Warehousing system, warehouse, warehousing system control method, and storage medium

Abstract

The present application provides a warehousing system, a warehouse, a warehousing system control method, and a storage medium. The warehousing system provided in the present application comprises: a shelf, a sorting device, and a retrieval and placement device, wherein the shelf comprises a storage layer and a temporary storage layer, the temporary storage layer is located below the storage layer, and the storage layer is configured to store a plurality of material boxes stacked in a vertical direction; the sorting device comprises a sorting conveyor line and a sorting apparatus, the sorting conveyor line is provided beside the shelf, and the sorting conveyor line is aligned with the shelf; the sorting apparatus is provided opposite to the sorting conveyor line; and the retrieval and placement device is movably provided in the length direction of the shelf, and the retrieval and placement device is configured to retrieve a single material box from the storage layer and place same onto the temporary storage layer, or simultaneously retrieve a plurality of material boxes and place same onto the sorting conveyor line; and a handling device, configured to transport the material box on the temporary storage layer to the sorting conveyor line. Thus, the logistics efficiency of the warehousing system under different working conditions can be improved.

Description

Warehousing system, warehouse, warehousing system control method and storage medium

[0001] This application claims priority to CN202410028511.8, filed on January 5, 2024, entitled “Warehousing system, warehouse, warehouse system control method and storage medium,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of warehousing and logistics technology, and in particular to a warehousing system, a warehouse, a warehousing system control method, and a storage medium. Background Art

[0003] The storage method of the three-dimensional warehousing system is widely used in the field of warehousing and logistics due to its large storage capacity. With the development of artificial intelligence and automation technology, the degree of automation of the logistics system is getting higher and higher. The three-dimensional warehouse can be connected with external equipment through automated devices to realize automatic picking and placing of goods.

[0004] In related technologies, to increase storage density, three-dimensional warehouses can stack material boxes using buffer racks. This allows for more boxes to be stored within a limited height space, eliminating gaps between stacked boxes. When picking and placing a box, after selecting a box, an independent picking robot lifts the stacked box above it, removes the selected box, and then transports it to the next logistics process.

[0005] However, in current storage systems where material boxes are stacked, the material boxes can only be transported out of the warehouse one by one by handling robots, resulting in low logistics efficiency.

[0006] Application Contents

[0007] The present application provides a warehousing system, a warehouse, a warehousing system control method and a storage medium to solve the technical problem of low efficiency in outbound delivery of material boxes in a current warehousing system where material boxes are stacked.

[0008] In a first aspect, the present application provides a warehousing system, comprising:

[0009] The shelf includes a storage layer and a temporary storage layer. The temporary storage layer is located below the storage layer. The storage layer is configured to store multiple material boxes stacked in a vertical direction.

[0010] Sorting equipment, the sorting equipment includes a sorting conveyor line and a sorting device. The sorting conveyor line is arranged on the side of the shelf, and the sorting conveyor line is connected to the shelf and conveys material boxes; the sorting device is opposite to the sorting conveyor line and is configured to sort the goods in the material boxes on the sorting conveyor line;

[0011] Pick-and-place equipment, which is arranged to move along the length of the shelf and is configured to pick up and place a single material box from the storage layer to the temporary storage layer; or, to pick up and place multiple material boxes to the sorting conveyor line at the same time;

[0012] The handling equipment is configured to transport the material boxes in the temporary storage layer to the sorting conveyor line.

[0013] The warehousing system provided in the embodiment of the present application uses a picking and placing device to pick up and place material boxes from shelves where material boxes are stacked. The picking and placing device can pick up and place single or multiple material boxes according to the specific order task requirements. At the same time, the sorting conveyor line and the handling equipment are used in conjunction with the shelves. When a single material box is shipped out of the warehouse, the handling equipment is used to take out the material box from the temporary storage layer. When multiple material boxes are shipped out of the warehouse, the sorting conveyor line transports the multiple material boxes to the sorting device, thereby improving the logistics efficiency of the warehousing system under different working conditions.

[0014] In some embodiments, the sorting conveyor line has an input port, which is arranged opposite to one end of the shelf in the length direction; the picking and placing equipment is located on the side of the shelf in the length direction, and one end of the moving path of the picking and placing equipment along the length direction of the shelf is opposite to the input port.

[0015] With this arrangement, after the pick-and-place equipment takes multiple material boxes from the shelf, the multiple material boxes can be transported and placed at the input port of the sorting conveyor line at one time, saving the time for the material boxes to be shipped out of the warehouse.

[0016] In some embodiments, the sorting conveyor line may include a first conveying section, a second conveying section and a third conveying section, the first conveying section is connected to the shelf and forms an input port, the third conveying section has an output port, and the output port is connected to the shelf; the second conveying section is connected between the first conveying section and the third conveying section; the sorting device is located on the side of the second conveying section.

[0017] Such a setting can achieve a rapid outflow and inflow of material boxes from the shelves. The material boxes shipped out of the warehouse can be directly transported to the sorting device through the sorting conveyor line, and the material boxes after sorting can be sent back to the shelves for storage through the sorting conveyor line.

[0018] In some embodiments, an inlet and an outlet are provided at both ends of the second conveying section, and the handling equipment can be docked with the inlet or the outlet.

[0019] With this arrangement, when transporting a single material box out of the warehouse, the handling equipment can directly convey the material box to the second conveying section, avoiding occupying the space in the area where the sorting conveyor line connects with the shelf, thereby preventing congestion of material boxes.

[0020] In some embodiments, the sorting conveyor line may include a first conveyor line and a second conveyor line, and the first conveyor line and the second conveyor line are arranged at intervals in the vertical direction; one of the first conveyor line and the second conveyor line is configured to convey the material box from the end docked with the shelf to the sorting device; the other of the first conveyor line and the second conveyor line is configured to convey the material box from the sorting device to the end docked with the shelf.

[0021] In some embodiments, the cargo picking and placing equipment may include a frame, a movable gantry and a cargo picking and placing device, the frame having a slide rail extending along the length direction of the shelf, and the movable gantry being movably connected to the slide rail; the movable gantry is vertically arranged, the cargo picking and placing device is connected to the movable gantry, and the cargo picking and placing device can be moved along the height direction of the movable gantry.

