Carrying method, carrying apparatus, and warehousing system

Abstract

A carrying method, a carrying apparatus, and a warehousing system (100). The method comprises: determining an occupancy proportion of temporary-storage positions (101) in a temporary-storage region (11) of a warehousing system; when the occupancy proportion of the temporary-storage positions is greater than or equal to a proportion threshold value, determining whether there is an object to be delivered in a storage region (12); when there is at least one object to be delivered in the storage region, determining a target storing object from among at least one object to be stored in the temporary-storage region, determining a target storage position from among at least one vacant storage position (102) in the storage region, and determining a target delivering object from among the at least one object to be delivered in the storage region, wherein the temporary-storage region and the storage region are located in the same laneway; and controlling a first carrying device (130) to carry the target storing object from a first temporary-storage position among the temporary-storage positions to the target storage position, and carrying the target delivering object to the first temporary-storage position. The carrying method can improve the efficiency of cargo delivery in a warehousing system.

Description

Transport method, transport device and storage system

[0001] This application claims priority to Chinese patent application No. 202410316155.X filed on March 19, 2024, and No. 202411885100.7 filed on December 19, 2024, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the technical field of warehousing and logistics, and in particular to a transport method, a transport device and a warehousing system. Background Art

[0003] In existing warehousing systems, a cargo box robot (also known as a material box robot) can move containers to be shipped stored on the upper shelves to the cache locations on the bottom shelves. A handling robot (also known as a lurking robot) can then move the containers to be shipped stored in the cache locations on the bottom shelves to a workstation, where workers can pick the goods in the containers to be shipped. A handling robot can also move containers to be shipped to the cache locations on the bottom shelves, and a cargo box robot can move containers to be shipped stored in the cache locations on the bottom shelves to the upper shelves. When a large number of shipping and receiving orders are being processed simultaneously, the cache locations on the bottom shelves may be occupied by a large number of containers to be shipped, while the containers to be shipped in the upper shelves cannot be moved to the cache locations on the bottom shelves in a timely manner by the cargo box robot. This can result in the handling robot being unable to move the containers to be shipped to the workstation in a timely manner, which in turn reduces the shipping efficiency of goods. Summary of the Invention

[0004] Embodiments of the present disclosure provide a transport method, a transport device, and a storage system.

[0005] A first aspect of an embodiment of the present disclosure provides a handling method, the method comprising: determining an occupancy ratio of cache bits in a cache area of ​​a warehousing system; wherein the cache area comprises at least one cache bit, the cache bit is located at a lower level of a carrier, and the cache bit is used to place objects to be entered into the warehouse or objects to be exited from the warehouse; when the occupancy ratio of the cache bit is greater than or equal to a ratio threshold, determining whether there is an object to be exited from the storage area of ​​the warehousing system; wherein the cache area and the above-mentioned storage area are located in the same aisle, the storage area comprises a plurality of storage bits, and the storage bits are located at an upper level of the carrier; when there is at least one object to be exited from the storage area, determining a target entry object from at least one object to be entered into the cache area, determining a target storage bit from at least one free storage bit in the storage area, and determining a target exit object from at least one object to be exited from the storage area; controlling a first handling device to transport the target entry object from the first cache bit of the cache area to the target storage bit, and transporting the target exit object to the first cache bit.

[0006] A second aspect of an embodiment of the present disclosure provides a handling method, the method comprising: determining the number of first objects to be entered and / or the number of first objects to be exited corresponding to at least one task to be processed; adjusting a proportion threshold corresponding to a cache area of ​​a warehousing system according to at least one of the number of first objects to be entered and the number of first objects to be exited, as well as the first quantity; wherein the first quantity is related to the number of cache bits in the cache area; determining the occupancy ratio of the cache bits in the cache area; and controlling a first handling device to transport a target exiting object stored in a storage area of ​​the warehousing system to the cache area, and / or, transporting a target entering object stored in the cache area to the storage area, according to the occupancy ratio and the proportion threshold.

[0007] A third aspect of an embodiment of the present disclosure provides a transport method, which includes: determining the occupancy ratio of cache bits in a cache area of ​​a warehousing system; wherein the cache area includes at least one cache bit, and the cache bit is used to place objects to be entered into the warehouse or objects to be exited from the warehouse; according to the occupancy ratio and the ratio threshold, controlling a first transport device to transport the target exiting object stored in the storage area of ​​the warehousing system to the cache area, and / or, transporting the target incoming object stored in the cache area to the storage area.

[0008] The fourth aspect of the embodiment of the present disclosure provides a handling device, including a determination module and a control module. Wherein, the determination module is configured to: determine the occupancy ratio of the cache bit in the cache area of ​​the warehousing system; wherein, the cache area includes at least one cache bit, the cache bit is located at the lower level of the carrier, and the cache bit is used to place the object to be stored or the object to be shipped out; when the occupancy ratio of the cache bit is greater than or equal to the ratio threshold, determine whether there is an object to be shipped out in the storage area of ​​the warehousing system; wherein, the cache area and the storage area are located in the same lane, the storage area includes multiple storage bits, and the storage bits are located at the upper level of the carrier; when there is at least one object to be shipped out in the storage area, determine the target storage object from at least one object to be stored in the cache area, determine the target storage bit from at least one free storage bit in the storage area, and determine the target shipping object from the at least one object to be shipped out in the storage area. The control module is configured to: control the first handling device to transport the target storage object from the first cache bit of the cache area to the target storage bit, and transport the target shipping object to the first cache bit of the target storage object.

[0009] The fifth aspect of the embodiment of the present disclosure provides a handling device, including a determination module, an adjustment module and a control module. The determination module is configured to: determine the number of first objects to be entered and / or first objects to be shipped out corresponding to at least one task to be processed; determine the occupancy ratio of cache locations in the cache area of ​​the storage system. The adjustment module is configured to: adjust the ratio threshold corresponding to the cache area according to at least one of the number of first objects to be entered and the number of first objects to be shipped out, as well as the first quantity; wherein the first quantity is related to the number of cache locations in the cache area. The control module is configured to: control the first handling device to transport the target shipping object stored in the storage area of ​​the storage system to the cache area, and / or transport the target entry object stored in the cache area to the storage area, according to the occupancy ratio and the ratio threshold.

[0010] A sixth aspect of the embodiments of the present disclosure provides a handling device, comprising a determination module and a control module. The determination module is configured to: determine the occupancy ratio of cache bits in the cache area of ​​the warehousing system; wherein the cache area includes at least one cache bit, and the cache bit is used to place objects to be stored in or out of the warehouse. The control module is configured to: control the first handling device to transport the target outbound object stored in the storage area of ​​the warehousing system to the cache area, and / or transport the target inbound object stored in the cache area to the storage area according to the occupancy ratio and the ratio threshold.

[0011] A seventh aspect of the disclosed embodiments provides a warehousing system, comprising a plurality of carriers, the plurality of carriers being located in an inventory area of ​​the warehousing system; each carrier being provided with a buffer zone and a storage zone; wherein the buffer zone is located at a lower level of each carrier, the storage zone is located at a higher level of each carrier, and the storage zone is located above the buffer zone, the buffer zone including at least one buffer position, the storage zone including a plurality of storage positions, the buffer positions being used to place objects to be received or objects to be delivered. A control device is configured to: determine an occupancy ratio of the buffer positions in the warehousing system's buffer zone; if the occupancy ratio of the buffer positions is greater than or equal to a ratio threshold, determine whether there is an object to be delivered in the warehousing system's storage zone; if there is at least one object to be delivered in the storage zone, determine a target object to be received from the at least one object to be received in the buffer zone, determine a target storage position from at least one free storage position in the storage zone, and determine a target delivery object from at least one object to be delivered in the storage zone; generate a handling instruction based on the target object to be received, the target storage position, and the target delivery object; wherein the buffer zone and the storage zone are located in the same lane. The first transport device is configured to: based on the transport instruction, transport the target incoming object from the first cache location of the cache area to the target storage location, and transport the target outgoing object to the first cache location.

[0012] An eighth aspect of an embodiment of the present disclosure provides a warehousing system, comprising a control device and a first handling device. The control device is configured to: determine a first object to be entered into the warehouse and / or a first object to be shipped out corresponding to at least one task to be processed; adjust a proportion threshold value corresponding to a cache area of ​​the warehousing system according to at least one of the number of the first object to be entered into the warehouse and the number of the first object to be shipped out, as well as the first quantity; wherein the first quantity is related to the number of cache bits in the cache area; determine the occupancy ratio of the cache bits in the cache area, and generate a handling instruction according to the occupancy ratio and the proportion threshold value. The first handling device is configured to: according to the handling instruction, transport the target shipping object stored in the storage area of ​​the warehousing system to the cache area, and / or transport the target entry object stored in the cache area to the storage area.

[0013] A ninth aspect of the embodiments of the present disclosure provides a warehousing system, comprising a control device and a first handling device. The control device is configured to: determine the occupancy ratio of cache bits in a cache area of ​​the warehousing system; wherein the cache area is located at the lower level of each carrier, and the cache area includes at least one cache bit, and the cache bit is used to place objects to be put into the warehouse or objects to be put out of the warehouse; and generate handling instructions according to the occupancy ratio and the ratio threshold. The first handling device is configured to: according to the handling instructions, transport the target outbound object stored in the storage area of ​​the warehousing system to the cache area, and / or transport the target inbound object stored in the cache area to the storage area; the storage area is located at the upper level of each carrier, and the storage area is located above the cache area.

[0014] The tenth aspect of the embodiments of the present disclosure provides an electronic device, comprising: a processor and a memory, wherein the memory is used to store computer-executable instructions; the processor is used to read the instructions from the memory and execute the instructions to implement the identification code recognition method described in the first aspect above.

[0015] An eleventh aspect of the embodiments of the present disclosure provides a computer-readable storage medium, wherein the storage medium stores computer program instructions. When a computer reads the instructions, the transport method described in the first to third aspects is executed.

[0016] A twelfth aspect of an embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the transport method described in the first to third aspects above.

[0017] A thirteenth aspect of the embodiments of the present disclosure provides a computer program, which, when executed by a processor, can implement the transport methods described in the first to third aspects above. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a schematic diagram of a warehousing system provided by some embodiments of the present disclosure;

[0019] FIG2 is a schematic diagram of a carrier and a first handling device provided by some embodiments of the present disclosure;

[0020] FIG3 is a schematic diagram of a transport method provided by some embodiments of the present disclosure;

[0021] FIG4A is a schematic diagram showing that a cache bit occupancy ratio is greater than or equal to a ratio threshold according to some embodiments of the present disclosure;

[0022] FIG4B is a schematic diagram showing another example of a cache bit occupancy ratio being greater than or equal to a ratio threshold provided by some embodiments of the present disclosure;

[0023] FIG5 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0024] FIG6A is a scene diagram of a transport method provided in some embodiments of the present disclosure;

[0025] FIG6B is a scene diagram of another transport method provided by some embodiments of the present disclosure;

[0026] FIG6C is a scene diagram of another transport method provided in some embodiments of the present disclosure;

[0027] FIG6D is a scene diagram of another transport method provided in some embodiments of the present disclosure;

[0028] FIG6E is a scene diagram of another transport method provided in some embodiments of the present disclosure;

[0029] FIG7 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0030] FIG8 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0031] FIG9 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0032] FIG10 is a schematic diagram showing that a cache bit occupancy ratio is less than a ratio threshold according to some embodiments of the present disclosure;

[0033] FIG11 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0034] FIG12 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0035] FIG13 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0036] FIG14 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0037] FIG15A is a schematic diagram of a scenario of a warehouse outbound process provided by some embodiments of the present disclosure;

[0038] FIG15B is a schematic diagram of a warehousing process scenario provided by some embodiments of the present disclosure;

[0039] FIG15C is a schematic diagram of a scenario of a composite operation process provided by some embodiments of the present disclosure;

[0040] FIG16 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0041] FIG17 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0042] FIG18 is a schematic diagram of a transport process scenario provided by some embodiments of the present disclosure;

[0043] FIG19A is a schematic diagram of another transport process scenario provided by some embodiments of the present disclosure;

[0044] FIG19B is a schematic diagram of another transport process scenario provided by some embodiments of the present disclosure;

[0045] FIG19C is a schematic diagram of another transport process scenario provided by some embodiments of the present disclosure;

[0046] FIG20 is a schematic diagram of another transport method provided by some embodiments of the present disclosure;

[0047] FIG21 is a schematic diagram of a transport device provided by some embodiments of the present disclosure;

[0048] FIG22 is a schematic diagram of another storage system provided by some embodiments of the present disclosure;

[0049] FIG23 is a schematic diagram of an electronic device provided in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0051] In a warehousing system, a cargo box robot can move containers waiting to be shipped from the upper shelves to the cache on the bottom shelves, and then a handling robot can move the containers waiting to be shipped stored in the cache on the bottom shelves to the workstation to complete the shipping process. A handling robot can also move containers waiting to be shipped to the cache on the bottom shelves, and then a cargo box robot can move the containers waiting to be shipped stored in the cache on the bottom shelves to the upper shelves to complete the shipping process.

