.

[0033] According to the sixth aspect of the embodiments of the present disclosure, there is provided a warehousing-in and warehousing-out system, comprising: an warehousing-in and warehousing-out control device as described in any of the above embodiments; a plurality of shelves, each shelf comprising at least one layer of cargo support, the plurality of shelves being spaced apart to form aisles between the shelves; a handling device, configured to, according to the control of the warehousing-in and warehousing-out control device, transport a first cargo to a first target temporary storage location, or transport a second cargo out of the warehouse from a second target temporary storage location; an access device arranged on the shelf, configured to transport the first cargo from the first target temporary storage location to a first target storage location, or transport the second cargo from the second target storage location to the second target temporary storage location.

[0034] In some embodiments, the bottom layer of the shelf is provided with a high-level channel and a low-level channel, the high-level channel has a first height, and the low-level channel has a second height, the first height is greater than the height of the transport equipment in a high-level cargo lifting state, the second height is greater than the height of the transport equipment in a low-level cargo lifting state, and is less than the height of the transport equipment in a high-level cargo lifting state.

[0035] In some embodiments, the storage and access equipment is located above the alley, and the space below the storage and access equipment has a third height, wherein the third height is greater than the height of the transport equipment in an empty state and less than the height of the transport equipment in a low-position cargo lifting state.

[0036] According to a seventh aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method involved in any of the above embodiments is implemented.

[0037] According to an eighth aspect of an embodiment of the present disclosure, a computer program is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, the method described in any of the above embodiments is implemented.

[0038] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only 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 labor.

[0040] FIG1 is a schematic diagram of a warehouse work scene according to an embodiment of the present disclosure;

[0041] FIG2 is a schematic diagram of a shelf according to an embodiment of the present disclosure;

[0042] FIG3 is a flow chart of a warehousing control method according to an embodiment of the present disclosure;

[0043] FIG4 is a schematic diagram of a storage path according to an embodiment of the present disclosure;

[0044] FIG5 is a schematic diagram of a storage path according to another embodiment of the present disclosure;

[0045] FIG6 is a schematic diagram of a storage path according to another embodiment of the present disclosure;

[0046] 7A to 7G are schematic diagrams of goods entering the warehouse according to some embodiments of the present disclosure;

[0047] 8A to 8D are schematic diagrams of goods entering the warehouse according to other embodiments of the present disclosure;

[0048] 9A to 9D are schematic diagrams of goods entering the warehouse according to some other embodiments of the present disclosure;

[0049] 10A to 10B are schematic diagrams of goods entering the warehouse according to some other embodiments of the present disclosure;

[0050] FIG11 is a flow chart of a method for controlling a warehouse outgoing according to an embodiment of the present disclosure;

[0051] FIG12 is a schematic diagram of an inbound and outbound path according to an embodiment of the present disclosure;

[0052] FIG13 is a schematic diagram of an inbound and outbound path according to another embodiment of the present disclosure;

[0053] 14A to 14E are schematic diagrams of goods leaving the warehouse according to some embodiments of the present disclosure;

[0054] 15A to 15E are schematic diagrams of goods leaving the warehouse according to other embodiments of the present disclosure;

[0055] 16A to 16D are schematic diagrams of goods leaving the warehouse according to some other embodiments of the present disclosure;

[0056] 17A to 17B are schematic diagrams of goods leaving the warehouse according to some other embodiments of the present disclosure;

[0057] FIG18 is a schematic structural diagram of a storage control device according to an embodiment of the present disclosure;

[0058] FIG19 is a schematic structural diagram of a delivery control device according to an embodiment of the present disclosure;

[0059] FIG20 is a schematic structural diagram of a storage entry and exit control device according to an embodiment of the present disclosure;

[0060] FIG21 is a schematic structural diagram of an inbound and outbound control system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0062] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0063] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0064] Technologies, methods and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and equipment should be considered part of the authorization specification.

[0065] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0066] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0067] The inventors noticed that the current warehousing industry has large warehouse areas and frequent inbound and outbound tasks. The paths for handling equipment to perform inbound and outbound tasks are complex, which can easily cause congestion, thereby affecting inbound and outbound efficiency.

[0068] Based on this, the present disclosure provides a storage and out-of-warehouse control solution to effectively improve the storage and out-of-warehouse efficiency of handling equipment.

[0069] As shown in Figure 1, the warehouse includes multiple shelves 5, each of which has multiple levels of storage space, each of which can store one item. The warehousing operation for goods is to move the goods from an external workstation to the target warehousing location, and the warehousing operation for goods is to move the goods from the target warehousing location to an external workstation.

[0070] When goods 1 are put into storage, a handling device (e.g., a transfer cart) 2 is used to move the incoming goods from a workstation 3 through a transition area 4 to a temporary storage location at the bottom of a shelf 5. A storage and retrieval device (e.g., a cargo storage mechanism on a shelf) 6 then stores the goods 1 from the temporary storage location into the target incoming storage location. When goods are taken out of storage, the storage and retrieval device 6 is used to move the outgoing goods 1 from the target outgoing storage location to the temporary storage location. The handling device 2 then moves the outgoing goods 1 from the temporary storage location through a transition area 4 to a workstation 3.