[0022] With this arrangement, the fixed frame and the movable gantry that moves on the frame make the moving path of the picking and placing equipment more precise, reducing the floor space occupied by the storage system and reducing the cost of the equipment.

[0023] In some embodiments, at least two picking and placing devices are provided on the mobile gantry, wherein at least one picking and placing device is configured to lift other material boxes stacked above the target material box, and at least one picking and placing device is configured to pick and place the target material box.

[0024] With this arrangement, any one of the stacked material boxes can be quickly removed from the warehouse, and in the process of removing the material box, other storage locations on the shelf will not be occupied.

[0025] In some embodiments, the frame may include at least two columns and at least two beams, the columns are arranged at both ends of the shelf in the length direction, and the beams are connected between the columns at both ends of the shelf in the length direction; the beams are used to form slide rails.

[0026] Such an arrangement enables the area passed by the moving path of the movable door frame to cover various positions in the length direction of the shelf and ensures the smoothness of the moving process of the movable door frame.

[0027] In some embodiments, there may be multiple movable gantries, which are spaced apart along the extension direction of the slide rail, and the multiple movable gantries can independently move along the slide rail.

[0028] With this arrangement, multiple mobile gantries can be used to simultaneously carry out picking and placing operations at different positions along the length of the shelf, thereby improving logistics efficiency.

[0029] In some embodiments, there can be multiple shelves, which are arranged at intervals to form a storage area; there are aisles between adjacent shelves, and the picking and placing equipment is arranged in the aisles, and the picking and placing equipment is configured to pick up and place material boxes in both directions from the shelves on both sides of the aisle; the sorting equipment can be set outside the storage area.

[0030] With this arrangement, the picking and placing equipment can perform picking and placing operations on two shelves at the same time, and there is no need to set up multiple picking and placing equipment in a single aisle, thereby increasing the storage density while reducing the cost of the storage system.

[0031] In some embodiments, a movable channel is provided below the temporary storage layer, and the handling equipment can move in the movable channel; the handling equipment can enter the movable channel from any position around the shelf.

[0032] Such an arrangement can shorten the path of the transport equipment when it moves in and out of the area where the shelves are located, thereby improving the transport efficiency of the transport equipment.

[0033] In a second aspect, the present application provides a warehouse, which includes an incoming warehouse area, a storage area, an operating area, and an outgoing warehouse area, and is provided with the warehousing system of the above technical solution;

[0034] The shelves of the warehousing system are set in the storage area, and the sorting equipment of the warehousing system is set in the operation area;

[0035] The goods in the incoming warehouse area are transported to the shelves in the storage area through the handling equipment of the warehousing system; the goods on the shelves are transported to the sorting equipment in the operation area through the picking and placing equipment or handling equipment of the warehousing system; the goods sorted by the sorting equipment in the operation area are transported to the outgoing warehouse area through the handling equipment.

[0036] In a third aspect, the present application provides a storage system control method, which is used for a controller of the storage system, and the method includes:

[0037] Receive order information and determine the quantity of target material boxes based on the order information;

[0038] If the target material box is a single one, a first picking instruction is sent to the picking and placing device so that the picking and placing device picks and places the target material box to the temporary storage layer of the shelf;

[0039] If there are multiple target material boxes, a second picking instruction is sent to the picking and placing device, so that the picking and placing device obtains multiple target material boxes and transports the multiple target material boxes to the sorting conveyor line at one time.

[0040] The warehousing system control method provided in the embodiment of the present application can select different outbound methods and outbound paths after taking out the material boxes using the picking and releasing equipment according to the number of material boxes corresponding to the specific order, thereby improving the outbound efficiency of the material boxes under different working conditions.

[0041] In some embodiments, the picking and placing device obtains multiple target material boxes, specifically including:

[0042] Determine whether multiple target material boxes are continuously stacked material boxes;

[0043] If multiple target material boxes are stacked continuously, the picking and placing equipment is controlled to move to the position corresponding to the target material box, lift the other material boxes above the target material box, and take out all the target material boxes at once;

[0044] If the multiple target material boxes are not continuously stacked, the picking and placing equipment is controlled to move to the positions corresponding to the multiple target material boxes in sequence, and the other material boxes above the target material boxes are lifted respectively to take out the multiple target material boxes in sequence.

[0045] In some embodiments, after sending a first picking instruction to the picking and placing device so that the picking and placing device picks and places the target material box to the temporary storage layer of the shelf, the method further includes:

[0046] Send a transport instruction to the transport equipment to enable it to transport the target material box from the temporary storage layer to the sorting conveyor line.

[0047] In a fourth aspect, the present application provides a storage medium storing computer execution instructions, which, when executed, are used to implement the warehouse system control method in the above technical solution.

[0048] The present application provides a warehousing system, a warehouse, a warehousing system control method and a storage medium, wherein the warehousing system includes shelves, sorting equipment and picking and placing equipment, the shelves include storage layers and temporary storage layers, the temporary storage layer is located below the storage layer, and the storage layer is configured to store multiple material boxes stacked in a vertical direction; the sorting equipment includes a sorting conveyor line and a sorting device, the sorting conveyor line is arranged on the side of the shelves, and the sorting conveyor line is connected to the shelves and conveys material boxes; the sorting device is opposite to the sorting conveyor line and is configured to sort the goods in the material boxes on the sorting conveyor line; the picking and placing equipment is arranged to move along the length direction of the shelves, and the picking and placing equipment is configured to pick up and place a single material box from the storage layer to the temporary storage layer; or, pick up and place multiple material boxes to the sorting conveyor line at the same time; the handling equipment, the handling equipment is configured to transport the material boxes in the temporary storage layer to the sorting conveyor line, thereby improving the logistics efficiency of the warehousing system under different working conditions.