[0052] When a large number of inbound and outbound orders are being processed simultaneously in the warehousing system, the bottom cache positions of the shelves may be occupied by a large number of containers waiting to be inbound, while the containers waiting to be outbound in the upper storage positions cannot be moved to the bottom cache positions by the cargo box robots in time, resulting in the transport robots being unable to move the containers to be outbound to the workstation in time, which in turn reduces the efficiency of goods outbound.

[0053] To address the above-mentioned issues, the present disclosure provides a handling method. When a large number of containers to be received and shipped are present in a bottom-level buffer area of ​​a carrier, the method controls a first handling device to carry a target incoming container upward to a high-level storage area, and to carry a target outgoing container downward to a bottom-level buffer area. Thus, the present disclosure can promptly carry incoming containers in the buffer area upward to the storage area, and promptly carry outgoing containers in the storage area downward to the buffer area, thereby enabling a handling robot to promptly ship outgoing containers, thereby improving the outgoing efficiency of the warehousing system.

[0054] FIG1 is a schematic diagram of a warehousing system provided by some embodiments of the present disclosure.

[0055] As shown in Figure 1 , the storage system 100 includes an inventory area 110, at least one workstation 120, a plurality of first handling devices 130, a plurality of second handling devices 140, and a control device 150. Figure 1 shows a schematic top view of the inventory area 110.

[0056] The inventory area 110 includes a plurality of carriers 111, which can be arranged in a predetermined arrangement. For example, the plurality of carriers 111 can be arranged in a single column with multiple rows. As shown in FIG1 , the inventory area 110 is provided with six columns (eight rows per column) of carriers.

[0057] The first handling device 130 may be a container robot, and the first handling device 130 may be movable within the inventory area 110. For example, the first handling device 130 may be movable within the lanes of the inventory area 110 to perform pick-and-place operations on containers placed on the carriers 111 corresponding to the lanes.

[0058] As shown in FIG1 , in the inventory area 110 , the aisle B between the first row of carriers and the second row of carriers includes a first handling device 130 . The first handling device 130 can move in the aisle B and perform pick-and-place operations on containers placed on any of the carriers in the first row of carriers or the second row of carriers.

[0059] The second handling device 140 may be a handling robot, and the second handling device 140 may move within the inventory area 110 or between the inventory area 110 and the workstation 120. For example, the second handling device 140 may move in the aisles of the inventory area 110 or in the driving passage below the carrier 111 to perform pick-and-place operations on containers placed on the buffer storage location of the carrier 111.

[0060] For example, the second handling device 140 can remove a container from the buffer storage location of the carrier 111 and transport the container to the workstation 120 for picking operations at the workstation 120. Alternatively, the second handling device 140 can also transport the container, after being picked by the workstation 120, back to the buffer storage location of the carrier 111. As shown in Figure 1, in the inventory area 110, the aisle C between the second and third rows of carriers includes two second handling devices 140, and the two second handling devices 140 operate in different directions in the aisle C.

[0061] The control device 150 may be coupled to the workstation 120 , the first transport device 130 , and the second transport device 140 , respectively, to control operations of the workstation 120 , the first transport device 130 , and the second transport device 140 .

[0062] The control device 150 may be a server or a terminal device, or a device deployed with a warehouse management system (WMS) or a robot management system (RMS). The terminal device may include at least one of a personal computer, a laptop computer, a smartphone, a tablet computer, and a portable wearable device; the server may include a standalone server or a server cluster consisting of multiple servers, which is not limited in the present embodiment.

[0063] The control device 150 is communicatively connected to the workstation 120, the first transport device 130, and the second transport device 140 for data communication. For example, the control device can be communicatively connected to the workstation 120, the first transport device 130, and the second transport device 140 via a local area network (LAN), a wireless local area network (WLAN), or other networks.

[0064] FIG2 is a schematic diagram of a carrier and a first handling device provided by some embodiments of the present disclosure.

[0065] As shown in Figure 2, each carrier 111 in the inventory area 110 is equipped with a buffer zone 11 and a storage zone 12. The buffer zone 11 is located on the lower level of the carrier, while the storage zone 12 is located on the upper level of the carrier, that is, the storage zone 12 is located above the buffer zone 11. The buffer zone 11 includes at least one layer of buffer storage space and is located on the ground side of the carrier 111. The storage zone 12 is located on the side of the buffer zone 11 facing away from the ground and includes at least one layer of storage space.

[0066] Each carrier 111 can include multiple layers of beams, each of which can accommodate multiple cargo spaces. Each carrier 111 can be divided vertically into two sections based on the number of beam layers. The upper section is referred to as the storage area 12, and the lower section is referred to as the buffer area 11. The number of beam layers occupied by the buffer area 11 can be smaller than the number of beam layers occupied by the storage area 12.

[0067] The number of beam layers included in the buffer area 11 is related to the raisable height of the second handling device 140. For example, the total height of the beam layers included in the buffer area 11 can be less than or equal to the maximum height that the second handling device 140 can rise.

[0068] The bottom beam area of ​​the carrier 111 can be defined as the buffer area 11. For example, the buffer area 11 can be a single layer of beam area of ​​the carrier 111 close to the ground, or it can be at least two layers of beam area of ​​the carrier 111 close to the ground. That is, the buffer area 11 can include at least one layer of cache storage space, and the disclosed embodiments do not limit the number of layers of cache storage space in the buffer area 11. FIG2 illustrates the example of the buffer area 11 being the single layer of beam area of ​​the carrier 111 close to the ground (i.e., the buffer area 11 includes one layer of cache storage space).

[0069] The multi-layer beam area above the buffer area 11 of the carrier 111 may be referred to as a storage area 12. The storage area 12 includes multi-layer storage locations, which are located above at least one layer of buffer locations.

[0070] As shown in Figure 2, carrier 111 has six columns and four layers. The buffer area 11 of carrier 11 is the bottom layer of carrier 111, while the storage area 12 of carrier 11 is the upper layer (also referred to as the upper layer) of carrier 111. That is, storage area 12 of carrier 11 is located above buffer area 11. In the following embodiments, the bottom layer of the carrier is considered the first layer of the carrier, and the number of layers increases from the bottom layer to the upper layer (all layers above the bottom layer are referred to as upper layers).

[0071] Continuing with FIG2 , the buffer area 11 and storage area 12 of the carrier 111 may each be provided with multiple cargo spaces. These spaces are used to place containers, such as bins, pallets, or packaging boxes, which are used to store goods. Alternatively, the cargo spaces may be used to directly place the goods themselves. This disclosure is not limited to this, and the following embodiments will be illustrative using the placement of containers on cargo spaces.

[0072] Cargo locations can be of two types: cache locations and storage locations. The cargo locations in cache area 11 can be referred to as cache locations 101, and the cargo locations in storage area 12 can be referred to as storage locations 102. For example, in carrier 111 in FIG2 , cache area 11 includes 6 cache locations 101, and storage area 12 includes 36 storage locations 102.

[0073] The cargo locations in the buffer area 11 of the carrier 111 can be arranged in a single-depth manner, and the cargo locations in the storage area 12 can be arranged in a single-depth manner or in a multi-depth manner. The embodiments of the present disclosure are not limited to this. The single-depth manner is used to indicate that each layer of beams includes a single row of cargo locations, and the multi-depth manner is used to indicate that each layer of beams can include at least two rows of cargo locations. As shown in Figure 2, the cargo locations in the storage area 12 of the carrier 111 adopt a double-depth manner, that is, each layer of storage area includes two rows of cargo locations. For example, the cargo locations located on the outside can be referred to as external storage locations, and the cargo locations located on the inside can be referred to as internal storage locations.

[0074] Each cache location 101 and storage location 102 may or may not contain a container. A cache location 101 containing a container may be referred to as a non-free cache location 101, while a cache location 101 not containing a container may be referred to as a free cache location 101. A storage location 102 containing a container may be referred to as a non-free storage location 102, while a storage location 102 not containing a container may be referred to as a free storage location 102.

[0075] Continuing with reference to Figure 2, the first handling device 130 can be a cargo box robot. The first handling device 130 can move within the inventory area 110. In addition, the first handling device 130 is provided with a container picking and placing device 13, which can move up and down in the vertical direction and can pick up and place containers on the carrier 111 through structures such as telescopic forks and suction cups. In addition, the first handling device 130 is also provided with a plurality of temporary storage positions 14, which can be used to place containers. The distance and number of layers between each layer of temporary storage positions can be set according to the distance and number of layers between each layer in the carrier 111. For example, the bottom layer of temporary storage position is flush with the height of the bottom layer of the carrier 111, the second layer of temporary storage position is flush with the height of the second layer of the carrier 111, and so on.

[0076] The first handling equipment 130 can transport the containers to be stored in the buffer area 11 to the high-level storage area 12 through its own horizontal movement and the vertical movement of the container picking and placing device 13, and transport the containers to be stored in the high-level storage area 12 to be stored in the buffer area 11.

[0077] The second handling device 140 may be a handling robot, which is used to pick up and place containers on the bottom buffer position of the carrier 11 .

[0078] The second handling device 140 can move within the inventory area 110 or between the inventory area 110 and the workstation 120. The second handling device 140 can move incoming containers from the workstation 120 to the buffer area 11 of each carrier 111 in the inventory area 110, and can also move outgoing containers placed in the buffer area 11 of each carrier 111 to the workstation 120.

[0079] The storage and unloading of containers can be achieved through the cooperation between the first handling device 130 and the second handling device 140. For example, after the second handling device 140 transports the container to be stored in the workstation 120 to the buffer area 11 of the carrier 111, the first handling device 130 can remove the container to be stored in through the container pick-up and placement device 13, and through its own horizontal movement and / or the vertical movement of the container pick-up and placement device 13, transport the container to be stored in to the vacant storage location 102 in the upper storage area 12 for storage. Furthermore, the first handling device 130 can remove the container to be shipped out from the upper storage area 12 through the container pick-up and placement device 13, and through its own horizontal movement and / or the vertical movement of the container pick-up and placement device 13, transport the container to be shipped out to the vacant buffer area 101 on the bottom floor. The second handling device 140 then transports the container to be shipped out, which is placed in the buffer area 101, to the workstation 120 for shipping out.

[0080] The transport method provided by the present disclosure is described in detail below with reference to the accompanying drawings.

[0081] FIG3 is a schematic diagram of a transport method provided by some embodiments of the present disclosure. The transport method shown in FIG3 can be implemented by the control device 150 in the warehousing system 100 in the above embodiment. As shown in FIG3 , the transport method may include steps 310 to 340 as shown below.

[0082] Step 310: Determine the occupancy ratio of cache bits in the cache area of ​​the storage system.

[0083] The buffer area includes at least one buffer location, which is located at the lower level of the carrier and is used to place objects to be put in or taken out of the carrier. The specific contents of the buffer area of ​​the carrier can be referred to the description in the above embodiment and will not be repeated here.

[0084] The storage area includes at least one storage slot located on the upper layer of the carrier, that is, above the buffer zone. This storage slot can hold objects waiting to be shipped or objects not currently in need of shipment. The specific details of the carrier's storage area can be found in the description of the above embodiments and will not be repeated here.