[0071] For example, each shelf 5 may have one or more access devices 6 .

[0072] For example, the transporting device 2 is an automatic guided vehicle with an automatic navigation function, which can travel between the temporary storage location and the workstation, and has a loading mechanism that can store and retrieve goods at the temporary storage location.

[0073] It should be noted that workstation 3 is a work location for picking goods, generally including a distribution rack or distribution slot. Workers or robotic arms can wait at the workstation for the handling equipment to transport the goods and pick the corresponding goods in the corresponding goods to complete the picking.

[0074] Figure 1 exemplarily shows a workstation on one side of a shelf, and there is only one. It is understandable that the number of workstations can be set to multiple as needed, and the position of the workstation relative to the shelf can also be set as needed.

[0075] As shown in Figure 2, the shelf 5 includes multiple layers of storage spaces, each layer containing multiple cargo spaces. A high-level aisle 21 and a low-level aisle 22 are located at the bottom of the shelf. A temporary storage rack 23 is located in the low-level aisle 22. The storage and retrieval device 6 is located above the aisle 24.

[0076] It should be noted that the high channel 21 has a first height h1 and the low channel 22 has a second height h2. The access device 6 moves above the lane 24, wherein when the access device 6 is at the lowest position, the space below the access device 6 has a third height h3.

[0077] The first height h1 is greater than the height of the transport equipment when it is carrying cargo at a high position. The second height h2 is greater than the height of the transport equipment when it is carrying cargo at a low position, but less than the height of the transport equipment when it is carrying cargo at a high position. The third height h3 is greater than the height of the transport equipment when it is unloaded, but less than the height of the transport equipment when it is carrying cargo at a low position. In this case, the high-level passage 21 allows the passage of transport equipment carrying cargo at a high position, the low-level passage 22 allows the passage of transport equipment carrying cargo at a low position, and the lane 24 allows the passage of unloaded transport equipment.

[0078] In addition, an empty handling device can cross the lane 24 and move from the bottom of one shelf to the bottom of another adjacent shelf. If there is no access device 6 blocking it, if the handling device is in a low position lifting the goods, it can also cross the lane 24 and move from the bottom of one shelf to the bottom of another adjacent shelf.

[0079] Therefore, the aisles between the shelves and the high and low channels at the bottom of the shelves can be used to rationally plan the paths of the handling equipment, reduce the transportation time of the handling equipment, and thus effectively improve the efficiency of warehousing and outbound transportation.

[0080] Figure 3 is a flow chart of a storage control method according to an embodiment of the present disclosure. In some embodiments, the following storage control method is executed by a storage control device.

[0081] In step 301, a first target temporary storage location located at the bottom layer of the target shelf is determined according to the first target storage location of the first item on the target shelf.

[0082] In some embodiments, the first target temporary storage location is formed by a temporary storage rack, and the low-level channel is a channel located below the temporary storage rack.

[0083] In step 302, a storage path for the transport equipment is determined according to the first target temporary storage location and the current location of the transport equipment.

[0084] In some embodiments, the warehousing path is determined based on at least one of a low-level aisle and a high-level aisle on the bottom layer of each shelf in the shelf area, and a lane in the shelf area. The low-level aisle allows the handling equipment to pass through while carrying the first cargo at a low level, and the high-level aisle allows the handling equipment to pass through while carrying the first cargo at a high level.

[0085] In step 303, the transport equipment is controlled to transport the first cargo to the first target temporary storage location along the warehousing path.

[0086] In some embodiments, the handling equipment enters the low-level channel of the designated shelf from one end of the designated shelf in the shelf area along the warehousing path, and continues to move along the warehousing path to the first target point below the first target temporary storage position.

[0087] For example, as shown in Figure 4, a handling device 40 carrying goods enters a low-level passage 42 below a designated shelf from one end of the shelf area and continues to move along the storage path to a first target location 44. During this process, the handling device 40 can use the high-level passage 41 and low-level passage 42 under each shelf, as well as the lane 43, to move as needed.

[0088] For example, as shown in FIG5 , the transport device 40 enters the low-level passage below a shelf from one end of the shelf, passes through multiple shelves and lanes, and finally reaches the first target point 44 .

[0089] In other embodiments, the handling equipment enters the low-level channel of the designated shelf from the side of the designated shelf along the storage path, and continues to move along the storage path to the first target point.

[0090] For example, as shown in Figure 6, a handling device 40 carrying goods enters the low-level aisle 42 of a designated shelf from the side of the shelf and continues to move along the storage path to the first target point 44. During this process, the handling device 40 can use the high-level aisle 41 and low-level aisle 42 under each shelf, as well as the lane 43, to move as needed.

[0091] It should be noted that the transport equipment transports the first cargo to the first target location in different ways, which will be described in detail below through Examples 1 to 3.