[0049] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the warehousing system, warehouse, warehousing system control method and storage medium provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0051] FIG1 is a structural diagram of a storage system according to an embodiment of the present application;

[0052] FIG2 is a top view of a storage system provided in an embodiment of the present application;

[0053] FIG3 is a second structural diagram of a warehousing system provided in an embodiment of the present application;

[0054] FIG4 is a third structural diagram of a warehousing system provided in an embodiment of the present application;

[0055] FIG5 is a fourth structural diagram of a warehousing system provided in an embodiment of the present application;

[0056] FIG6 is a schematic diagram of the steps of a storage system control method provided in an embodiment of the present application;

[0057] FIG7 is a flow chart of a storage system control method provided in an embodiment of the present application.

[0058] Explanation of the accompanying drawings: 100-shelf; 101-storage layer; 102-temporary storage layer; 103-moving channel; 200-sorting equipment; 210-sorting conveyor line; 211-first conveying section; 212-second conveying section; 213-third conveying section; 214-input port; 215-output port; 216-inflow port; 217-outflow port; 218-first conveyor line; 219-second conveyor line; 220-sorting device; 300-pick-up and release equipment; 310-frame; 311-column; 312-beam; 313-slide rail; 320-movable gantry; 330-pick-up and release device; 400-handling equipment. DETAILED DESCRIPTION

[0059] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0060] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art may adjust them as needed to suit specific applications.

[0061] Secondly, it should be noted that in the description of this application, terms such as "up", "down", "left", "right", "front", "back", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0062] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0063] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0064] Due to their large storage capacity, three-dimensional warehouse systems are widely used in the field of warehousing and logistics. Three-dimensional warehouses are usually composed of multiple shelves, and robots used to pick and place goods can move between the shelves. Currently, in order to increase storage density, three-dimensional warehouses can stack material boxes using buffer racks. There is no gap between the stacked material boxes, allowing more material boxes to be stacked within a limited height space. When picking and placing material boxes, after selecting the material box, the robot lifts the material box stacked above the selected material box and then removes the selected material box. The robot then transports the material box along a preset track path to the sorting workbench for sorting. The sorted goods are then packaged and shipped out.

[0065] However, in current warehouse systems with stacked bins, robots are large and heavy, requiring both lifting the stacked bins and retrieving and transporting them. This takes up a significant amount of space in the warehouse's aisles during transport, increasing costs and causing system congestion. Furthermore, robots can only transport bins one by one, requiring numerous round trips and resulting in low logistics efficiency.

[0066] In response to the above problems, the embodiments of the present application provide a warehousing system, a warehouse, a warehousing system control method and a storage medium, wherein the warehousing system uses picking and placing equipment to pick and place material boxes, and by setting up a sorting conveyor line to connect with the shelf, and setting up a temporary storage layer on the shelf to connect with the handling equipment, the picking and placing equipment can adopt different material box outbound paths and methods according to the number of material boxes that need to be shipped out. A single material box can be obtained and shipped out from the temporary storage layer by the handling equipment, while multiple material boxes can be transported out in a centralized manner by the sorting conveyor line, thereby adapting to the high-efficiency logistics needs under different working conditions and maximizing the logistics efficiency of the warehousing system.

[0067] To facilitate understanding, the application scenarios to which the embodiments of the present application are applicable are first described below.

[0068] The warehousing system provided in the embodiment of the present application can be applied to the production process of a manufacturing factory or the entry and exit of inventory products, the entry and exit of inventory products in the retail industry, and can also be applied to different fields such as express entry and exit sorting in e-commerce logistics. The products involved in transportation and entry and exit can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., and the material box referred to in this application can be a storage container for the products listed above. The specific structure of the material box can be a box structure with a accommodating space, or a pallet structure, etc. The embodiment of the present application does not make specific limitations on this.

[0069] FIG1 is a structural schematic diagram 1 of a warehousing system provided in an embodiment of the present application, and FIG2 is a top view of the warehousing system provided in an embodiment of the present application.

[0070] Referring to Figures 1 and 2, the present application provides a warehousing system comprising a shelf 100, a sorting device 200, a pick-and-place device 300, and a handling device 400. The shelf 100 comprises a storage layer 101 and a temporary storage layer 102. The temporary storage layer 102 is located below the storage layer 101. The storage layer 101 is configured to store multiple material boxes stacked vertically, with no gaps between the stacked material boxes, thereby increasing storage density.

[0071] The multiple material box stacking setting means that multiple material boxes are stacked in sequence from bottom to top. When taking or placing a material box at the top of the stack, the material box can be taken or placed directly. However, when taking or placing a material box in the middle or lower layer, you need to lift the other material boxes above it first before you can take or place the target material box.

[0072] The sorting equipment 200 includes a sorting conveyor line 210 and a sorting device 220. The sorting conveyor line 210 is located to the side of the shelf 100 and connects to the shelf 100 to transport the material boxes. The sorting device 220 is opposite the sorting conveyor line 210 and is configured to sort the goods in the material boxes on the sorting conveyor line 210.

[0073] It is understood that the pick-and-place device 300 is arranged to move along the length of the shelf 100 and is configured to pick up and place a single material box from the storage layer 101 to the temporary storage layer 102, or to pick up and place multiple material boxes simultaneously to the sorting conveyor line 210. A single material box that needs to be shipped from the temporary storage layer 102 can be transported to the sorting conveyor line 210 by the handling device 400, while multiple material boxes that need to be shipped simultaneously can be directly picked up and placed on the sorting conveyor line 210 by the pick-and-place device 300.

[0074] It should be noted that the handling device 400 occupies less space and is more flexible. The handling device 400 is more efficient in transporting a single material box than the pick-and-place device 300 is in transporting a single material box to the sorting conveyor line 210. Furthermore, the pick-and-place device 300 can transport multiple material boxes at a time. When multiple material boxes need to be shipped out simultaneously, the pick-and-place device 300 is more efficient in simultaneously transporting multiple material boxes to the sorting conveyor line 210 than the handling device 400 is in retrieving and transporting the material boxes one by one from the temporary storage layer 102. Therefore, the embodiments of the present application employ different material box transport methods based on the requirements of different order conditions, thereby improving the logistics efficiency of the warehousing equipment.