[0085] The objects to be put into the warehouse or to be put out of the warehouse placed on the cache position, and the objects to be put out of the warehouse placed on the storage position can be containers such as material boxes, pallets or cargo packaging boxes, or they can be the cargo itself. The following embodiments are illustrative using the objects placed on the cache position and storage position as containers as examples. For example, the cache position can be used to place containers to be put into the warehouse or to be put out of the warehouse, and the storage position can be used to place containers to be put out of the warehouse, or containers that the target does not need to be put out of the warehouse.

[0086] The second handling device can be controlled to move incoming containers from the workstation to the carrier's buffer area, while the first handling device can be controlled to move incoming containers from the buffer area to the storage area. The first handling device can also be controlled to move outgoing containers from the storage area to the buffer area, while the second handling device can be controlled to move outgoing containers to the workstation. Therefore, the containers placed in each buffer position in the buffer area may be incoming containers or outgoing containers.

[0087] Since the first handling equipment can move in the lane, the buffer area in the above step 310 can refer to the buffer area of ​​any lane in the storage system. Multiple carriers can be placed in a lane, and the buffer area of ​​the lane is composed of the buffer areas of multiple carriers placed in the lane.

[0088] The cache slot occupancy ratio can be determined based on the total number of cache slots in the cache area and the number of non-free cache slots. All cache slots in the cache area can be located in the same lane, and one or more vehicles can be placed in the same lane. In other words, the cache slot occupancy ratio in the cache area within each lane can be calculated separately. Non-free cache slots are those that contain containers waiting to be stored or that are waiting to be stored.

[0089] The idle and non-idle states of the cache bit can be marked by relevant parameters. For example, when the cache bit is in the idle state, the state of the cache bit can be marked as 1; when the cache bit is in the non-idle state, the state of the cache bit can be marked as 0. Thus, when there is no container placed in the cache bit, that is, the cache bit is in the idle state, the state of the cache bit is marked as 1; when a container is placed in the cache bit, that is, the cache bit is in the non-idle state, the state of the cache bit is marked as 0. The above-mentioned marking method of the idle state and the non-idle state of the cache bit is only an example, and the embodiments of the present disclosure are not limited to this.

[0090] The occupancy ratio of the cache bits can be determined according to the ratio between the number of non-idle cache bits in the cache area within the lane and the number of all cache bits.

[0091] As shown in Figure 2, taking a buffer zone 11 within a lane as having six total cache slots, and since the number of non-idle cache slots in buffer zone 11 is four, the cache slot occupancy ratio within the lane is: number of non-idle cache slots / total number of cache slots = 4 / 6 = 0.67. The containers placed in the non-idle cache slots in buffer zone 11 can be containers waiting to be stored or containers waiting to be shipped out, and this is not limited in the present embodiment.

[0092] Step 320: If the occupancy ratio of the cache bits is greater than or equal to the ratio threshold, determine whether there are objects to be shipped out in the storage area of ​​the warehousing system.

[0093] The ratio threshold can be considered the upper limit of the cache bit water level. When the cache bit occupancy ratio is greater than the ratio threshold, it means that the cache bit occupancy ratio exceeds the upper limit, indicating that the cache bit occupancy is too high. When the cache bit occupancy ratio is less than the ratio threshold, it means that the cache bit occupancy ratio is less than the upper limit, indicating that the cache bit occupancy is too low.

[0094] The ratio threshold can be pre-set or determined based on pending tasks in the warehousing system. For example, the ratio threshold can be any value between 0 and 1, such as 0.6, 0.7, 0.8, etc. The ratio threshold can be determined based on actual needs, and the embodiments of the present disclosure do not limit the specific value of the ratio threshold. After determining the occupancy ratio of the cache position, the relationship between the occupancy ratio of the cache position and the ratio threshold can be further compared, thereby controlling the first handling device to perform different tasks under different circumstances.

[0095] Continuing with reference to Figure 2, taking the ratio threshold of 0.6 and the occupancy ratio of cache bits in cache area 11 of 0.67 as an example, it can be determined that the occupancy ratio of cache bits in cache area 11 is greater than the ratio threshold, that is, the occupancy ratio of cache bits exceeds the upper watermark. Taking the ratio threshold of 0.8 and the occupancy ratio of cache bits in cache area 11 of 0.67 as an example, it can be determined that the occupancy ratio of cache bits in cache area 11 is less than the ratio threshold, that is, the occupancy ratio of cache bits has not reached the upper watermark.

[0096] 4A and 4B are schematic diagrams showing that the occupancy ratio of cache bits is greater than or equal to a ratio threshold.

[0097] When the occupancy ratio of the cache positions in the cache area is greater than or equal to the ratio threshold, in order to free up more cache positions, as shown in FIG4A , the first handling device can be controlled to carry the containers to be stored in the cache area upward to the free storage positions in the storage area to reduce the occupancy ratio of the cache positions; or, as shown in FIG4B , the first handling device can be controlled to carry the containers to be stored in a cache area upward to the free storage positions in the storage area, and then carry the containers to be shipped out in a storage area downward to the free cache positions in the cache area to ensure the smooth progress of the shipping task.

[0098] When the occupancy ratio of the cache bits in the cache area is greater than or equal to the ratio threshold, the first handling device can be controlled to perform the handling task shown in Figure 4A (also called a non-compound operation mode) or the handling task shown in Figure 4B (also called a compound operation mode) according to the current operation scenario.

[0099] For example, when the occupancy ratio of cache locations in the cache area is greater than or equal to a ratio threshold, and when the current operation scenario prioritizes container entry, the first handling device can be controlled to prioritize the task of only transporting the containers to be entered in the cache area upward to the free storage locations in the storage area, so as to prioritize the smooth progress of the entry task; when the current operation scenario is a container entry and exit scenario, the first handling device can be controlled to prioritize transporting the containers to be entered in a cache area upward to the free storage locations in the storage area, and then transporting the containers to be exited in a storage area downward to the free cache locations in the cache area, so as to prioritize the smooth progress of the entry and exit tasks.

[0100] Figure 5 is a schematic diagram of another transport method provided by some embodiments of the present disclosure. As shown in Figure 5, the above step 320 may include steps 510 to 520 as shown below.

[0101] Step 510 : When the occupancy ratio of the cache bits is greater than or equal to the ratio threshold, determine the switch state of the composite job switch.

[0102] A compound operation involves the first handling device moving containers awaiting entry from the buffer zone upward to the storage area, and then moving containers awaiting removal from the storage area downward to the buffer zone. In other words, in a compound operation scenario, the first handling device must both move containers awaiting entry upward to a vacant storage location in the storage area and move containers awaiting removal from the storage area downward to a vacant buffering location in the buffer zone. Since the original buffering location for the containers awaiting entry becomes vacant after the first handling device moves the containers awaiting entry upward to a vacant storage location in the storage area, the first handling device can then move the containers awaiting removal from the storage area downward to the original buffering location for the containers awaiting entry in the buffer zone.

[0103] The switch of compound operation can be pre-set in the warehousing system, and the user can control the switch status of the compound operation by adjusting the compound operation parameters.

[0104] The switch status of the composite job is related to the priority of the container inbound task and the container outbound task. If the outbound task has a higher priority than the container inbound task, the user can set the composite job switch to on. If the outbound task has a lower priority than the container inbound task, the user can set the composite job switch to off.

[0105] The user can set a composite operation parameter to control the on / off state of the composite operation switch. For example, the value of the composite operation parameter can be "true" (i.e., "true") or "false" (i.e., "false"). In the case where the priority of the container outbound task is lower than the priority of the container inbound task, the user can set the value of the composite operation parameter to "false" to control the composite operation switch to be in the off state; in this case, the control device can control the first handling device to perform the handling task in a non-compound operation mode, such as controlling the first handling device to preferentially only carry the containers to be stored in the buffer area upward to the vacant storage position in the storage area, so as to prioritize the smooth progress of the inbound task.

[0106] When the priority of the container outbound task is higher than the priority of the container inbound task, the user can set the value of the composite operation parameter to "true" to control the composite operation switch to be in the on state; in this case, the control device can control the first handling equipment to perform the handling task in a composite operation manner, such as controlling the first handling equipment to carry the container to be inbound in a buffer area upward to the free storage position in the storage area, and then carry the container to be outbound in a storage area downward to the free cache position in the buffer area, so as to ensure the smooth progress of the inbound and outbound tasks and improve the outbound efficiency.

[0107] The above values ​​of the composite operation parameters are only examples. The values ​​of the composite operation parameters may also be set to other values ​​such as “0” or “1”, which is not limited in the embodiments of the present disclosure.

[0108] Step 520: When the composite operation switch is in the on state, determine whether there is an object to be shipped out in the storage area of ​​the warehousing system.

[0109] When the composite operation switch is in the on state (i.e., the value of the composite operation parameter is "true"), the first handling device can be controlled to first carry the container to be stored in a buffer area upward to the vacant storage position of the storage area, and then carry the container to be stored out in a storage area downward to the vacant cache position of the buffer area.

[0110] The containers placed in each storage location in a storage area located in the same lane as the buffer area can be containers waiting to be shipped or containers that currently do not need to be shipped. In other words, there may be no containers waiting to be shipped in the storage area located in the same lane as the buffer area. Therefore, before controlling the first handling device to perform a handling task, it can be determined whether there are containers waiting to be shipped in the storage area. If there are no containers waiting to be shipped in the storage area, when executing the task in a composite operation mode, it is only necessary to control the first handling device to move the container waiting to be shipped in one of the buffer areas upward to an empty storage location in the storage area, without having to control the first handling device to move the container waiting to be shipped in one of the buffer areas downward to an empty cache location in the buffer area. If there are containers waiting to be shipped in the storage area, the first handling device is controlled to move the container waiting to be shipped in one of the buffer areas upward to an empty storage location in the storage area, and then move the container waiting to be shipped in one of the buffer areas downward to an empty cache location in the buffer area.

[0111] Step 330: When there is at least one object to be shipped out in the storage area, a target incoming object is determined from at least one object to be shipped in the cache area, a target storage location is determined from at least one free storage location in the storage area, and a target outgoing object is determined from at least one object to be shipped out in the storage area.

[0112] When there is at least one object to be shipped out (hereinafter referred to as at least one container to be shipped out) in the storage area, a target shipping object (hereinafter referred to as a target shipping container) can be first determined from at least one object to be shipped in (hereinafter referred to as at least one container to be shipped in) in the buffer area, and a target storage location (hereinafter referred to as a target shipping storage location) can be determined from at least one free storage location in the storage area, and a target shipping object (hereinafter referred to as a target shipping container) can be determined from the at least one object to be shipped out in the storage area.

[0113] 6A to 6E are scene diagrams of a transport method provided by some embodiments of the present disclosure. The method for determining the target incoming container, target incoming storage location, and target outgoing container in step 330 will be described below in conjunction with FIG.

[0114] First, a method of determining a target incoming container from at least one incoming container in the buffer area is described.

[0115] In the case that there is only one container to be stored among the multiple containers placed in the buffer area, the container to be stored may be determined as the target storage container.

[0116] As shown in FIG6A , when only container A is a container to be entered among the multiple containers placed in the bottom buffer area in the lane, container A is determined as the target container to be entered; when there are multiple containers to be entered among the multiple containers placed in the bottom buffer area in the lane, it is necessary to further determine which of the multiple containers to be entered is determined as the target container to be entered.

[0117] When there are multiple containers to be entered among the multiple containers placed in the buffer area, the distance between each container to be entered in the buffer area and the first handling equipment can be determined based on the position of the first handling equipment, and the container to be entered among the multiple containers to be entered that is closest to the first handling equipment can be determined as the target container to be entered.

[0118] Continuing with Figure 6A , let's take the example of containers A and B, both of which are waiting to be stored, placed in the bottom buffer area of ​​the laneway. The distances between containers A and B and first handling device 130 can be calculated. As shown in Figure 6A , the container closest to first handling device 130 is container A, and therefore container A can be determined as the target container.

[0119] The transport method provided by the embodiment of the present disclosure can minimize the horizontal movement distance of the first transport device when picking up the target storage container, thereby improving the working efficiency of the first transport device.

[0120] Next, a method of determining a target storage location from at least one free storage location in a storage area is described.