[0092] Example 1:

[0093] 1) Control the transport device 70 to move along the warehousing path from the low-level channel of the bottom layer of the target shelf to the first target point 80, as shown in FIG7A .

[0094] 2) Control the transport device 70 to move from the first target point 80 to the first temporary position 81 on the high-level channel of the bottom layer of the target shelf.

[0095] As shown in Fig. 7B , the transport device 70 performs posture adjustment. Next, as shown in Fig. 7C , the transport device 70 moves to the first temporary position 81 on the high-level channel.

[0096] 3) Controlling the handling equipment to lift the first cargo to a predetermined height.

[0097] As shown in Fig. 7D , the transport device 70 performs posture adjustment. Next, as shown in Fig. 7E , the transport device 70 lifts the first cargo to a predetermined height.

[0098] 4) Controlling the transport device 70 to return to the first target location 80 so as to place the first cargo on the first target temporary storage location 71, as shown in FIG7F .

[0099] Next, as shown in FIG. 7G , the transport device 70 retracts the telescopic mechanism and enters an unloaded state.

[0100] Example 2:

[0101] 1) Control the handling device 70 to move along the warehousing path to the second temporary position 82 on the low-level channel of the bottom layer of the first shelf adjacent to the target shelf, where the low-level channel of the bottom layer of the target shelf is adjacent to the high-level channel of the bottom layer of the first shelf, as shown in FIG8A .

[0102] 2) Control the transport device 70 to move from the second temporary position 82 to the third temporary position 83 on the high-level channel of the bottom layer of the first shelf, and control the transport device 70 to lift the first cargo to a predetermined height, as shown in FIG8B .

[0103] 3) Control the transport device 70 to traverse the first lane between the target shelf and the first shelf, and move from the third temporary position 83 to the first target point 80 to place the first cargo on the first target temporary storage position 71, as shown in FIG8C .

[0104] Next, as shown in FIG8D , the transport device 70 retracts the telescopic mechanism and enters an unloaded state.

[0105] Example 3:

[0106] 1) Control the handling device 70 to move along the warehousing path to the fourth temporary position 84 on the low-level channel of the bottom layer of the second shelf adjacent to the target shelf, where the high-level channel of the bottom layer of the target shelf is adjacent to the low-level channel of the bottom layer of the second shelf, as shown in FIG9A .

[0107] 2) Control the transport device 70 to cross the second lane between the target shelf and the second shelf from the fourth temporary position, move to the first temporary position 81 on the high-level channel on the bottom layer of the target shelf, and control the transport device 70 to lift the first cargo to a predetermined height, as shown in FIG9B .

[0108] 3) Control the transport device 70 to move to the first target location 80 so as to place the first cargo on the first target temporary storage location 71, as shown in FIG9C .

[0109] Next, as shown in FIG9D , the transport device 70 retracts the telescopic mechanism and enters an unloaded state.

[0110] It should be noted that, in FIG. 9B , the transport device 70 may lift the first cargo to a predetermined height at the current position, or may lift the first cargo to a predetermined height during movement.

[0111] For example, as shown in Figure 10A, the transport equipment 70 is controlled to pass through the aisle from the temporary position 84 to reach the temporary position 81 on the high-level channel below the target shelf, the transport equipment 70 is controlled to lift the first cargo to a predetermined height at the temporary position 81, and then the transport equipment 70 is controlled to reach the first target point 80.

[0112] For another example, as shown in Figure 10B , the transport device 70 is controlled to traverse the lane at a temporary position 84 to reach a temporary position 85 on the high-level aisle below the target shelf. While the transport device 70 is controlled to move from temporary position 85 to temporary position 81, the first cargo is lifted to a predetermined height. After reaching temporary position 81, the transport device 70 can directly reach the first target point 80. This approach significantly reduces the time required for the transport device 70 to lift the first cargo to the predetermined height while stationary, thereby improving the operational efficiency of the transport device.

[0113] Returning to Figure 3, in step 304, the access device is controlled to move the first cargo from the first target temporary storage location to the first target storage location.

[0114] In the warehousing control method provided in the above-mentioned embodiment of the present disclosure, by utilizing the high-level channels and low-level channels under the shelves, as well as the aisles between the shelves, the path of the handling equipment can be reasonably planned, the transportation time of the handling equipment can be reduced, thereby effectively improving the efficiency of warehousing in and out.

[0115] Figure 11 is a flow chart of a method for controlling a warehouse dispatch according to an embodiment of the present disclosure. In some embodiments, the following method for controlling a warehouse dispatch is executed by a warehouse dispatch control device.

[0116] In step 1101, a second target temporary storage location located at the bottom layer of the target shelf is determined according to the second target storage location of the second goods on the target shelf.

[0117] In some embodiments, the second target temporary storage location is formed by a temporary storage rack, and the low-level channel is a channel located below the temporary storage rack.

[0118] In step 1102 , the access device is controlled to move the second cargo from the second target storage location to the second target temporary storage location.

[0119] In step 1103, the outbound path of the transport equipment is determined according to the second target temporary storage location and the outbound target location.