[0075] Furthermore, in the warehousing system provided in the embodiment of the present application, the pick-and-place device 300 can sequentially dispatch orders, selecting whether to transport them to the temporary storage layer 102 or the sorting conveyor line 210 based on the number of material boxes corresponding to the order. Alternatively, the pick-and-place device 300 can dispatch multiple orders simultaneously. In this case, if an order for a single material box and an order for multiple material boxes appear simultaneously, the transport device 400 can dispatch the order for a single material box simultaneously with the sorting conveyor line 210 outputting the multiple material boxes.

[0076] Furthermore, when removing a single material box from the warehouse, the pick-and-place device 300 can be used to remove the material box to the temporary storage layer 102, with the handling device 400 transporting the material box from the temporary storage layer 102 to the sorting conveyor line 210. Alternatively, the pick-and-place device 300 can be used to directly transport the target material box to the sorting conveyor line 210. The specific method for removing a single material box from the warehouse can be selected based on the specific operating status of the handling device 400 and the pick-and-place device 300, with the currently idle device being used for the removal operation.

[0077] For example, the storage layer 101 of the shelf 100 has multiple storage rows, each of which can hold multiple material boxes. When the pick-and-place device 300 needs to retrieve multiple material boxes for a single order, the multiple material boxes can be stacked together, i.e., placed in the same storage row and stacked in order from top to bottom; alternatively, the multiple material boxes can be placed in multiple different storage rows.

[0078] Among them, when multiple material boxes of the target order are located in the same storage column and stacked together, the picking and placing equipment 300 can take out all the material boxes corresponding to the target order with only one picking and placing operation, and transport all the material boxes corresponding to the target order to the sorting conveyor line 210 at one time. Compared with the robots in the prior art that transport the material boxes back and forth in sequence, the number of round trips is reduced and the logistics efficiency is improved.

[0079] When multiple material boxes of the target order are located in multiple different storage columns, the picking and placing equipment 300 can obtain multiple material boxes in a preset order. For example, the first material box is obtained first. When obtaining subsequent material boxes, the previously obtained material boxes can be stacked and placed on the material box that currently needs to be obtained, and then the stacked material boxes that need to be obtained can be lifted together until all material boxes are taken out, and all material boxes corresponding to the target order are transported to the sorting conveyor line 210 at one time. Compared with the robot in the prior art that transports the material boxes back and forth in sequence, the number of round trips is reduced and the logistics efficiency is improved.

[0080] The specific method of docking the sorting conveyor line 210 with the shelf 100 and the specific structure of the sorting conveyor line 210 are described in detail below.

[0081] Continuing with Figures 1 and 2 , in some embodiments, the sorting conveyor line 210 has an input port 214 disposed opposite one end of the shelf 100 in the longitudinal direction. The pick-and-place device 300 is located to the side of the shelf 100 in the longitudinal direction, with one end of the pick-and-place device 300's movement path along the longitudinal direction of the shelf 100 opposite the input port 214.

[0082] It is understandable that after the picking and placing device 300 takes out multiple material boxes from the shelf 100, the multiple material boxes can be transported and placed at the input port 214 of the sorting conveyor line 210 at one time, saving the time of sending the material boxes out of the warehouse.

[0083] After the picking and placing device 300 transports multiple stacked material boxes to the input port 214 of the sorting conveyor line 210, the picking and placing device 300 can split the multiple stacked material boxes into sections arranged along the conveying direction of the sorting conveyor line 210. In this process, the sorting conveyor line 210 can be used to convey the material boxes in sequence from bottom to top, and the picking and placing device 300 only needs to lift and put down the corresponding material boxes.

[0084] Alternatively, the input port 214 of the sorting conveyor line 210 may be provided with a splitting mechanism. After the picking and placing device 300 transports multiple stacked material boxes to the input port 214 of the sorting conveyor line 210, the picking and placing device 300 may proceed to execute the next order task. The multiple stacked material boxes placed at the input port 214 may be split by the splitting mechanism into boxes arranged along the conveying direction of the sorting conveyor line 210.

[0085] In some embodiments, the sorting conveyor line 210 may include a first conveying section 211, a second conveying section 212, and a third conveying section 213. The first conveying section 211 interfaces with the shelf 100 and forms an input port 214. The third conveying section 213 has an output port 215, which interfaces with the shelf 100. The second conveying section 212 is connected between the first conveying section 211 and the third conveying section 213. The sorting device 220 is located to the side of the second conveying section 212.

[0086] It can be understood that the sorting conveyor line 210 can be in a "U" shape at the end of the shelf 100. After the material box flows in from the input port 214, it is first transported along the first conveying section 211, and then enters the second conveying section 212 from the first conveying section 211. The sorting operation is completed by the sorting device 220 in the second conveying section 212. After the sorting is completed, the material box can enter the third conveying section 213 from the second conveying section 212. The material box that is transported to the output port 215 along the third conveying section 213 can be put into storage through the picking and placing equipment 300 on the other side of the shelf 100, so that the material box can be quickly outflowed and inflowed from the shelf 100. The material box that is out of the warehouse can be directly transported to the sorting device 220 through the sorting conveyor line 210, and the material box that is sorted can be sent back to the shelf 100 for storage through the sorting conveyor line 210.

[0087] For example, the first conveying section 211, the second conveying section 212, and the third conveying section 213 can employ similar or identical conveying structures. For example, the first conveying section 211 can include a support and conveying rollers mounted on the support. The conveying rollers can include active rollers and passive rollers that are driven by a motor to actively rotate, thereby enabling the material box to move along the first conveying section 211. For another example, the first conveying section 211 can include a support and a conveyor belt mounted on the support. The structures of the second conveying section 212 and the third conveying section 213 are not further described herein.

[0088] In some embodiments, an inlet 216 and an outlet 217 are provided at both ends of the second conveying section 212, and the handling device 400 can dock with the inlet 216 or the outlet 217. When the handling device 400 is transporting a single outbound material box, it can directly convey the material box to the second conveying section 212, avoiding occupying the space in the area of ​​the sorting conveyor line 210 docking with the shelf 100, thereby preventing material box congestion.