[0121] In order to move the target incoming container to the upper storage area, it is necessary to further determine which storage location in the storage area the target incoming container is moved to. For example, the target incoming container can be moved to any free storage location in the storage area.

[0122] In order to improve the handling efficiency, the vacant storage position in the same column as the target incoming container can be preferentially determined as the target incoming storage position. Therefore, after the first handling equipment picks up the target incoming container, there is no need to move it horizontally. The target incoming container can be transported to the target incoming storage position by moving the container picking and placing device in the first handling equipment in the vertical direction, thereby improving the working efficiency of the first handling equipment.

[0123] At least one free storage location may be determined from all storage locations in the storage area, and then it may be determined whether there is a free storage location in the at least one free storage location that is located in the same column as the target incoming container (ie, a candidate incoming storage location).

[0124] If there is a candidate incoming storage location in the same column as the target incoming container in at least one free storage location, and there is only one candidate incoming storage location, the candidate incoming storage location may be determined as the target incoming storage location.

[0125] Continuing to refer to Figure 6A, taking the container A to be stored as the target storage container as an example, there is a candidate storage location in the multiple free storage locations in the storage area that is located in the same column as the target storage container, and the candidate storage location has only one storage location A (storage location A and the container A to be stored are both located in the second column of the carrier 111), then storage location A can be determined as the target storage location.

[0126] When there is a candidate incoming storage location in at least one free storage location that is located in the same column as the target incoming container, and there are multiple candidate incoming storage locations, the vertical distance between each candidate incoming storage location and the target incoming container can be determined first, and the candidate incoming storage location with the shortest vertical distance to the target incoming container among the multiple candidate storage locations can be determined as the target incoming storage location.

[0127] Taking the container A to be entered as the target entry container as an example, when the candidate entry storage positions located in the same column as the target entry container among multiple free storage positions include storage position A and storage position B, the candidate entry storage position that is closest to the target entry container in the vertical direction can be determined as the target entry storage position.

[0128] If at least one free storage location does not contain a candidate entry storage location in the same column as the target incoming container, that is, if at least one free storage location is located in a different column from the target incoming container, the free storage location closest to the target incoming container in the horizontal direction, and secondarily, closest to the target incoming container in the vertical direction, can be preferentially determined as the target incoming storage location. Thus, after the first handling device picks up the target incoming container, it can be transported to the target incoming storage location with the shortest horizontal movement distance, and secondarily, the shortest vertical movement distance of the container pick-and-place device, thereby shortening the handling time of the first handling device and improving the handling efficiency of the first handling device.

[0129] When there is only one free storage location that is located in a different column from the target storage container, the free storage location may be determined as the target storage location.

[0130] When there are multiple free storage locations that are located in different columns from the target incoming container, the horizontal distance between each free storage location and the target incoming container can be determined first, and the free storage location that is closest to the target incoming container in the horizontal direction among at least one free storage location can be determined as the candidate incoming storage location; then, the candidate incoming storage location that is closest to the target incoming container in the vertical direction can be determined as the target incoming storage location.

[0131] As shown in Figure 6B, taking container A to be stored as the target storage container, the available storage locations in storage area 12 include storage location C, storage location D, and storage location E, all of which are located in different columns from container A to be stored. Specifically, storage locations C and D are both located in the third column of carrier 111, while storage location E is located in the sixth column of carrier 111. Therefore, the available storage locations closest to target storage container A in the horizontal direction are storage locations C and D. Of these, storage location C is located on the third level of carrier 111, while storage location D is located on the fourth level of carrier 111. Therefore, the candidate storage location closest to the target storage container in the vertical direction is storage location C. Therefore, storage location C is determined to be the target storage location for storage.

[0132] When there are two alternative storage locations that are closest to the target storage container in the horizontal direction and closest to the target storage container in the vertical direction, any one of the two alternative storage locations can be randomly determined as the target storage location, or other possible methods can be used to determine the target storage location from the two alternative storage locations. The embodiments of the present disclosure are not limited to this.

[0133] The transport method provided by the disclosed embodiments enables the first transport device to transport a target incoming container to a target incoming storage location, while minimizing the horizontal movement distance (including eliminating the need for horizontal movement of the first transport device) and also minimizing the vertical movement distance of the container placement device within the first transport device. This can thereby shorten the transport time of the first transport device and improve its transport efficiency.

[0134] Next, a method for determining a target container to be shipped from at least one container to be shipped from the storage area is described.

[0135] In order to remove the container to be removed from the warehouse, it is necessary to determine which container to be removed from the multiple containers placed in the storage area is to be moved to the original cache position of the target incoming container in the cache area.

[0136] When there are multiple containers to be shipped in the storage area, the priority of the orders that hit each container to be shipped in the storage area can be determined first, and the container to be shipped hit by the order with the highest priority in the storage area can be preferentially determined as the target container to be shipped, so that the container to be shipped hit by the order with the highest priority can be shipped, ensuring that high-priority orders are shipped first.

[0137] When there are multiple preferred outbound containers, the preferred storage container that is in the same column as the target incoming storage location and has the shortest vertical distance to the target incoming storage location can be selected. Therefore, after the first handling equipment transports the target incoming container to the target incoming storage location, there is no need for horizontal movement. The preferred outbound container that is in the same column as the target incoming storage location can be retrieved by the container picking and placing device in the first handling equipment with the shortest vertical movement distance (including the container picking and placing device does not need to move vertically), thereby shortening the handling time of the first handling equipment and improving the handling efficiency of the first handling equipment.

[0138] Determining a target outbound container from at least one outbound container in a storage area includes: first determining a priority of orders that hit each outbound container in the storage area, determining the outbound container hit by the order with the highest priority as a preferred outbound container, and determining the target outbound container based on the preferred outbound container.

[0139] When there is only one preferred shipping container, the preferred shipping container may be determined as the target shipping container.

[0140] As shown in FIG6C , taking container A to be received as the target receiving container and storage location C as the target receiving storage location as an example, among the containers to be shipped out in storage area 12, the only container to be shipped out that is hit by the order with the highest priority is container C to be shipped out, and container C to be shipped out can be determined as the target shipping container.

[0141] Determining a target outbound container based on a preferred outbound container includes: if there are multiple preferred outbound containers and there is at least one candidate outbound container in the multiple preferred outbound containers that is located in the same column as the target inbound storage location, determining the candidate outbound container in the at least one candidate outbound container that is closest to the target inbound storage location (i.e., closest to the target inbound storage location in a vertical direction) as the target outbound container.

[0142] Continuing with FIG6C , let's take the example of the target incoming storage location being storage location C, and the containers to be shipped in storage area 12 being hit by the highest-priority order, and located in the same column as the target incoming storage location, including container A to be shipped and container B to be shipped. Since target incoming storage location C is located in the 3rd column, 3rd layer of carrier 111, container A to be shipped is located in the 3rd column, 4th layer of carrier 111, and container B to be shipped is located in the 3rd column, 3rd layer of carrier 111. Therefore, container B to be shipped is located in the same column as target incoming storage location C and is the closest vertically to them, so container B to be shipped can be determined as the target outgoing container.

[0143] When there is only one candidate outgoing container located in the same column as the target incoming storage location, the candidate outgoing container may be determined as the target outgoing container.

[0144] In the case where there are two preferred outbound containers that are located in the same column as the target incoming storage location and are closest to the target incoming storage location in the vertical direction, any target outbound container can be randomly determined from the two preferred outbound containers, or other possible methods can be used to determine the target outbound container from the two preferred outbound containers. This is not limited in the embodiments of the present disclosure.

[0145] When there are multiple preferred outgoing containers and none of the multiple preferred outgoing containers is located in the same column as the target incoming storage location, that is, when the multiple preferred outgoing containers are all located in different columns from the target incoming storage location, the horizontal distance between each preferred outgoing container and the target incoming storage location can be determined first; and the preferred outgoing container with the shortest horizontal distance to the target incoming storage location and then the shortest vertical distance to the target incoming storage location is determined as the target outgoing container.

[0146] Continuing with Figure 6C , let's assume that the target incoming storage location is location C, and that the containers to be shipped in storage area 12 targeted by the highest-priority order include container C and container D. Since target incoming storage location C is located in the 3rd column, 3rd layer of carrier 111, container C to be shipped is located in the 6th column, 3rd layer of carrier 111, and container D to be shipped is located in the 6th column, 2nd layer of carrier 111, container C and container D to be shipped are the same horizontal distance from target incoming storage location C, while container C to be shipped is the closest vertical distance to target incoming storage location C. Therefore, container C to be shipped can be determined as the target outgoing container.

[0147] When there are two preferred outbound containers that are closest to the target incoming storage location in the horizontal direction and closest to the target incoming storage location in the vertical direction, any target outbound container can be randomly determined from the two preferred outbound containers, or other possible methods can be used to determine the target outbound container from the two preferred outbound containers. This is not limited in the embodiments of the present disclosure.

[0148] The handling method provided by the disclosed embodiments can minimize the horizontal movement distance of the first handling device when picking up a target outbound container from a storage area (including eliminating the need for horizontal movement of the first handling device), and can also minimize the vertical movement distance of the container retrieval device in the first handling device (including eliminating the need for vertical movement of the container retrieval device). This can thereby shorten the handling time of the first handling device and improve the handling efficiency of the first handling device.

[0149] Step 340: Control the first transport device to transport the target incoming object from the first cache location of the cache area to the target incoming storage location, and transport the target outgoing container to the first cache location.

[0150] The first cache position of the cache area is the original cache position of the target incoming object in the cache area before the first handling device transports the target incoming object. After the first handling device transports the target incoming object from the cache area to the target incoming storage position in the cache area, the original cache position of the target incoming object in the cache area becomes idle. In this case, the first handling device can continue to transport the target outgoing object from the storage area to the original cache position of the target incoming object in the cache area. In the following embodiments, the first cache position may also be referred to as the original cache position of the target incoming object in the cache area.

[0151] After determining the target incoming container, target incoming storage location, and target outgoing container, a transport instruction can be sent to the first transport device to control the first transport device to transport the target incoming container to the target incoming storage location, and to transport the target outgoing container to the original cache location of the target incoming container in the cache area.

[0152] As shown in Figure 6D, take the target incoming container as the container A to be incoming (located on the 1st layer of the 2nd column of the carrier 111), the target incoming storage position is the storage position C (located on the 3rd layer of the 3rd column of the carrier 111), the target outgoing container is the container A to be outgoing (located on the 4th layer of the 3rd column of the carrier 111), and the initial position of the first handling equipment 130 is located on the 2nd column of the carrier 111 as an example. In this case, the first handling equipment 130 can be controlled to be on the first layer of the carrier 111, and the container A to be stored can be taken out through the container picking and placing device 13, and moved horizontally to the third column of the carrier 111; then, it can be moved vertically to the third layer of the carrier 111 through the container picking and placing device 13, and the container A to be stored can be placed in the storage position C; after that, it can be moved vertically to the fourth layer of the carrier 111 through the container picking and placing device 13, and the container A to be shipped out can be taken out; finally, it can be moved horizontally to the second column of the carrier 111, and moved vertically to the first layer of the carrier 111 through the container picking and placing device 13, so that the container A to be shipped out can be placed in the original cache position (that is, the cache position where the container A to be stored was originally located in the cache area).

[0153] Continuing to refer to Figure 6D, let's take the target incoming container as the container A to be incoming (located on the 1st layer of the 2nd column of the carrier 111), the target incoming storage position as the storage position C (located on the 3rd layer of the 3rd column of the carrier 111), the target outgoing container as the container D to be outgoing (located on the 2nd layer of the 6th column of the carrier 111), and the initial position of the first handling equipment 130 as an example. In this case, the first handling equipment 130 can be controlled to move horizontally to the second column of the carrier 111, and then the container A to be stored can be taken out of the first layer of the carrier 111 through the container picking and placing device 13, and moved horizontally to the third column of the carrier 111; then, it can be moved vertically to the third layer of the carrier 111 through the container picking and placing device 13, and the container A to be stored can be placed in the storage position C; then, it can be moved horizontally to the sixth column of the carrier 111, and vertically moved to the second layer of the carrier 111 through the container picking and placing device 13, and the container D to be out of the warehouse can be taken out; finally, it can be moved horizontally to the second column of the carrier 111, and vertically moved to the first layer of the carrier 111 through the container picking and placing device 13, so that the container D to be out of the warehouse can be placed in the original cache position (that is, the cache position where the container A to be stored was originally located in the cache area).