[0120] In some embodiments, the outbound route is determined based on the low-level channel and the high-level channel on the bottom layer of each shelf in the shelf area, and at least one of the lanes in the shelf area, wherein the low-level channel allows the handling equipment to lift the first cargo through at a low level, and the high-level channel allows the handling equipment to lift the first cargo through at a high level.

[0121] In step 1104 , the transport equipment is controlled to transport the second cargo from the second target temporary storage location to the target location for outbound transport along the outbound route.

[0122] It should be noted that the unloaded transport device may be located inside or outside the racking area. In this case, the unloaded path of the transport device is determined based on the second target temporary storage location and the current location of the transport device. The transport device is then controlled to move along the unloaded path to the second target location below the second target temporary storage location.

[0123] In some embodiments, an empty path is determined based on at least one of a low-level aisle and a high-level aisle at the bottom layer of each shelf in the shelf area, and a lane in the shelf area.

[0124] For example, empty load paths are determined based on the aisles in the racking area.

[0125] It should be noted that the inbound and outbound operations are often continuous. As shown in Figure 12 , a transport device 121 delivers a first item to a first temporary storage location 122 along an inbound path 131. Next, the unloaded transport device 122 moves along the unloaded path 132 to the second temporary storage location 123 to retrieve a second item. The transport device 123 then moves the second item to the outbound destination along an outbound path 133.

[0126] As shown in Figure 12, an unloaded transport device 122 can choose different paths to reach the second temporary storage location 123 from the first temporary storage location 122. For example, the transport device 122 can reach the second temporary storage location 123 by traveling straight along the low-level passageway where the first temporary storage location 122 is located. However, since the unloaded transport device 122 is relatively low and can move along the roadway, planning a path along the roadway ensures that the transport device 122 can reach its destination smoothly while also avoiding occupying the low-level passageway or the high-level passageway, thereby preventing the impact on other transport devices carrying goods.

[0127] Furthermore, as shown in Figure 12 , the inbound path 131 and outbound path 133 of the transport device 122 may or may not overlap. It should be noted that if the inbound path 131 and outbound path 133 do not overlap, the inbound path 131, the empty path 132, and the outbound path 133 of the transport device 122 can form a loop. This effectively avoids congestion caused by different transport devices using the same path.

[0128] In the embodiment shown in Figure 12, handling equipment 122 enters the shelf area from one end of the shelf and leaves the shelf area from one end of the shelf. And in the embodiment shown in Figure 13, handling equipment 122 enters the shelf area from the side of the shelf and leaves the shelf area from the side of the shelf.

[0129] For the sake of simplicity, only one outbound path 133 is shown in Figure 13. The outbound path 133, the empty path 132 and the inbound path 131 form a loop path.

[0130] It should be noted that the transport equipment transports the second cargo from the second target temporary storage location to the target location for shipment in different ways.

[0131] Example 4:

[0132] 1) Control the transport device 141 to reach the second target point 150 on the low-level channel of the bottom layer of the target shelf, as shown in FIG14A .

[0133] 2) Control the transport device 141 to obtain the second cargo located at the second target temporary storage location 142 in a high-position lifting state, as shown in FIG14B .

[0134] 3) Control the transport device 141 to move to the seventh temporary position 151 on the high-level channel of the bottom layer of the target shelf, as shown in FIG14C .

[0135] 4) Control the transport device 141 to switch from the high-position lifting state to the low-position lifting state at the seventh temporary position 151, as shown in FIG14D.

[0136] 5) Control the transport device 141 to return from the seventh temporary position 151 to the second target position 150, as shown in FIG14E.

[0137] Next, the transporting device 141 is controlled to transport the second cargo from the second target location 150 to the target location for the outbound shipment along the outbound shipment route.

[0138] Embodiment 5:

[0139] 1) Control the transport device 141 to reach the second target point 150 on the low-level channel of the bottom layer of the target shelf, as shown in FIG15A .

[0140] 2) Control the transport device 141 to obtain the second cargo located at the second target temporary storage location 142 in a high-position lifting state, as shown in FIG15B .

[0141] 3) Control the transport equipment 141 to cross the third aisle between the target shelf and the adjacent third shelf from the second target point 150 and move to the eighth temporary position 152 on the high-level channel of the bottom layer of the third shelf, where the low-level channel of the bottom layer of the target shelf and the high-level channel of the bottom layer of the third shelf are adjacent, as shown in Figure 15C.

[0142] 4) Control the transport device 141 to switch from the high-position lifting state to the low-position lifting state at the eighth temporary position 152, as shown in FIG15D.

[0143] 5) Control the transport device 141 to move from the eighth temporary position 152 to the ninth temporary position 153 on the low-level channel of the bottom layer of the third shelf, as shown in FIG15E .

[0144] Next, the transport device 141 is controlled to transport the second cargo from the ninth temporary location 153 to the destination location for outbound delivery along the outbound delivery path.