[0089] It can be understood that the second conveying section 212 can be correspondingly provided with a conveyor line for conveying order boxes, and the conveyor line for conveying order boxes can be arranged in layers above and below the second conveying section 212. The sorting device 220 can sort the goods in the material box on the second conveying section 212 into the order box.

[0090] For example, after the goods in the material box are sorted, if there is no goods remaining in the material box, the material box can be transferred to the output port 215 through the third conveying section 213, and the picking and placing equipment 300 can be used for re-warehousing; and if there is no goods remaining in the material box, the handling equipment 400 can take the empty material box from the outflow port 217 of the second conveying section 212 and transport it to the storage area for the empty material box.

[0091] FIG5 is a fourth structural diagram of the warehousing system provided in an embodiment of the present application.

[0092] Please refer to Figure 5. In some embodiments, the sorting conveyor line 210 may include a first conveyor line 218 and a second conveyor line 219, and the first conveyor line 218 and the second conveyor line 219 are arranged at intervals in the vertical direction; one of the first conveyor line 218 and the second conveyor line 219 is configured to transport the material box from the end docked with the shelf 100 to the sorting device 220; the other of the first conveyor line 218 and the second conveyor line 219 is configured to transport the material box from the sorting device 220 to the end docked with the shelf 100.

[0093] It is understood that the conveying directions of the first conveyor line 218 and the second conveyor line 219 are opposite. The first conveyor line 218 and the second conveyor line 219 both extend horizontally. By arranging the first conveyor line 218 and the second conveyor line 219 in a vertical direction, the longitudinal space can be fully utilized, the area occupied by the sorting conveyor line 210 can be reduced, and the space utilization rate can be improved.

[0094] It should be noted that the sorting device 220 can be equipped with a button to stop the sorting conveyor line 210, which is used to start and stop the sorting conveyor line 210 during the empty sorting process. The sorting device 220 can also be equipped with a detection mechanism to detect whether the sorting operation of the goods in the current material box is complete. In addition, the sorting device 220 can use either automatic robotic sorting or manual sorting, which is not specifically limited in this embodiment of the application.

[0095] The specific structure of the cargo picking and placing device 300 is described in detail below.

[0096] Continuing with Figures 1 and 2, in some embodiments, the cargo pickup and placement equipment 300 may include a frame 310, a movable gantry 320, and a cargo pickup and placement device 330. The frame 310 has a slide rail 313 extending along the length of the shelf 100, and the movable gantry 320 is movably connected to the slide rail 313. The movable gantry 320 is disposed vertically, and the cargo pickup and placement device 330 is connected to the movable gantry 320, and the cargo pickup and placement device 330 is movable along the height of the movable gantry 320.

[0097] It is understood that the length of the frame 310 can match the length of the shelf 100, while the height of the frame 310 matches the upper limit of the height of the material boxes that can be stacked on the shelf 100. The fixed frame 310 and the movable gantry 320 that moves on the frame 310 make the movement path of the picking and placing equipment 300 more precise, reducing the floor space occupied by the storage system and lowering the equipment cost.

[0098] Exemplarily, the frame 310 may be made of a metal or alloy such as iron or aluminum. For example, the frame 310 may be made of an aluminum profile to improve structural strength and installation convenience while reducing costs.

[0099] In some embodiments, at least two picking and placing devices 330 can be provided on the movable gantry 320, wherein at least one picking and placing device 330 is configured to lift other material boxes stacked above the target material box, and at least one picking and placing device 330 is configured to pick up and place the target material box, thereby enabling any stacked material box to be quickly shipped out, and in the process of taking out the material box, other storage locations on the shelf 100 will not be occupied.

[0100] It can be understood that when two picking-up and placing devices 330 are provided on each mobile gantry 320, the two picking-up and placing devices 330 are spaced apart in the vertical direction, and the two picking-up and placing devices 330 can move independently along the height direction of the mobile gantry 320, that is, two sets of independent driving and transmission systems can be provided on the mobile gantry 320 to drive the two picking-up and placing devices 330 to move respectively.

[0101] During the process of picking up goods, when the target material box is located at a certain position in the middle of a row of stacked material boxes, the other material boxes above the target material box can be lifted by the upper picking and placing device 330, and then the target material box can be taken out by another picking and placing device 330 below. Afterwards, the lifted material box can be put down by the upper picking and placing device 330 and stacked together with the material box below the previous target material box.

[0102] In addition, if the target material box is located at the top of a row of stacked material boxes, only one of the two picking and placing devices 330 is required to pick up the material box.

[0103] Exemplarily, the cargo picking and placing device 330 may include a fixed arm and a telescopic arm. The telescopic arm may be extended relative to the fixed arm, and the telescopic arm may cooperate with both side walls of the material box to lift the material box.

[0104] It should be noted that the transmission and drive structure for the telescopic arm to extend and retract relative to the fixed arm, as well as the transmission and drive structure for the up and down movement of the cargo picking and placing device 330 as a whole relative to the movable door frame 320, can all be driven by motors, as well as transmission structures such as chains, belts, gear racks, and wire ropes. The embodiments of the present application do not make specific limitations on this.

[0105] In some embodiments, the frame 310 may include at least two columns 311 and at least two beams 312. The columns 311 are disposed at both ends of the shelf 100 in the longitudinal direction, and the beams 312 are connected between the columns 311 at both ends of the shelf 100 in the longitudinal direction. The beams 312 are used to form slide rails 313. The movement path of the mobile gantry 320 can cover various positions along the longitudinal direction of the shelf 100, and ensure the smooth movement of the mobile gantry 320.

[0106] Exemplarily, there can be two columns 311, which are respectively arranged at the two ends of the side of the shelf 100, and there can be two beams 312, which are connected between the two columns 311, and the two beams 312 are respectively connected to the bottom and top of the columns 311, so that the movable door frame 320 forms a "mouth" shaped structure.

[0107] In addition, more columns 311 and crossbeams 312 can be set. For example, three columns 311 and three crossbeams 312 can be set, so that the mobile gantry 320 forms a "field" - shaped structure. The embodiments of the present application do not make specific limitations on this.