[0154] Since the first handling device is still moving the target incoming container and the target outgoing container while the second handling device is still moving the incoming container in the workstation to the buffer area, when the first handling device is moving the target incoming container away from its original buffer location, the second handling device is moving the incoming container to the original buffer location of the target incoming container. This will cause the first handling device to be unable to move the target outgoing container to the original buffer location when moving it downward, thus affecting the outgoing container.

[0155] To ensure the smooth progress of the outbound task, when the first handling device moves the target incoming container from its original buffer location, the original buffer location (i.e., the first buffer location) can be locked (or called pre-occupied, pre-occupied, etc.). When the original buffer location is locked, it means that although no container has been placed in the original buffer location, it can only be used to place the target outbound container carried by the first handling device, and cannot be used to place the incoming container carried by the second handling device. This prevents the original buffer location from being occupied by the incoming container carried by the second handling device, allowing the first handling device to move the target outbound container to the original buffer location.

[0156] When the first handling device moves the target incoming container away from its original cache position, the state of the original cache position can be marked as a non-idle state (for example, the state of the original cache position is marked as parameter "0"), so that when the second handling device moves the container to be entered into the cache area, it will not occupy the original cache position of the target incoming container, but will move the container to be entered into the cache area to an idle cache position (for example, a cache position whose state is marked as parameter "1"). In this way, when the first handling device moves the target outgoing container downward to the cache area, it can move the target outgoing container to the original cache position where the target incoming container is located. That is, after the first handling device moves the target incoming container away from its original cache position, although the original cache position of the target incoming container is idle, the idle original cache position can only be used to place the target outgoing container carried by the first handling device, and cannot be used to place the container to be entered into the cache carried by the second handling device. After the second handling equipment carries the target outbound container out of the warehouse, the original cache position is released (that is, the state of the original cache position is marked as idle, for example: the state of the original cache position is marked as parameter "1"). At this time, the original cache position can be used to place the container to be transported by the second handling equipment, thereby ensuring the smooth progress of the outbound task.

[0157] When the carrier is a multi-deep carrier, and the first handling device is transporting the target incoming container in the multi-deep carrier to the target incoming storage location, if the target incoming storage location is located inside the carrier, and other containers (i.e., the first blocking container) are placed in the storage location outside the carrier, then the first blocking container needs to be moved away before the target incoming container is transported to the target incoming storage location. For example, the first handling device can be controlled to transport the first blocking container to a temporary storage location of the first handling device, or after transporting the first blocking container to an idle storage location in the storage area, the target incoming container is transported to the target incoming storage location. The idle storage location can be an idle storage location that is located in the same column as the first blocking container and is closest to the first blocking container; or the idle storage location can be an idle storage location that is located in a different column from the first blocking container and is closest to the first blocking container horizontally, and then closest to the first blocking container vertically.

[0158] Among them, when the first blocking container is the target outbound container, the first handling equipment can be controlled to transport the target outbound container to the temporary storage position of the first handling equipment, and then the target outbound container in the temporary storage position can be directly transported to the original cache position of the target inbound container in the cache area.

[0159] As shown in FIG6E , the target incoming container is container A to be received (located on the first layer of the second row of carrier 111), the target incoming storage location is storage location F (located inside the third layer of the third row of carrier 111), and the first handling device 130 is initially located on the second row of carrier 111. In this case, the first handling device 130 can be controlled to remove container A to be received from the first layer of carrier 111 via the container placement device 13 and move it horizontally to the third row of carrier 111. Then, the first handling device 130 can be controlled to move vertically to the third layer of carrier 111 via the container placement device 13 and place the first blocked container A at the temporary storage location 14 of the first handling device 130 (e.g., the temporary storage location on the third layer of the first handling device 130), or the first blocked container A can be placed at an empty storage location in the storage area 12. Afterwards, the container A to be received can be placed at storage location F.

[0160] When the carrier is a multi-deep carrier and the first handling device is picking up the target outbound container from the multi-deep carrier, if the target outbound container is located inside the carrier and another container (i.e., a second blocking container) is placed in the storage position outside the carrier, the second blocking container needs to be removed and the target outbound container needs to be moved to the original cache position of the target incoming container in the buffer area. For example, the first handling device can be controlled to move the second blocking container to the temporary storage position of the first handling device, or after moving the second blocking container to an idle storage position in the storage area, the target outbound container can be picked up by the container pick-and-place device and moved to the original cache position of the target incoming container in the buffer area. The idle storage position can be an idle storage position that is located in the same column as the second blocking container and is closest to the second blocking container; or, it can be an idle storage position that is located in a different column from the second blocking container and is closest horizontally to the second blocking container, and secondarily closest vertically to the second blocking container.

[0161] Continuing with FIG6E , let's take the case where the target outbound container is container C (located inside the 4th layer of the 6th column of the carrier 111). Since there is a second blocking container A outside container C, the first handling device 130 can be controlled to carry container A to storage location F and then horizontally move it to the 6th column of the carrier 111. Next, the container placement device 13 can be used to place the second blocking container A in a temporary storage location 14 of the first handling device 130 (e.g., a temporary storage location on the 3rd layer of the first handling device 130), or to place the second blocking container A in an empty storage location in the storage area 12. Then, the container placement device 13 can retrieve container C from the outbound container and move it horizontally to the 2nd column of the carrier 111. Furthermore, the container placement device 13 can be used to vertically move container C to the 1st layer of the carrier 111, thereby placing container C in the original buffer location (i.e., the buffer location where container A to be inbound was originally located).

[0162] When the storage position where the target outbound container is located is inside the target inbound storage position, the first handling robot can be controlled to place the target inbound container in the temporary storage position in the first handling machine first, and then take the target outbound container and place it in the temporary storage position; thereafter, the target inbound container in the temporary storage position is placed in the target inbound storage position, and the target outbound container in the temporary storage position is transported to the original cache position of the target inbound container in the cache area.

[0163] After the first handling equipment transports the target outbound container to the original cache position where the target inbound container is located, the first handling equipment can be controlled to transport the first blocking container and the second blocking container placed in the temporary storage position or other storage positions to the original storage position where the first blocking container is located and the original storage position where the second blocking container is located, respectively.

[0164] The handling method provided by the embodiment of the present disclosure can measure the occupancy ratio of the cache positions in the cache area based on a ratio threshold, and when the occupancy ratio of the cache positions is greater than or equal to the ratio threshold and there are containers to be shipped out in the storage area, control the first handling device to preferentially transport the containers to be received in the cache area to the vacant storage positions in the storage area, and transport the containers to be shipped out in the storage area to the original cache positions where the containers to be received are located, so that the containers to be shipped out in the storage area can be transported to the cache area in a timely manner, so that the second handling device can transport the containers to be shipped out to the workstation in a timely manner, thereby improving the container shipping efficiency in the warehousing system.

[0165] Figure 7 is a schematic diagram of another method for transporting provided by some embodiments of the present disclosure. As shown in Figure 7, after the above step 520, the method further includes steps 710 to 720 as shown below.

[0166] Step 710: If there is no object to be shipped out in the storage area of ​​the warehousing system, determine a target incoming container from at least one object to be shipped in the buffer area, and determine a target storage location from at least one free storage location in the storage area.

[0167] In the case that there is no container to be shipped out in the storage area, a target incoming container is determined, and a target storage location (also referred to as a target incoming storage location) is determined from at least one free storage location in the storage area.

[0168] The method for determining the target storage container and the target storage location can be referred to the description in the above embodiment, which will not be repeated here.

[0169] Step 720: Control the first transport device to transport the target incoming object to the target storage location.

[0170] After determining the target incoming container and the target incoming storage location, the first handling device is controlled to transport the target incoming container to the target incoming storage location. This process continues until a container to be shipped out appears in the storage area. The target incoming container, target incoming storage location, and target outgoing container are then determined, and the first handling robot is controlled to transport the target incoming container to the target incoming storage location, and then to transport the target outgoing container to its original buffer location.

[0171] The manner of controlling the first transport device to transport the target incoming container to the target incoming storage location may be referred to the description in the above embodiment and will not be described in detail here.

[0172] Figure 8 is a schematic diagram of another method for transporting provided by some embodiments of the present disclosure. As shown in Figure 8 , after the above step 510 , the method further includes steps 810 to 820 as shown below.

[0173] Step 810: When the composite operation switch is in the off state, a target storage object is determined from at least one to-be-stored object in the buffer area, and a target storage location is determined from at least one free storage location in the storage area.

[0174] When the composite operation switch is in the off state (ie the value of the composite operation parameter is "false"), the target storage container is determined, and the target storage location is determined from at least one free storage location in the storage area.

[0175] Step 820: Control the first transport device to transport the target incoming object to the target storage location.

[0176] After determining the target incoming container and the target storage location, the first handling device can be controlled to transport the target incoming container to the target storage location, that is, the first handling device can be controlled to prioritize the task of only transporting the incoming containers in the buffer area upward to the vacant storage locations in the storage area, thereby giving priority to completing the container warehousing work in the storage system.

[0177] Figure 9 is a schematic diagram of another method for transporting provided by some embodiments of the present disclosure. As shown in Figure 9 , after the above step 310 , the method further includes steps 910 to 920 as shown below.

[0178] Step 910 : When the occupancy rate of the cache location is less than the ratio threshold, control the first transport device to transport the objects to be shipped out of the storage area to the free cache location of the cache area.

[0179] Refer to FIG10 , which shows a schematic diagram showing that the occupancy ratio of cache bits is less than a ratio threshold.

[0180] When the occupancy ratio of the cache positions in the cache area is less than the ratio threshold, as shown in FIG10 , the first handling device can be controlled to preferentially carry the container to be shipped out in the storage area downward to any free cache position in the cache area until the occupancy ratio of the cache position is greater than or equal to the ratio threshold, and then the first handling robot is controlled to perform the task described in the above embodiment of "carrying upward a container to be shipped in the cache area to a free storage position in the storage area, and then carrying downward a container to be shipped out in the storage area to a free cache position in the cache area".

[0181] Among them, the first handling equipment can be controlled to give priority to handling the containers to be shipped in the storage area that are hit by the highest priority order, so that the containers to be shipped that are hit by the highest priority order can be shipped out, avoiding affecting the shipment of orders with high priority.

[0182] Step 920: After the first transport device transports the object to be shipped to an idle buffer location in the buffer area, the second transport device is controlled to transport the object to be shipped to the workstation.

[0183] After the first handling device carries the container to be shipped to an idle buffer position in the buffer area, the second handling device can be controlled to carry the container to be shipped to the workstation, thereby completing the container shipping work in the storage system.

[0184] The following summarizes the embodiments of the transport method provided by the present disclosure.

[0185] FIG11 is a schematic diagram of another method for transporting provided in some embodiments of the present disclosure. As shown in FIG11 , the method includes steps 1101 to 1110 .

[0186] Step 1101: Determine the occupancy ratio of cache locations in the same lane of the storage system.

[0187] The cache slot occupancy ratio can be determined based on the total number of cache slots and the number of non-free cache slots in the cache area of ​​the same lane. All cache slots in the cache area are located in the same lane, and one or more vehicles can be placed in the same lane. Non-free cache slots are cache slots that contain containers waiting to be stored or are waiting to be stored.

[0188] The implementation of step 1101 may refer to the relevant embodiment of step 310 in FIG3 , and will not be described in detail here.

[0189] Step 1102: determine whether the occupancy ratio of the cache bits is less than a ratio threshold.

[0190] After determining the cache bit occupancy ratio, it is determined whether the cache bit occupancy ratio is less than a ratio threshold. The ratio threshold can be any value between 0 and 1, such as 0.6, 0.7, 0.8, etc. If the cache bit occupancy ratio is less than the ratio threshold, step 1103 is executed; if the cache bit occupancy ratio is greater than or equal to the ratio threshold, step 1105 is executed.