[0145] Example 6:

[0146] 1) Control the transport device 141 to reach the second target point 150 on the low-level channel of the bottom layer of the target shelf, as shown in FIG16A .

[0147] 2) Control the transport device 141 to obtain the second cargo located at the second target temporary storage location 142 in a high-position lifting state, as shown in FIG16B .

[0148] 3) Control the transport device 141 to move to the temporary position 151 on the high-level channel of the bottom layer of the target shelf, and control the transport device 141 to switch from the high-level lifting state to the low-level lifting state, as shown in FIG16C .

[0149] 4) Control the handling equipment 141 to cross the fourth aisle between the target shelf and the adjacent fourth shelf, and move to the temporary position 154 on the low-level channel of the bottom layer of the fourth shelf, where the high-level channel of the bottom layer of the target shelf and the low-level channel of the bottom layer of the fourth shelf are adjacent, as shown in Figure 16D.

[0150] Next, the transporting device 141 is controlled to transport the second cargo from the temporary location 154 to the destination location along the outbound path.

[0151] It should be noted that, in FIG. 16C , the transport device 141 may lift the first cargo to a predetermined height at the current position, or may lift the first cargo to a predetermined height during movement.

[0152] For example, as shown in Figure 17A, the transporting equipment 141 is controlled to move from the second target point 150 to the temporary position 151 on the high-level channel below the target shelf, and the transporting equipment 141 is controlled to switch from the high-level lifting state to the low-level lifting state at the temporary position 151, and then pass through the aisle from the temporary position 151 to the temporary position 154 on the low-level channel below the adjacent shelf, and then the transporting equipment 141 is controlled to move from the temporary position 154 to the outbound target position.

[0153] For another example, as shown in FIG17B , the transport device 141 is controlled to move from the second target point 150 to a temporary position 151 on the high-level passage below the target shelf. The transport device 141 is then controlled to move along the high-level passage from the temporary position 151 to the temporary position 155. During the process of the transport device 141 moving from the temporary position 151 to the temporary position 155, the transport device 141 is controlled to switch from the high-level lifting state to the low-level lifting state. Next, the transport device 141 is controlled to pass through the lane from the temporary position 155 to the temporary position 154 on the low-level passage below the adjacent shelf. The transport device 141 is then controlled to move from the temporary position 154 to the target position for delivery. Obviously, in this way, the time for the transport device 141 to switch from the high-level lifting state to the low-level lifting state when in a stationary state can be effectively saved, thereby improving the operating efficiency of the transport device.

[0154] FIG18 is a schematic diagram of the structure of a storage control device according to an embodiment of the present disclosure. As shown in FIG18 , the storage control device includes a first processing module 181 , a second processing module 182 , a third processing module 183 and a fourth processing module 184 .

[0155] The first processing module 181 is configured to determine a first target temporary storage location located at the bottom layer of the target shelf according to the first target storage location of the first goods on the target shelf.

[0156] In some embodiments, the first target temporary storage location is formed by a temporary storage rack, and the low-level channel is a channel located below the temporary storage rack.

[0157] The second processing module 182 is configured to determine a storage path for the transport device according to the first target temporary storage location and the current location of the transport device.

[0158] In some embodiments, the warehousing path is determined based on at least one of a low-level aisle and a high-level aisle on the bottom layer of each shelf in the shelf area, and a lane in the shelf area. The low-level aisle allows the handling equipment to pass through while carrying the first cargo at a low level, and the high-level aisle allows the handling equipment to pass through while carrying the first cargo at a high level.

[0159] The third processing module 183 is configured to control the transporting equipment to transport the first cargo to the first target temporary storage location along the warehousing path.

[0160] In some embodiments, the third processing module 183 transports the first cargo to the first target temporary storage location according to the solution involved in any one of the embodiments in Figures 4 to 10.

[0161] The fourth processing module 184 is configured to control the access device to move the first cargo from the first target temporary storage location to the first target storage location.

[0162] FIG19 is a schematic diagram of the structure of a dispatch control device according to an embodiment of the present disclosure. As shown in FIG19 , the dispatch control device includes a fifth processing module 191 , a sixth processing module 192 , a seventh processing module 193 and an eighth processing module 194 .

[0163] The fifth processing module 191 is configured to determine a second target temporary storage location located at the bottom layer of the target shelf according to the second target storage location of the second goods on the target shelf.

[0164] In some embodiments, the second target temporary storage location is formed by a temporary storage rack, and the low-level channel is a channel located below the temporary storage rack.

[0165] The sixth processing module 192 is configured to control the access device to move the second cargo from the second target storage location to the second target temporary storage location.

[0166] In some embodiments, the storage and retrieval device moves the second cargo from the second target storage location to the second target temporary storage location.

[0167] The seventh processing module 193 is configured to determine an outbound path for the transport equipment according to the second target temporary storage location and the outbound target location.

[0168] In some embodiments, the outbound route is determined based on the low-level channel and the high-level channel on the bottom layer of each shelf in the shelf area, and at least one of the lanes in the shelf area, wherein the low-level channel allows the handling equipment to lift the first cargo through at a low level, and the high-level channel allows the handling equipment to lift the first cargo through at a high level.