[0108] It should be noted that for the driving method and transmission structure of the mobile gantry 320 moving along the slide rail 313 on the crossbeam 312, motor drive and transmission structures such as chains, belts, gear racks, and steel wire ropes can be adopted. In addition, the mobile gantry 320 and the slide rail 313 can be配合 by rollers, that is, the mobile gantry 320 can be set with rollers to roll along the slide rail 313 to reduce the friction force when moving along the slide rail 313.

[0109] Figure 3 is a second schematic structural diagram of the storage system provided by the embodiment of the present application.

[0110] Please refer to Figure 3 and combine it with Figure 1 and Figure 2. In some embodiments, there can be multiple mobile gantries 320. The multiple mobile gantries 320 are arranged at intervals along the extension direction of the slide rail 313, and the multiple mobile gantries 320 can move independently along the slide rail 313. In this way, picking and placing operations can be carried out simultaneously at different positions in the length direction of the shelf 100 through the multiple mobile gantries 320, improving the logistics efficiency.

[0111] It can be understood that when the storage system is operating, there may be multiple different orders in the order library at the same time, and the heat demand for the goods in the material boxes on the shelf 100 may be different. The higher the heat demand for outbound, the more material boxes need to be taken out during a single outbound process. When the heat demand for outbound is low, only the corresponding single material box needs to be taken out during a single outbound process.

[0112] Exemplarily, two mobile gantries 320 can be set on each frame 310, and the two mobile gantries 320 can cooperate to work. For example, a threshold value of the heat demand for the goods corresponding to a preset order is set. When it is lower than this threshold, only a single material box needs to be out - bound, and when it exceeds the heat demand threshold of the goods, two or more material boxes need to be out - bound. The two mobile gantries 320 can be responsible for picking operations in different areas in the length direction of the shelf 100.

[0113] Figure 4 is a third schematic structural diagram of the storage system provided by the embodiment of the present application.

[0114] Please refer to Figure 4 and combine it with Figure 3. In order to improve the export efficiency of the material box and avoid path interference between the multiple mobile gantries 320 during the movement along the frame 310, sorting conveyor lines 210 can be set at both ends of the shelf 100 for docking, so that the multiple mobile gantries 320 can select the sorting conveyor line 210 at the closer end to output the material box according to the specific pickup location on the shelf 100.

[0115] In some embodiments, there may be multiple shelves 100, which are spaced apart to form a storage area. Aisles are provided between adjacent shelves 100, and the pick-and-place equipment 300 is disposed in the aisles. The pick-and-place equipment 300 is configured to bidirectionally pick and place material boxes from the shelves 100 on both sides of the aisles. The sorting equipment 200 may be located outside the storage area.

[0116] It is understandable that the picking and placing equipment 300 can perform picking and placing operations on two shelves 100 at the same time, and there is no need to set up multiple picking and placing equipment 300 in a single aisle, thereby increasing the storage density while reducing the cost of the storage system.

[0117] The following is a detailed description of the pick-up and placement operations of a single material box by the handling device 400.

[0118] In some embodiments, a moving passage 103 is provided below the temporary storage layer 102, and the transport device 400 can move in the moving passage 103. The transport device 400 can enter the moving passage 103 from any position around the shelf 100, thereby shortening the path of the transport device 400 when moving in and out of the area where the shelf 100 is located, thereby improving the transport efficiency of the transport device 400.

[0119] It is understandable that the temporary storage layer 102 can have multiple storage locations, and the multiple storage locations correspond to the positions of the material boxes stacked above them. However, when the picking and placing equipment 300 takes out a single material box, the material box can be placed according to the vacancy of the storage locations of the current temporary storage layer 102. It can be placed in the temporary storage layer 102 storage location directly below the stacked position of the target material box, or in the temporary storage layer 102 storage location at other locations.

[0120] For example, the handling device 400 may include a mobile base and a lifting mechanism. The mobile base can move freely along the ground. The lifting mechanism is disposed on the mobile base and is used to lift the material box in the temporary storage layer 102 and remove the material box from the temporary storage layer 102 by moving the mobile base. The lifting mechanism may include a motor and a lifting plate driven by the motor. The motor and the lifting plate may be connected by a telescopic rod or a connecting rod structure. The specific structure of the lifting mechanism is not limited in this embodiment of the present application.

[0121] The embodiment of the present application provides a warehouse, which includes an incoming warehouse area, a storage area, an operation area, and an outgoing warehouse area, and is provided with the warehousing system of the above technical solution, wherein the shelves of the warehousing system are provided in the storage area, and the sorting equipment of the warehousing system is provided in the operation area.

[0122] It is understood that the goods in the incoming area can be transported to the shelves in the storage area by the handling equipment of the warehousing system. For example, the handling equipment can transport the material box containing the goods to the temporary storage layer of the shelf, and then the picking and placing equipment can pick up and place the material box to the vacant storage layer.

[0123] When goods need to be shipped out of the warehouse, the goods on the shelves are transported to the sorting equipment in the work area by the warehousing system's pick-and-place equipment or handling equipment. For example, a material box containing the target goods can be transported to the sorting equipment by either the pick-and-place equipment or the handling equipment. The specific transportation method and process are consistent with those in the aforementioned warehousing system and will not be repeated here.

[0124] Goods sorted by the sorting equipment in the operation area are transported to the outbound area via the handling equipment. For example, the sorting device of the sorting equipment can sort the target goods from the material boxes shipped from the shelves into order boxes. The handling equipment then transports the order boxes containing the target goods to the outbound area, where the target goods are packaged.

[0125] The warehouse in the embodiment of the present application may include all the technical solutions and technical effects of the aforementioned warehousing system, which will not be repeated here.

[0126] FIG6 is a schematic diagram of the steps of the warehouse system control method provided in an embodiment of the present application, and FIG7 is a flow chart of the warehouse system control method provided in an embodiment of the present application.

[0127] Referring to FIG. 6 and FIG. 7 , in combination with FIG. 1 and FIG. 2 , an embodiment of the present application provides a method for controlling a warehousing system. The method is applied to a controller of the warehousing system, and the controller of the warehousing system serves as an executing body of the method. The method includes:

[0128] S100: Receive order information and determine the quantity of target material boxes according to the order information.