[0191] The implementation of step 1102 may refer to the relevant embodiment of step 310 in FIG3 , and will not be described in detail here.

[0192] Step 1103 : When the occupancy rate of the buffer locations is less than the threshold, the first transport device is controlled to transport the container to be shipped out of the storage area to an idle buffer location in the buffer area.

[0193] If the occupancy rate of the cache slots is less than the ratio threshold, the first handling device can be controlled to transport the container to be shipped from the storage area to an empty cache slot in the cache area. In this process, the occupancy rate of the cache slots in the cache area can be determined in real time, or the occupancy rate of the cache slots can be determined every preset period, and then it is determined whether the occupancy rate of the cache slots is less than the ratio threshold (i.e., executing steps 1101 and 1102). If the occupancy rate of the cache slots is greater than or equal to the ratio threshold, the relevant steps in steps 1105 to 1109 are executed.

[0194] Step 1104 : After the first transport device transports the container to be shipped to an idle buffer position in the buffer area, the second transport device is controlled to transport the container to be shipped to the workstation.

[0195] After the first handling device carries the container to be shipped to an idle buffer position in the buffer area, the second handling device can be controlled to carry the container to be shipped to the workstation, thereby completing the container shipping work in the storage system.

[0196] The implementation of step 1103 and step 1104 can refer to the relevant embodiments of step 910 and step 920 in Figure 9, and will not be repeated here.

[0197] Step 1105 : When the occupancy ratio of the cache bits is greater than or equal to the ratio threshold, it is determined whether the composite job switch is in the on state.

[0198] If the cache bit occupancy ratio is greater than or equal to the ratio threshold, it can be determined whether the composite job switch is in the on state. The composite job parameter value can be set to "true" or "false." If the composite job switch is in the on state, step 1106 is executed; if the composite job switch is in the off state, step 1109 is executed.

[0199] The implementation of step 1105 may refer to the relevant embodiment of step 510 in FIG5 , and will not be described in detail here.

[0200] Step 1106: When the composite operation switch is in the on state, it is determined whether there is a container to be shipped out in the storage area of ​​the storage system.

[0201] If the composite operation switch is on (i.e., the composite operation parameter is "true"), it is further determined whether there are containers waiting to be shipped in the storage area of ​​the warehousing system. If there are containers waiting to be shipped in the storage area, step 1107 is executed; if there are no containers waiting to be shipped in the storage area, step 1109 is executed.

[0202] The implementation of step 1106 may refer to the relevant embodiment of step 520 in FIG5 , and will not be described in detail here.

[0203] Step 1107: If there are containers to be shipped out in the storage area, determine the target incoming container, the target incoming storage location, and the target outgoing container.

[0204] When there are containers to be shipped out in the storage area, a target incoming container can be determined from at least one container to be shipped in the buffer area, a target incoming storage location can be determined from at least one free storage location in the storage area, and a target outgoing container can be determined from at least one container to be shipped out in the storage area.

[0205] The implementation of step 1107 may refer to the relevant embodiment of step 330 in FIG3 , and will not be described in detail here.

[0206] Step 1108: Control the first transport device to transport the target incoming container to the target incoming storage location, lock the original cache location where the target incoming container is located, and control the first transport device to transport the target outgoing container to the original cache location.

[0207] After determining the target incoming container, target incoming storage location, and target outgoing container, relevant instructions can be sent to the first handling device to control the first handling device to transport the target incoming container to the target incoming storage location, and to transport the target outgoing container to the original cache location of the target incoming container in the cache area.

[0208] Furthermore, when the first handling device moves the target incoming container away from its original buffer location, the original buffer location may be locked, thereby enabling the first handling device to move the target outgoing container to the original buffer location.

[0209] During this process, the occupancy ratio of the cache bits in the cache area can be determined in real time, and it can be determined whether the occupancy ratio of the cache bits is less than the ratio threshold (i.e., executing steps 1101 and 1102), and when the occupancy ratio of the cache bits is greater than or equal to the ratio threshold, the relevant steps in steps 1105 to 1109 are executed.

[0210] The implementation of step 1108 may refer to the relevant embodiment of step 340 in FIG3 , and will not be described in detail here.

[0211] Step 1109 : When the composite operation switch is in the off state or there is no container to be shipped out in the storage area, determine the target incoming container and the target incoming storage location.

[0212] When the composite operation switch is in the off state or there is no container to be shipped out in the storage area, only the target incoming container and the target incoming storage location may be determined.

[0213] The implementation of step 1109 may refer to the relevant embodiments of step 810 in FIG. 8 or step 910 in FIG. 9 , and will not be described in detail here.

[0214] Step 1110: Control the first transport device to transport the target incoming container to the target incoming storage location.

[0215] After determining the target incoming container and the target incoming storage location, the first handling device can be controlled to transport the target incoming container to the target incoming storage location, that is, the first handling device can be controlled to prioritize the task of transporting only the incoming containers in the buffer area upward to the vacant storage locations in the storage area, thereby completing the container warehousing work in the storage system.

[0216] During this process, the occupancy ratio of the cache bits in the cache area can be determined in real time, and it can be determined whether the occupancy ratio of the cache bits is less than the ratio threshold (i.e., executing steps 1101 and 1102), and when the occupancy ratio of the cache bits is greater than or equal to the ratio threshold, the relevant steps in steps 1105 to 1109 are executed.

[0217] The implementation of step 1110 may refer to the relevant embodiments of step 820 in FIG. 8 or step 920 in FIG. 9 , and will not be described in detail here.

[0218] The handling method provided by the embodiment of the present disclosure can control the first handling device to perform different tasks according to the occupancy ratio of the cache positions in the cache area. When the occupancy ratio of the cache positions is less than the ratio threshold, the first handling device can be controlled to carry the container to be shipped out of the storage area downward to the free cache position in the cache area. Moreover, when the occupancy ratio of the cache positions is greater than or equal to the ratio threshold, the first handling device can be controlled to perform different tasks through the composite operation switch. When the occupancy ratio of the cache positions is greater than or equal to the ratio threshold, and the composite operation switch is in the on state, the first handling device can be controlled to carry a container to be stored upward to the high-level storage area, and to carry a container to be shipped downward to the cache area. Thus, the container to be stored in the cache area can be carried upward to the storage area in a timely manner, and the container to be shipped out of the storage area can be carried downward to the cache area in a timely manner, so that the handling robot can carry the container to be shipped out to the workstation in a timely manner, thereby improving the shipping efficiency in the warehousing system. In addition, when the occupancy ratio of the cache position is greater than or equal to the ratio threshold, and the compound operation switch is in the off state or there is no container to be shipped out in the storage area, the first handling equipment can be controlled to transport the target incoming container to the target incoming storage position, thereby completing the container warehousing work in the warehousing system.

[0219] The execution of the warehousing or outbound tasks by the container robot is determined based on the water level upper limit of the buffer area (i.e., the proportional threshold corresponding to the buffer area in the above embodiment). Usually, the water level upper limit of the buffer area is manually configured by the operator. For example, the operator needs to adjust the water level upper limit of the buffer area according to the dynamic changes in the task volume of the outbound task and the warehousing task to ensure the working efficiency of the container robot and the handling robot. However, the manual configuration of the water level upper limit may have deviations or configuration errors. At the same time, the manual configuration also has the problem of poor timeliness, which affects the working efficiency of the warehousing system.

[0220] The handling method provided by the embodiment of the present disclosure can adaptively adjust the upper limit of the water level of the cache area based on the relationship between the number of objects to be stored and / or objects to be shipped out in the storage system and the number of cache bits in the cache area, so as to improve the timeliness and accuracy of the adjustment of the upper limit of the water level and improve the working efficiency of the storage system.

[0221] Figure 12 is a schematic diagram of another transport method provided by some embodiments of the present disclosure. The transport method provided by the present disclosure, as well as the process of adaptively adjusting the ratio threshold in the transport method, are described in detail below with reference to Figure 12. The transport method shown in Figure 12 can also be implemented by the control device 150 in the warehousing system 100 of the above-described embodiment.

[0222] As shown in FIG. 12 , the transport method includes steps 1210 to 1240 as shown below.

[0223] Step 1210: Determine the number of first objects to be inbound and / or the number of first objects to be outbound corresponding to at least one task to be processed.

[0224] The control device can obtain at least one pending task and determine a first object to be inbound and a first object to be outbound corresponding to the at least one pending task. The at least one pending task can be a pending task within a preset inventory area received by the control device at a certain moment (e.g., the current moment), or can be a pending task within a preset inventory area received by the control device within a preset time range. The preset inventory area can be at least one warehouse or at least one storage area of ​​a warehouse.

[0225] For example, pending tasks can be generated based on customer orders or work orders. Each pending task can correspond to at least one object to be transported, which can be goods or containers. The container can be a box containing goods or other containers for storing goods. The following embodiments will be illustrative using containers as an example.

[0226] The objects to be transported may include objects to be stored in and / or objects to be shipped out, wherein the objects to be stored in are used to indicate objects to be transported that need to be transferred to the carrier, and the objects to be shipped out are used to indicate objects to be transported that need to be moved out of the carrier.

[0227] For example, objects to be stored in the warehouse may include objects to be transported placed in the buffer area and objects to be transported to the buffer area. Objects to be transported to the buffer area include objects to be transported at the workstation and objects to be transported to the inventory area by the second transport device. Objects to be shipped out of the warehouse include objects to be shipped out of the warehouse placed in the storage area and objects to be shipped out of the warehouse placed in the buffer area.

[0228] The first objects to be stored include the objects to be stored after being picked by the workstation, the objects to be stored carried by the second handling equipment, and the objects to be stored in the cache position in the buffer area; the first objects to be shipped out include the objects to be shipped out in the storage position in the storage area.

[0229] The cache area includes at least one cache slot located at the lower level of the carrier and is used to store objects waiting to be stored or removed from the warehouse. The storage area includes at least one storage slot located at the upper level of the carrier. Objects placed in these storage slots may be objects waiting to be removed from the warehouse or objects that do not currently need to be removed from the warehouse. The cache area and storage area have been described in the above embodiments and will not be repeated here to avoid repetition.

[0230] At least one warehouse can be divided into at least one preset inventory area based on actual needs. There can be multiple standards for dividing inventory areas, and an inventory area can include at least one storage area and a buffer area. For example, at least one warehouse can be divided into preset inventory areas based on warehouse units, and each preset inventory area includes at least one storage area and a buffer area; or, a warehouse can be divided into multiple preset inventory areas based on warehouse lanes, and each preset inventory area includes at least one storage area and a buffer area; or, a warehouse can be divided into multiple preset inventory areas based on the type of stored items, and each preset inventory area includes at least one storage area and a buffer area; or, a warehouse can be divided into multiple preset inventory areas based on the type of container, and each preset inventory area includes at least one storage area and a buffer area.

[0231] The present disclosure does not specifically limit the division format of the preset inventory area. The cache area and storage area in the embodiments of the present disclosure are not necessarily the cache area and storage area of ​​a single vehicle. The cache area in the embodiments of the present disclosure may be the cache area corresponding to the preset inventory area, and the storage area may be the storage area corresponding to the preset inventory area. For example, the cache area and storage area may be the cache area and storage area corresponding to the inventory area, or the cache area and storage area corresponding to the lane, or the cache area and storage area corresponding to the partition; wherein the inventory area may include multiple partitions, each partition including multiple lanes. The following description uses the cache area as an example.

[0232] The cache area may be the sum of the cache areas of each vehicle in a preset inventory area, and the preset inventory area may be the inventory area of ​​at least one warehouse or at least part of the inventory area within a warehouse. For example, as shown in FIG1 , the cache area may be the sum of the cache areas of each vehicle in the inventory area 110. For another example, the cache area may be the sum of the cache areas of each vehicle in the first row of vehicles corresponding to lane B, and / or the sum of the cache areas of each vehicle in the second row of vehicles. For another example, the cache area may be the sum of the cache areas of all vehicles in a partition. As shown in FIG1 , lanes A and lanes B in the inventory area 110 may be divided into partition A, and the cache area may be the sum of the cache areas of each vehicle in partition A (i.e., the first row of vehicles and the second row of vehicles).