[0169] The eighth processing module 194 is configured to control the transporting equipment to transport the second cargo from the second target temporary storage location to the target location for outbound transportation along the outbound path.

[0170] In some embodiments, the eighth processing module 194 moves the second cargo from the second target temporary storage location to the outbound target location according to the solution involved in any one of the embodiments in Figures 12 to 17.

[0171] FIG20 is a schematic diagram of the structure of a storage entry and exit control device according to an embodiment of the present disclosure. As shown in FIG20 , the storage entry and exit control device includes a memory 201 and a processor 202 .

[0172] The memory 201 is used to store instructions. The processor 202 is coupled to the memory 201 . The processor 202 is configured to execute the method involved in any embodiment of FIG. 3 or FIG. 11 based on the instructions stored in the memory.

[0173] As shown in Figure 20, the access control device further includes a communication interface 203 for exchanging information with other devices. Furthermore, the access control device further includes a bus 204 through which the processor 202, the communication interface 203, and the memory 201 communicate with each other.

[0174] Memory 201 may include high-speed RAM memory or non-volatile memory, such as at least one disk storage device. Memory 201 may also be a memory array. Memory 201 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules.

[0175] Furthermore, the processor 202 may be a central processing unit (CPU), or may be an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0176] The present disclosure also relates to a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method involved in any one of the embodiments in FIG. 3 or FIG. 11 is implemented.

[0177] Figure 21 is a schematic diagram of the structure of an access control system according to one embodiment of the present disclosure. As shown in Figure 21 , the access control system includes multiple shelves, each of which includes at least one layer of cargo support. The shelves are spaced apart to form aisles between the shelves. The access control system also includes an access control device 211, handling equipment 212, and access equipment 213 mounted on the shelves. Access control device 211 is the access control device described in any of the embodiments in Figure 20 .

[0178] The transporting device 212 is configured to transport the first cargo to the first target temporary storage location, or to transport the second cargo out of the warehouse from the second target temporary storage location, according to the control of the in-and-out control device 211 .

[0179] The access device 213 is configured to move the first cargo from the first target temporary storage location to the first target storage location, or to move the second cargo from the second target storage location to the second target temporary storage location.

[0180] It should be noted here that, as shown in Figure 2, the bottom layer of the shelf is provided with a high-level channel and a low-level channel. The high-level channel has a first height and the low-level channel has a second height. The first height is greater than the height of the transport equipment in the high-level lifting state, and the second height is greater than the height of the transport equipment in the low-level lifting state, and is less than the height of the transport equipment in the high-level lifting state.

[0181] In addition, the access device 213 is located above the alley, and the space below the access device has a third height, wherein the third height is greater than the height of the transport device in an empty state and less than the height of the transport device in a low-position cargo lifting state.

[0182] By implementing the above-mentioned embodiments of the present disclosure, the paths of the handling equipment are rationally planned by utilizing the lanes between the shelves and the high and low channels at the bottom of the shelves, thereby reducing the transportation time of the handling equipment and effectively improving the efficiency of warehousing and outbound operations.

[0183] In some embodiments, the functional unit module described above can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any appropriate combination thereof for performing the functions described in the present disclosure.

[0184] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0185] The description of the present disclosure is provided for purposes of illustration and description and is not intended to be exhaustive or to limit the disclosure to the disclosed form. Many modifications and variations will be apparent to those skilled in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure and to enable those skilled in the art to understand the present disclosure and design various embodiments with various modifications suitable for specific applications.

Claims

1. An inbound storage control method, comprising: Determining a first target temporary storage location at the bottom layer of the target shelf according to the first target storage location of the first cargo on the target shelf; Determining the inbound path of the handling device according to the first target temporary storage location and the current location of the handling device; Controlling the handling device to transport the first cargo along the inbound path to the first target temporary storage location; Controlling the access device to transport the first cargo from the first target temporary storage location to the first target storage location.

2. The method according to claim 1, wherein Determining the inbound path of the handling device includes: Determining the inbound path according to at least one of the low-level channels and high-level channels at the bottom layer of each shelf in the shelf area and the aisles in the shelf area, wherein the low-level channel allows the handling device to pass through while lifting the first cargo at a low level, and the high-level channel allows the handling device to pass through while lifting the first cargo at a high level.

3. The method according to claim 2, wherein The first target temporary storage location is constituted by a temporary storage bracket, and the low-level channel is a channel located below the temporary storage bracket.

4. The method according to claim 3, wherein Controlling the handling device to transport the first cargo along the inbound path to the first target temporary storage location includes: Controlling the handling device to move along the inbound path from the low-level channel at the bottom layer of the target shelf to a first target point below the first target temporary storage location; Controlling the handling device to move from the first target point to a first temporary position on the high-level channel at the bottom layer of the target shelf; Controlling the handling device to lift the first cargo to a predetermined height; Controlling the handling device to return to the first target point so as to place the first cargo on the first target temporary storage location.