[0129] The warehousing system controller can receive order information via wireless communication. The order information includes the type and quantity of goods in the target order. Based on the target order information, the warehousing system controller can determine the number of target material boxes and the specific location of the target material boxes on the shelf 100 of the warehousing system.

[0130] It should be noted that the storage system's memory stores information about the goods stored in bins on all shelves 100 in the current storage system, including the type of goods and the quantity of goods stored in each bin. Upon receiving the order information, the controller retrieves the coordinates of all bins containing the target goods from the memory through a keyword search. Furthermore, based on the current busy status of all pick-and-place devices 300 and sorting devices 200 in the storage system, the controller determines the pick-and-place device 300 and sorting device 200 required to execute the target order's delivery task.

[0131] The warehousing system control method provided in the embodiment of the present application can select different outbound methods and outbound paths after taking out the material boxes using the picking and placing equipment 300 according to the number of material boxes corresponding to the specific order, thereby improving the outbound efficiency of the material boxes under different working conditions.

[0132] S200. If the target material box is a single one, a first picking instruction is sent to the picking and placing device, so that the picking and placing device picks and places the target material box to the temporary storage layer of the shelf; if the target material box is multiple, a second picking instruction is sent to the picking and placing device, so that the picking and placing device obtains multiple target material boxes and transports the multiple target material boxes to the sorting conveyor line at one time.

[0133] It can be understood that when the target material box is single, the picking and placing equipment 300 only needs a single picking operation to obtain the target material box, wherein the first picking instruction includes the coordinate information of the target material box, for example, the coordinates of the target material box are [X, Y], X corresponds to the storage column of the target material box on the shelf 100, and Y corresponds to the stacking position of the target material box in the corresponding storage column.

[0134] When the picking and placing equipment 300 picks up goods, the movable gantry 320 first moves along the slide rail 313 of the frame 310 to the storage row corresponding to the target material box, and then the picking and placing device 330 moves along the movable gantry 320 to be opposite to the target material box and performs the picking and placing operation.

[0135] Furthermore, when removing a single material box from the warehouse, the pick-and-place device 300 can be used to remove the material box to the temporary storage layer 102, with the handling device 400 transporting the material box from the temporary storage layer 102 to the sorting conveyor line 210. Alternatively, the pick-and-place device 300 can be used to directly transport the target material box to the sorting conveyor line 210. The specific method for removing a single material box from the warehouse can be selected based on the specific operating status of the handling device 400 and the pick-and-place device 300, with the currently idle device being used for the removal operation.

[0136] When there are multiple target material boxes, a single or multiple picking operations can be performed according to the specific storage locations of the multiple target material boxes on the shelf 100, which will not be described in detail below.

[0137] In some embodiments, the picking and placing device 300 obtains multiple target material boxes, specifically including:

[0138] Determine whether the target material boxes are stacked continuously. Continuously stacked material boxes refer to multiple material boxes being in the same storage column and arranged vertically in sequence.

[0139] If the multiple target material boxes are stacked continuously, the picking and placing device 300 is controlled to move to the position corresponding to the target material box, lift the other material boxes above the target material box, and take out all the target material boxes at once.

[0140] It is understandable that if the multiple target material boxes are continuously stacked, the second pick-up and place-out instruction only needs to include the coordinate information of the bottommost material box and the coordinate information of the topmost material box of the multiple continuously stacked material boxes.

[0141] For example, there are N target material boxes stacked consecutively. The coordinates of the bottom target material box are [X, Y], and the coordinates of the other target material boxes are [X, Y+1], [X, Y+2], ..., [X, Y+N-1]. When the pick-and-place device 300 picks up the goods, it simply moves to the corresponding storage column. First, one pick-and-place device 330 lifts the target material box at coordinates [X, Y+N] and all the boxes above it. Then, another pick-and-place device 330 lifts the target material box at coordinates [X, Y] and takes all N target material boxes out.

[0142] If the multiple target material boxes are not stacked continuously, the picking and placing equipment 300 is controlled to move to the positions corresponding to the multiple target material boxes in sequence, and lift the other material boxes above the target material boxes respectively to take out the multiple target material boxes in sequence.

[0143] It is understandable that if the multiple target material boxes are not stacked continuously, the second picking and placing instruction includes the coordinate information of all the target material boxes that are not stacked.

[0144] For example, if the coordinates of the target material boxes are [a, b], [c, d], and [e, f], respectively, the three target material boxes can be picked up and placed sequentially. The steps for picking up the first target material box with coordinates [a, b] are the same as those for picking up and placing a single material box. When picking up the second target material box with coordinates [c, d], after lifting the other material boxes above it, the first target material box can be stacked and placed on top of the second target material box, and then the second target material box can be lifted, simultaneously driving the first and second target material boxes to complete the picking operation. The third target material box with coordinates [e, f] can be removed in a similar manner, and so on, more target material boxes can be picked up and placed. After all target material boxes have been removed, they are transported to the sorting conveyor line 210 at once.

[0145] In some embodiments, after sending the first picking instruction to the picking and placing device 300 so that the picking and placing device 300 picks and places the target material box to the temporary storage layer 102 of the shelf 100, the process further includes:

[0146] A transport instruction is sent to the transport device 400 , so that the transport device 400 transports the target material box from the temporary storage layer 102 to the sorting conveyor line 210 .

[0147] It is understood that the transport instruction includes the coordinate information of the target material box stored in the temporary storage layer 102. After the transport device 400 removes the target material box from the temporary storage layer 102, it can be selected to transport the target material box to the sorting conveyor line 210 of the sorting device 200 with relatively fewer order sorting tasks based on the current logistics idle status of the sorting device 200.

[0148] An embodiment of the present application also provides a storage medium, which stores computer execution instructions. When the computer execution instructions are executed, they are used to implement the warehouse system control method in the above technical solution.

[0149] Among them, the storage medium can be a computer-readable storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer-readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be an integral part of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. In addition, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0150] Exemplarily, the storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random-access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, 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 application.