[0233] For example, the objects to be entered into the cache positions in the cache area may include the sum of the objects to be entered into the cache positions of each vehicle in the preset inventory area, and the objects to be shipped out of the storage positions in the storage area may include the sum of the objects to be shipped out of the storage positions of each vehicle in the inventory area.

[0234] After determining the objects to be entered and objects to be exited corresponding to each pending task, the number of first objects to be entered and / or the number of first objects to be exited corresponding to at least one pending task is further determined.

[0235] Step 1220 : Adjust a ratio threshold corresponding to a buffer area of ​​the storage system according to at least one of the quantity of the first objects to be stored in and the quantity of the first objects to be stored out, as well as the first quantity.

[0236] The first number is related to the number of cache slots in the cache area and can be adjusted based on actual needs. The number of cache slots is the total number of cache slots corresponding to each vehicle in the preset inventory area. As shown in FIG1 , the number of cache slots can be the total number of cache slots corresponding to each vehicle in inventory area 11.

[0237] For example, the number of cache bits may be the number of available cache bits in the cache area, where the available cache bits are all cache bits excluding locked cache bits and exception cache bits.

[0238] The first number may be smaller than the number of cache bits. For example, the first number may be the number of cache bits multiplied by a first preset coefficient. The first preset coefficient may be set as required and may be a smaller value less than 1. For example, the first preset coefficient may be set to 0.1 or 0.2, etc., which is not limited in the present embodiment.

[0239] The corresponding ratio threshold of the cache area is used to indicate the upper limit of the cache bit occupancy ratio in the cache area (also known as the watermark upper limit). When the cache bit occupancy ratio exceeds the ratio threshold, it indicates that the current cache bit occupancy ratio has reached the upper limit and the cache bit of the cache area needs to be released to make room for the corresponding free cache bit.

[0240] Figure 13 is a schematic diagram of another transport method provided by some embodiments of the present disclosure. The adjustment process of the ratio threshold corresponding to the buffer area is described below in conjunction with Figure 13. As shown in Figure 13, step 1220 includes steps 1221 and 1222 as shown below.

[0241] In step 1221, when at least one of the first quantity of objects to be stored in and the first quantity to be stored out, and the first quantity satisfy a preset condition, the ratio threshold corresponding to the buffer area is adjusted to the first ratio threshold.

[0242] At least one of the quantity of the first objects to be entered and the first quantity to be exited, and the first quantity meeting the preset condition may include: the quantity of the first objects to be entered and the first quantity meeting the preset condition, or the first quantity to be exited and the first quantity meeting the preset condition, or the quantity of the first objects to be entered, the quantity of the first objects to be exited, and the first quantity meeting the preset condition.

[0243] The following describes the above three situations where the preset conditions are met.

[0244] The number of the first objects to be stored and the first quantity meet a preset condition, including: the number of the first objects to be stored is greater than or equal to the first quantity, and the first duration is greater than the first duration; wherein the first duration is the duration during which the number of the first objects to be stored is greater than or equal to the first quantity.

[0245] After determining the number of the first objects to be stored and the first quantity, the number of the first objects to be stored is compared with the first quantity. At the current moment, if the number of the first objects to be stored is greater than or equal to the first quantity, a first duration during which the number of the first objects to be stored is greater than or equal to the first quantity can be determined starting from the current moment. When the first duration is greater than or equal to the first duration, it is determined that a preset condition is satisfied between the number of the first objects to be stored and the first quantity. The first duration can be set as needed, for example, the first duration can be set to 1 minute, 3 minutes, or 5 minutes.

[0246] That is, when the number of the first objects to be stored is greater than or equal to the first number, and the duration of this state (i.e., the first duration) is greater than the first duration, it is determined that the number of the first objects to be stored and the first number meet the preset condition. For example, at a first moment, the number of the first objects to be stored is greater than or equal to the first number. After the first moment, the number of the first objects to be stored may change. Regardless of whether the number of the first objects to be stored increases or decreases, within a first duration starting from the first moment, the number of the first objects to be stored remains greater than or equal to the first number, then it is determined that the first duration is greater than or equal to the first duration.

[0247] For example, when the first duration is set to 1 minute, the number of the first objects to be stored at the first moment is greater than or equal to the first number, and at the 20th second after the first moment, the number of the first objects to be stored is less than the first number, and at the 30th second, the number of the first objects to be stored is greater than or equal to the first number. In this case, it can be determined that the duration of the first objects to be stored is greater than or equal to the first number, that is, the first duration (i.e., 20 seconds) is less than the first duration (i.e., 1 minute), and therefore, the number of the first objects to be stored and the first number do not meet the preset condition. Since the number of the first objects to be stored is again greater than or equal to the first number at the 30th second, it can be restarted from the moment corresponding to the 30th second to determine whether the number of the first objects to be stored remains greater than or equal to the first number within the next first duration.

[0248] When the number of the first objects to be stored is greater than or equal to the first number and the first duration is greater than the first duration, it indicates that a large number of objects to be stored continue to exist in the storage system. In this case, the current operation scenario of the storage system is determined to be storage mode. In the storage mode, the first handling device can preferentially transport the objects to be stored in the buffer area to the storage area.

[0249] When it is determined that the operation mode of the warehousing system is the warehousing mode, the ratio threshold corresponding to the buffer area can be adjusted to the first ratio threshold. The first ratio threshold is a relatively small value and can be set according to needs, such as 0.1, 0.2, or 0.3.

[0250] For example, when it is determined that the operating mode of the warehousing system is the warehousing mode, since the number of objects to be warehousing is large, the control device automatically adjusts the proportion threshold of the buffer area to a smaller first proportion threshold to trigger the first handling equipment to perform the warehousing operation as early as possible, so as to control the first handling equipment to start transporting the objects to be warehousing in the buffer area to the storage area as early as possible, thereby improving the working efficiency of the warehousing system.

[0251] The first quantity to be shipped and the first quantity meet a preset condition, including: the first quantity of objects to be shipped is less than the first quantity, and the second duration is greater than the second duration; wherein the second duration is the duration during which the first quantity of objects to be shipped is less than the first quantity.

[0252] After determining the number of the first objects to be shipped out and the first quantity, the number of the first objects to be shipped out is compared with the first quantity. At the current moment, the number of the first objects to be shipped out is less than the first quantity. Starting from the current moment, determine the second duration during which the number of the first objects to be shipped out is less than the first quantity. When the second duration is greater than or equal to the second duration, determine that the preset condition is met between the first number to be shipped out and the first quantity. Among them, the second duration can be set according to demand, and the second duration can be the same as the first duration or different from the first duration, and the embodiment of the present disclosure is not limited to this. For example, the present disclosure can be illustratively explained by taking the first duration and the second duration as an example, such as the second duration can be set to 1 minute, 3 minutes or 5 minutes, etc.

[0253] That is, when the number of the first objects to be shipped is less than the first number, and the duration of this state (i.e., the second duration) is greater than the second duration, it is determined that the preset condition is satisfied between the first number and the first number. For example, at the second moment, the number of the first objects to be shipped is less than the first number. After the second moment, the number of the first objects to be shipped may change. Regardless of whether the number of the first objects to be shipped increases or decreases, if the number of the first objects to be shipped remains less than the first number during the second duration starting from the second moment, it is determined that the preset condition is satisfied between the first number and the first number.

[0254] For example, when the second time duration is set to 1 minute, the number of the first objects to be shipped out at the current moment is less than the first number, and at the 10th second after the second moment, the number of the first objects to be shipped out is greater than the first number, and at the 20th second, the number of the first objects to be shipped out is less than the first number. In this case, it can be determined how long the first objects to be shipped out have been less than the first number, that is, the second duration (i.e., 10 seconds) is less than the second time duration (i.e., 1 minute). Therefore, the number of the first objects to be shipped out and the first number do not meet the preset condition. Since the number of the first objects to be shipped out is less than the first number at the 20th second, it can be restarted from the moment corresponding to the 20th second to determine whether the number of the first objects to be shipped out remains less than the first number within the next second time duration.

[0255] When the number of the first objects to be shipped out is less than the first number, and the second duration is greater than the second duration, it indicates that the number of objects to be shipped out in the storage system is small and lasts for a sufficiently long time. In this case, it can also be determined that the current operation scenario of the storage system is the warehousing mode. Therefore, the control device can automatically adjust the proportion threshold of the cache area to a smaller first proportion threshold.

[0256] The number of the first objects to be entered, the number of the first objects to be exited, and the first quantities satisfying preset conditions include: the number of the first objects to be entered is greater than or equal to the first number, the first duration is greater than the first duration, the number of the first objects to be exited is less than the first number, and the second duration is greater than the second duration.

[0257] When the warehousing system can simultaneously meet the following conditions: the number of the first objects to be entered into the warehouse is greater than or equal to the first number, the first duration is greater than the first duration, the number of the first objects to be shipped out of the warehouse is less than the first number, and the second duration is greater than the second duration, it indicates that there are a large number of objects to be entered into the warehouse in the warehousing system, and the number of objects to be entered into the warehouse is greater than the number of objects to be shipped out of the warehouse. In this case, it can be determined that the current operating scenario of the warehousing system is the warehousing mode, and the first handling equipment needs to be triggered as soon as possible to perform the warehousing operation. Therefore, the control device can adjust the proportion threshold of the buffer area to a smaller first proportion threshold.

[0258] In step 1222, when at least one of the first quantity of objects to be stored in and the first quantity to be stored out, and the first quantity do not satisfy a preset condition, the ratio threshold corresponding to the buffer area is adjusted to a second ratio threshold.

[0259] At least one of the quantity of the first objects to be stored in and the first quantity to be stored out, and the first quantity do not satisfy a preset condition, including at least one of the following situations:

[0260] ① The quantity of the first object to be stored is less than the first quantity.

[0261] ② The first duration is less than or equal to the first duration, and the first duration is the duration during which the quantity of the first objects to be stored is greater than or equal to the first quantity.

[0262] ③ The quantity of the first object to be shipped out is greater than or equal to the first quantity.

[0263] ④ The second duration is less than or equal to the second duration, where the second duration is the duration during which the quantity of the first objects to be shipped out is less than the first quantity.

[0264] When at least one of the first number of objects to be stored in and the first number of objects to be shipped out, as well as the first number, does not satisfy a preset condition, the buffer area ratio threshold is adjusted to a second ratio threshold. The second ratio threshold is greater than the first ratio threshold. For example, the second ratio threshold can be set as needed, such as 0.7, 0.8, or 0.9. This is not limited in the present embodiment.

[0265] When the number of first objects to be received is small and / or the number of first objects to be shipped out is large, it indicates that a large number of objects to be shipped out exist in the warehousing system. In this case, the current operating mode of the warehousing system is determined to be a non-receiving mode. The non-receiving mode may include a shipping mode or a picking mode. In the non-receiving mode, the first handling device is required to preferentially transport the objects to be shipped out located in the storage location to the cache location.

[0266] In other examples, when the first object to be entered into the warehouse is greater than the first quantity, but the duration of the first object to be entered into the warehouse is greater than the first quantity, that is, the first duration is less than or equal to the first duration, the current operating mode of the warehousing system can also be considered as the non-warehousing mode; or, when the first object to be shipped out is less than the first quantity for a duration, but the second duration is less than or equal to the second duration, the current operating mode of the warehousing system can also be considered as the non-warehousing mode.

[0267] When it is determined that the operating mode of the warehousing system is a non-warehouse mode, since the first handling equipment needs to transport a large number of objects to be shipped out of the storage area to the cache area, it needs to occupy more cache positions in the cache area. In this case, the control device can adjust the proportion threshold of the cache area to a larger second proportion threshold, so that the first handling equipment can transport more objects to be shipped out to the cache positions in the cache area.

[0268] Step 1230: Determine the occupancy ratio of the cache bits in the cache area.

[0269] The occupancy ratio of the cache bits in the cache area can be determined based on the number of all cache bits in the cache area and the number of non-free cache bits, wherein the non-free cache bits are cache bits in the cache area where objects to be stored or objects to be stored are placed.