5. The method according to claim 3, wherein Controlling the handling device to transport the first cargo along the inbound path to the first target temporary storage location includes: Controlling the handling device to move along the inbound path to a second temporary position on the low-level channel at the bottom layer of the first shelf adjacent to the target shelf, wherein the low-level channel at the bottom layer of the target shelf and the high-level channel at the bottom layer of the first shelf are adjacent; Controlling the handling device to move from the second temporary position to a third temporary position on the high-level channel at the bottom layer of the first shelf; Controlling the handling device to lift the first cargo to a predetermined height; Controlling the handling device to cross the first aisle between the target shelf and the first shelf and move from the third temporary position to a first target point below the first target temporary storage location so as to place the first cargo on the first target temporary storage location.

6. The method according to claim 3, wherein, Controlling the handling device to transport the first cargo along the inbound path to the first target temporary storage location includes: Controlling the handling device to move along the inbound path to a fourth temporary position on the low-level channel at the bottom layer of the second shelf adjacent to the target shelf, wherein the high-level channel at the bottom layer of the target shelf and the low-level channel at the bottom layer of the second shelf are adjacent; Controlling the handling device to cross the second aisle between the target shelf and the second shelf and move to a fifth temporary position on the high-level channel at the bottom layer of the target shelf; Control the handling device to lift the first cargo to a predetermined height; Control the handling device to move to a first target point below the first target temporary storage position so as to place the first cargo on the first target temporary storage position.

7. The method according to claim 6, wherein, Controlling the handling device to lift the first cargo to a predetermined height includes: Controlling the handling device to lift the first cargo to a predetermined height at the fifth temporary position, where the fifth temporary position is adjacent to the first target point.

8. The method according to claim 7, wherein Controlling the handling device to move to the first target point includes: Controlling the handling device to move from the fifth temporary position to the first target point.

9. The method according to claim 6, wherein Controlling the handling device to lift the first cargo to a predetermined height includes: Controlling the handling device to move along the high-level passage at the bottom layer of the target shelf from the fifth temporary position to the sixth temporary position, and lift the first cargo to a predetermined height during the movement along the high-level passage at the bottom layer of the target shelf, where the fifth temporary position is not adjacent to the first target point and the sixth temporary position is adjacent to the first target point.

10. The method according to claim 9, wherein, Controlling the handling device to move to the first target point includes: Controlling the handling device to move from the sixth temporary position to the first target point.

11. According to the method described in any one of claims 1-10, wherein, The handling device enters the low-level passage of the designated shelf in the shelf area from one end of the designated shelf along the inbound path, and continues to move along the inbound path to a first target point below the first target temporary storage position; or The handling device enters the low-level passage of the designated shelf from the side of the designated shelf along the inbound path, and continues to move along the inbound path to the first target point.

12. An outbound control method, including: Determine a second target temporary storage position at the bottom layer of the target shelf according to the second target storage position of the second cargo on the target shelf; Control the access device to carry the second cargo from the second target storage position to the second target temporary storage position; Determine the outbound path of the handling device according to the second target temporary storage position and the outbound target position; Control the handling device to carry the second cargo from the second target temporary storage position to the outbound target position along the outbound path.

13. The method according to claim 12, wherein, Determining the outbound path of the handling device includes: Determine the outbound path according to at least one of the low-level passages and high-level passages at the bottom layer of each shelf in the shelf area and the aisles in the shelf area, where the low-level passage allows the handling device to carry the first cargo through at a low level, and the high-level passage allows the handling device to carry the first cargo through at a high level.

14. According to the method described in claim 13, wherein, The second target temporary storage position is constituted by a temporary storage bracket, and the low-level passage is a passage below the temporary storage bracket.

15. The method according to claim 14, wherein, Controlling the handling device to carry the second cargo from the second target temporary storage position to the outbound target position along the outbound path includes: Control the handling device to obtain the second cargo located on the second target temporary storage position at a second target point below the second target temporary storage position in a high-lift state; Control the handling device to move to a seventh temporary position on the high-level passage at the bottom layer of the target shelf; Control the handling device to switch from the high-lift state to the low-lift state at the seventh temporary position; Control the handling device to return from the seventh temporary position to the second target point; Control the handling device to transport the second cargo from the second target point to the outbound target position along the outbound path.

16. The method according to claim 14, wherein, Controlling the handling device to transport the second cargo from the second target temporary storage position to the outbound target position along the outbound path includes: Control the handling device to obtain the second cargo located on the second target temporary storage position at a second target point below the second target temporary storage position in a high-lift state; Control the handling device to move from the second target point across the third roadway between the target shelf and the adjacent third shelf to an eighth temporary position on the high-level passage at the bottom layer of the third shelf, where the low-level passage at the bottom layer of the target shelf is adjacent to the high-level passage at the bottom layer of the third shelf; Control the handling device to switch from the high-lift state to the low-lift state at the eighth temporary position; Control the handling device to move from the eighth temporary position to a ninth temporary position on the low-level passage at the bottom layer of the third shelf; Control the handling device to transport the second cargo from the ninth temporary position to the outbound target position along the outbound path.