Claims

1. A warehousing system, characterized in that, The storage system includes: A shelf, the shelf includes a storage layer and a temporary storage layer, the temporary storage layer is located below the storage layer, and the storage layer is configured to store a plurality of material boxes stacked vertically; Sorting equipment, the sorting equipment includes a sorting conveyor line and a sorting device, the sorting conveyor line is arranged on the side of the shelf, and the sorting conveyor line is docked with the shelf and conveys the material boxes; the sorting device is opposite to the sorting conveyor line and is configured to sort the goods in the material boxes on the sorting conveyor line; A pick-and-place device, the pick-and-place device is movably arranged along the length direction of the shelf, and the pick-and-place device is configured to pick and place a single material box from the storage layer to the temporary storage layer; or, pick and place a plurality of material boxes to the sorting conveyor line at the same time; Handling equipment, the handling equipment is configured to transport the material boxes in the temporary storage layer to the sorting conveyor line.

2. The warehousing system according to claim 1, characterized in that, The sorting conveyor line has an input port, and the input port is arranged opposite to one end of the shelf in the length direction; the pick-and-place device is located on the side of the shelf in the length direction, and one end of the moving path of the pick-and-place device along the length direction of the shelf is opposite to the input port.

3. The warehousing system according to claim 2, wherein The sorting conveyor line includes a first conveyor section, a second conveyor section and a third conveyor section, the first conveyor section is docked with the shelf and forms the input port, the third conveyor section has an output port, and the output port is docked with the shelf; the second conveyor section is connected between the first conveyor section and the third conveyor section; the sorting device is located on the side of the second conveyor section.

4. The warehousing system according to claim 3, wherein, Inlets and outlets are arranged at both ends of the second conveyor section, and the handling equipment can be docked with the inlet or the outlet.

5. The warehousing system according to claim 2, wherein The sorting conveyor line includes a first conveyor line and a second conveyor line, and the first conveyor line and the second conveyor line are arranged at intervals in the vertical direction; one of the first conveyor line and the second conveyor line is configured to convey the material boxes from one end docked with the shelf to the sorting device; the other of the first conveyor line and the second conveyor line is configured to convey the material boxes from the sorting device to one end docked with the shelf.

6. The warehousing system according to any one of claims 1-5, characterized in that, The pick-and-place device includes a frame, a movable gantry and a pick-and-place device, the frame has a slide rail extending along the length direction of the shelf, and the movable gantry is movably connected to the slide rail; the movable gantry is arranged vertically, and the pick-and-place device is connected to the movable gantry and can move along the height direction of the movable gantry.

7. The warehousing system according to claim 6, characterized in that At least two pick-and-place devices are arranged on the movable gantry, wherein at least one pick-and-place device is configured to lift other material boxes stacked above the target material box, and at least one pick-and-place device is configured to pick and place the target material box.

8. The warehousing system according to claim 6, characterized in that, The frame includes at least two columns and at least two cross beams, the columns are arranged at both ends of the shelf in the length direction, and the cross beams are connected between the columns at both ends of the shelf in the length direction; the cross beams are used to form the slide rail.

9. The warehousing system according to claim 6, wherein There are multiple moving gantries, and the multiple moving gantries are arranged at intervals along the extending direction of the slide rail, and the multiple moving gantries can move independently along the slide rail.

10. The warehousing system according to any one of claims 1-5, characterized in that, There are multiple shelves, and the multiple shelves are arranged at intervals to form a storage area; there is an aisle between adjacent shelves, and the picking and placing device is arranged in the aisle, and the picking and placing device is configured to pick and place the material boxes bidirectionally from the shelves on both sides of the aisle; the sorting device is arranged outside the storage area.

11. The warehousing system according to any one of claims 1-5, characterized in that, A moving passage is provided below the temporary storage layer, and the handling device can move in the moving passage; the handling device can enter the moving passage from any position on the periphery of the shelf.

12. A warehouse, characterized in that, The warehouse includes a receiving area, a storage area, an operating area and a shipping area, and the warehouse is provided with the storage system according to any one of claims 1-11; The shelves of the storage system are arranged in the storage area, and the sorting device of the storage system is arranged in the operating area; The goods in the receiving area are transported to the shelves in the storage area through the handling device of the storage system ; the goods on the shelves are transported to the sorting device in the operating area through the picking and placing device or the handling device of the storage system; the goods sorted by the sorting device in the operating area are transported to the shipping area through the handling device.

13. A method for controlling a warehousing system, characterized in that, A controller for the storage system according to any one of claims 1-11, the method comprising: Receiving order information and determining the quantity of the target material boxes according to the order information; If the target material box is a single one, sending a first picking instruction to the picking and placing device to enable the picking and placing device to pick and place the target material box to the temporary storage layer of the shelf; If the target material boxes are multiple ones, sending a second picking instruction to the picking and placing device to enable the picking and placing device to obtain multiple target material boxes and transport the multiple target material boxes to the sorting conveyor line at one time.

14. The control method of the warehousing system according to claim 13, wherein, The obtaining of multiple target material boxes by the picking and placing device specifically includes: Judging whether the multiple target material boxes are continuously stacked material boxes; If the multiple target material boxes are continuously stacked material boxes, controlling the picking and placing device to move to the position corresponding to the target material box, lifting the other material boxes above the target material box, and taking out all the target material boxes at one time; If the multiple target material boxes are not continuously stacked material boxes, controlling the picking and placing device to move to the positions corresponding to the multiple target material boxes in sequence, respectively lifting the other material boxes above the target material box, so as to take out the multiple target material boxes in sequence.

15. The control method of the warehousing system according to claim 13, wherein, After sending the first picking instruction to the picking and placing device to enable the picking and placing device to pick and place the target material box to the temporary storage layer of the shelf, it further includes: Sending a handling instruction to the handling device to enable the handling device to transport the target material box from the temporary storage layer to the sorting conveyor line.

16. A storage medium, characterized in that, The storage medium stores computer-executable instructions, and when the computer-executable instructions are executed, they are used to implement the storage system control method according to any one of claims 13-15.

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