17. The method according to claim 14, wherein Controlling the handling device to transport the second cargo from the second target temporary storage position to the outbound target position along the outbound path includes: Control the handling device to obtain the second cargo located on the second target temporary storage position at a second target point below the second target temporary storage position in a high-lift state; Control the handling device to move to a seventh temporary position on the high-level passage at the bottom layer of the target shelf; Control the handling device to switch from the high-lift state to the low-lift state; Control the handling device to cross the fourth roadway between the target shelf and the adjacent fourth shelf and move to a tenth temporary position on the low-level passage at the bottom layer of the fourth shelf, where the high-level passage at the bottom layer of the target shelf is adjacent to the low-level passage at the bottom layer of the fourth shelf; Control the handling device to transport the second cargo from the eleventh temporary position to the outbound target position along the outbound path.

18. The method according to claim 17, wherein, Controlling the handling device to switch from the high-lift state to the low-lift state includes: Control the handling device to switch from the high-lift state to the low-lift state at the seventh temporary position.

19. The method according to claim 18, wherein, Controlling the handling device to move to the eleventh temporary position includes: Control the handling device to move from the seventh temporary position through the fourth roadway to the tenth temporary position.

20. The method according to claim 17, wherein Controlling the handling device to switch from the high-lift state to the low-lift state includes: Control the handling device to move from the seventh temporary position to the eleventh temporary storage position along the high-level passage at the bottom layer of the target shelf. During the movement along the high-level passage at the bottom layer of the target shelf, control the handling device to switch from the high-level lifting state to the low-level lifting state.

21. The method according to claim 20, wherein, Controlling the handling device to move to the tenth temporary position includes: Controlling the handling device to cross the fourth roadway from the eleventh temporary position and move to the tenth temporary position.

22. The method according to any one of claims 12-21, further comprising: Determine the no-load path of the handling device according to the second target temporary storage position and the current position of the handling device; Control the handling device to move along the no-load path to the second target point position below the target temporary storage position.

23. The method according to claim 22, wherein, Determining the no-load path of the handling device includes: Determine the no-load path according to at least one of the low-level passages and high-level passages at the bottom layer of each shelf in the shelf area, and the roadways in the shelf area.

24. The method according to claim 23, wherein Determining the no-load path of the handling device includes: Determine the no-load path according to the roadways in the shelf area.

25. An inbound control device, comprising: A first processing module, configured to determine a first target temporary storage position at the bottom layer of the target shelf according to the first target storage position of the first goods on the target shelf; A second processing module, configured to determine the inbound path of the handling device according to the first target temporary storage position and the current position of the handling device; A third processing module, configured to control the handling device to move the first goods to the first target temporary storage position along the inbound path; A fourth processing module, configured to control the access device to move the first goods from the first target temporary storage position to the first target storage position.

26. An outbound control device, comprising: A fifth processing module, configured to determine a second target temporary storage position at the bottom layer of the target shelf according to the second target storage position of the second goods on the target shelf; A sixth processing module, configured to control the access device to move the second goods from the second target storage position to the second target temporary storage position; A seventh processing module, configured to determine the outbound path of the handling device according to the second target temporary storage position and the outbound target position; An eighth processing module, configured to control the handling device to move the second goods from the second target temporary storage position to the outbound target position along the outbound path.

27. An inbound and outbound control device, comprising: A memory, configured to store instructions; A processor, coupled to the memory, and the processor is configured to execute the method according to any one of claims 1-24 based on the instructions stored in the memory.

28. An inbound and outbound system, comprising: The inbound and outbound control device according to claim 27; A plurality of shelves, the shelves including at least one layer of goods support, and the plurality of shelves are arranged at intervals to form roadways between the shelves; A handling device, configured to move the first goods to the first target temporary storage position or move the second goods out of the second target temporary storage position according to the control of the inbound and outbound control device; An access device disposed on a shelf, configured to transport the first goods from the first target staging position to the first target storage position, or to transport the second goods from the second target storage position to the second target staging position.

29. The system according to claim 28, wherein, A high-level passage and a low-level passage are provided at the bottom layer of the shelf. The high-level passage has a first height, and the low-level passage has a second height. The first height is greater than the height of the handling device in the state of lifting goods at a high level, and the second height is greater than the height of the handling device in the state of lifting goods at a low level and less than the height of the handling device in the state of lifting goods at a high level.

30. The system according to claim 29, wherein, The access device is located above the aisle, and the space below the access device has a third height, where the third height is greater than the height of the handling device in the no-load state and less than the height of the handling device in the state of lifting goods at a low level.

31. A computer-readable storage medium, wherein, A computer-readable storage medium stores computer instructions, which when executed by a processor implement the method according to any one of claims 1-24.

32. A computer program, comprising computer instructions, wherein the computer instructions when executed by a processor implement the method according to any one of claims 1-24.

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