[0270] The cache bit occupancy ratio can be determined based on the ratio between the number of non-free cache bits and the total number of cache bits in the cache area. For example, as shown in FIG2 , assuming that the total number of cache bits in cache area 11 is 6, since containers are placed on 4 cache bits in cache area 11 and 2 cache bits are not placed on them, the number of non-free cache bits in cache area 11 is 4. Therefore, the cache bit occupancy ratio in cache area 11 is: number of non-free cache bits / total number of cache bits = 4 / 6 = 0.67.

[0271] The implementation process of step 1230 is similar to that of step 310 in the above embodiment, and will not be described again here to avoid repetition.

[0272] Step 1240 , based on the occupancy ratio and the ratio threshold, controls the first transport device to transport the target outbound object stored in the storage area of ​​the warehousing system to the buffer area, and / or transports the target inbound object stored in the buffer area to the storage area.

[0273] The ratio threshold is the upper limit of the cache slot's capacity. When the occupancy ratio is greater than or equal to the ratio threshold, the cache slot's occupancy exceeds the upper limit, meaning that the cache slots are over-occupied. In this case, objects waiting to be stored in the cache area must be moved to storage slots in the storage area. When the occupancy ratio is less than the ratio threshold, the occupancy ratio is lower than the upper limit, meaning that the cache slots are under-occupied. In this case, outbound tasks can be prioritized, meaning that objects waiting to be stored in the storage area are moved to cache slots in the cache area.

[0274] When the occupancy ratio of the cache positions is greater than or equal to the ratio threshold, in order to free up more cache positions, the first handling device can perform a warehousing operation task or a compound operation task. Among them, the warehousing operation includes: the first handling device moves the objects to be stored in the cache area upward to the free storage positions in the storage area to reduce the occupancy ratio of the cache positions. The compound operation includes: the first handling device moves the objects to be stored in a cache area upward to the free storage positions in the storage area, and moves the objects to be shipped out of a storage area downward to the free cache positions in the cache area. The compound operation task can not only reduce the occupancy ratio of the cache positions, but also ensure the smooth progress of the shipping tasks.

[0275] For example, when the occupancy ratio of the cache bits is greater than or equal to the ratio threshold, and when the current operation mode gives priority to warehousing, the first handling equipment can be controlled to perform the warehousing operation first to ensure the smooth progress of the warehousing task; when the current operation mode is an inbound and outbound scenario, the first handling equipment can be controlled to perform a composite operation to ensure the smooth progress of the inbound and outbound tasks.

[0276] The switch state of the first handling device for performing the composite operation is related to the occupancy ratio of the cache bit. When the composite operation of the first handling device is in the on state, the first handling device can perform the composite operation task; when the switch of the composite operation is in the off state, the first handling device performs the warehousing task.

[0277] For example, when the occupancy ratio is greater than or equal to a threshold ratio, the composite operation of the first handling device is in the on state. Alternatively, the on / off state of the composite operation may be related to the priority of the inbound task and the outbound task. For example, when the outbound task has a higher priority than the inbound task, the composite operation may be in the on state.

[0278] When the ratio threshold is set differently, the timing at which the first handling equipment performs the outbound task, the inbound task, or the composite task is different.

[0279] In the case where the ratio threshold is set to the first ratio threshold, when the occupancy ratio of the cache position is less than the first ratio threshold, the first handling device starts to perform the outbound task; when the occupancy ratio is greater than or equal to the first ratio threshold, the first handling device starts to perform the inbound task or the compound operation task. In the case where the ratio threshold is set to the second ratio threshold, when the occupancy ratio of the cache position is less than the second ratio threshold, the first handling device starts to perform the outbound task; when the occupancy ratio is greater than or equal to the second ratio threshold, the first handling device starts to perform the inbound task or the compound operation task. Since the second ratio threshold is greater than the first ratio threshold, when the ratio threshold is set to the first ratio threshold, the first handling device can start to perform the inbound task or the compound operation task earlier, thereby improving the working efficiency of the warehousing system.

[0280] FIG14 is a schematic diagram of another transport method provided by some embodiments of the present disclosure. The following describes the transport process of the first transport device when the ratio thresholds are the first ratio threshold and the second ratio threshold, respectively, in conjunction with FIG14. As shown in FIG14, step 1240 includes steps 1241 to 1246 as shown below.

[0281] The following describes the case where the ratio threshold is set to the first ratio threshold. As shown in FIG14 , steps 1241 to 1243 are the transport process of the first transport device when the ratio threshold is set to the first ratio threshold.

[0282] Step 1241 : When the occupancy ratio is less than a first ratio threshold and the storage area includes the target outbound object, control the first transport device to transport the target outbound object from the first storage location to the target cache location in the cache area.

[0283] When the ratio threshold is set to the first ratio threshold, the occupancy ratio of the cache bit is compared with the first ratio threshold. When the occupancy ratio is less than the first ratio threshold, the first handling device enters the outbound operation mode and performs the outbound task. When the storage area includes at least one object to be outbound, the first handling device is controlled to transport the target outbound object in the storage area to the cache area. The at least one object to be outbound in the storage area includes the target outbound object, and the target outbound object is located in the first storage bit of the storage area. The target cache bit is an idle cache bit in the cache area, which is used to place the target outbound object.

[0284] FIG15A is a schematic diagram of a scenario of a warehouse outbound process provided by an embodiment of the present disclosure.

[0285] As shown in FIG15A , when the occupancy ratio of the cache slot is less than a first ratio threshold, the first handling device moves the target outbound object from the storage area from the first storage slot downward to the target cache slot in the cache area, where the target cache slot is one of the multiple free cache slots in the cache area.

[0286] Step 1242 : When the occupancy ratio is greater than or equal to the first ratio threshold and the buffer area includes the target incoming object, control the first transport device to transport the target incoming object from the first cache location to the target storage location in the storage area.

[0287] When the proportion of cache slot occupancy is greater than or equal to a first proportion threshold, the first handling device may enter a storage operation mode and perform a storage task. When the cache area includes at least one object to be stored, the first handling device is controlled to transport the target storage object in the cache area from the first cache slot in the cache area to the target storage slot in the storage area. The at least one object to be stored in the cache area includes the target storage object, and the target storage object is located in the first cache slot in the cache area. The target storage slot is an idle storage slot in the storage area for placing the target storage object.

[0288] That is, when the occupancy rate of the cache bits is greater than or equal to the first ratio threshold, the first handling device can perform the warehousing task, thereby releasing the cache bits in the cache area to free up more free cache bits to facilitate the subsequent execution of the outbound task.

[0289] FIG15B is a schematic diagram of a warehousing process scenario provided by an embodiment of the present disclosure.

[0290] As shown in FIG15B , when the occupancy rate of the cache position exceeds a first ratio threshold, the first transport device transports the target incoming object in the cache area from the first cache position upward to a target storage position in the storage area, where the target storage position is one of the multiple free cache positions in the storage area.

[0291] Step 1243, when the occupancy ratio is greater than or equal to the first ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, control the first transport device to transport the target incoming object from the first cache position to the target storage position of the storage area, and transport the target outgoing object from the first storage position to the target cache position of the cache area.

[0292] In the case where the occupancy ratio of the cache position is greater than or equal to the first ratio threshold, the first handling device may also enter the compound operation mode and perform the compound operation task. In the case where the cache area includes at least one object to be stored in, and the storage area includes at least one object to be shipped out, the first handling device is controlled to transport the target storage position of the storage area, and transport the target shipping object to the target cache position of the cache area. Among them, at least one object to be stored in includes a target storage object, at least one object to be shipped out includes a target shipping object, the target storage object is located in the first cache position of the cache area, and the target shipping object is located in the first storage position of the storage area. The target storage position is an idle storage position in the storage area, which is used to place the target storage object, and the target cache position is an idle cache position in the cache area, which is used to place the target shipping object.

[0293] In the compound operation mode, since the first handling device moves the target incoming object upward to an idle storage position in the storage area (i.e., the target storage position), the original cache position (i.e., the first cache position) where the target incoming object is placed is in an idle state. In this case, the first handling device can move the target outgoing object in the storage area downward to the first cache position (i.e., the original cache position of the target outgoing object).

[0294] FIG15C is a schematic diagram of a scenario of a composite operation process provided by an embodiment of the present disclosure.

[0295] As shown in FIG15C , when the occupancy ratio of the cache position exceeds the first ratio, the first handling device moves the target incoming object in the cache area from the first cache position upward to the target storage position, and then moves the target outgoing object in the storage area downward to the target cache position in the cache area. In FIG15C , the target cache position is the first cache position.

[0296] When the occupancy ratio of the cache position is greater than or equal to the first ratio threshold, when there are objects to be shipped out of the storage area and there are no objects to be received in the cache area, the first handling device may also enter the outbound operation mode and transport the objects to be shipped out of the storage area to the free cache positions in the cache area, thereby avoiding the first handling device from being idle and improving the working efficiency of the first handling device.

[0297] The following describes the case where the ratio threshold is set to the second ratio threshold. As shown in FIG14 , steps 1244 to 1246 are the transport process of the first transport device when the ratio threshold is set to the second ratio threshold.

[0298] Step 1244 : When the occupancy ratio is less than the second ratio threshold and the storage area includes the target outbound object, control the first transport device to transport the target outbound object from the first storage location to the target cache location in the cache area.

[0299] When the ratio threshold is set to the second ratio threshold, the occupancy ratio of the cache slots is compared with the second ratio threshold. If the occupancy ratio is less than the second ratio threshold, the first handling device enters the outbound operation mode and performs the outbound task. Because the second ratio threshold is greater than the first ratio threshold, when the ratio threshold is set to the second ratio threshold, the first handling device can perform outbound tasks for a greater number of objects to be outbound than when the ratio threshold was set to the first ratio threshold.

[0300] The process of the first handling equipment performing the outbound task has been described in the above step 341 and will not be repeated here to avoid repetition.

[0301] Step 1245 : When the occupancy ratio is greater than or equal to the second ratio threshold and the cache area includes the target incoming object, control the first transport device to transport the target incoming object from the first cache location to the target storage location in the storage area.

[0302] When the proportion of cache slot occupancy is greater than or equal to the second proportion threshold, the first handling device may enter the warehousing operation mode and perform the warehousing task. Because the second proportion threshold is greater than the first proportion threshold, when the proportion threshold is set to the second proportion threshold, the first handling device may perform the warehousing task later than when the proportion threshold is set to the first proportion threshold.

[0303] The process of the first handling equipment performing the warehousing task has been described in the above step 342, and will not be repeated here to avoid repetition.

[0304] Step 1246, when the occupancy ratio is greater than or equal to the second ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, control the first transport device to transport the target incoming object from the first cache position to the target storage position of the storage area, and transport the target outgoing object from the first storage position to the target cache position of the cache area.

[0305] When the occupancy ratio is greater than or equal to the first ratio threshold, the first handling device may also enter the composite operation mode and perform composite operation tasks. Because the second ratio threshold is greater than the first ratio threshold, when the ratio threshold is set to the second ratio threshold, the first handling device enters the composite operation mode later than when the ratio threshold is set to the first ratio threshold, thereby performing outbound tasks for a greater number of objects to be outbound.

[0306] The process of the first transport device performing the composite operation task has been described in the above step 343 and will not be repeated here to avoid repetition.

[0307] When the ratio threshold is set to the second ratio threshold, since the number of objects to be shipped is large, the number of second handling devices (such as the second handling devices 140 in the above embodiment) used to transport the objects to be shipped in the warehousing system will also increase. The second handling devices are used to move the objects to be shipped out of the buffer area for shipment.

[0308] Since the number of second handling equipment in the warehousing system is limited, when the number of objects to be shipped out is large, all the second handling equipment in the warehousing system may be in a non-idle state, that is, the second handling equipment in the warehousing system has reached its working limit. In this case, when the ratio threshold is less than the second ratio threshold, after the first handling equipment transports the objects to be shipped out from the storage area to the cache area, there is no idle second handling equipment to move the objects to be shipped out, resulting in the cache position in the cache area cannot be released in time, which further causes the first handling equipment to be unable to transport the objects to be shipped out from the storage area to the cache area, reducing the handling efficiency of the first handling equipment.

[0309] In order to solve the above problem, the first handling device can be controlled to enter the warehousing operation mode or the composite operation mode in advance, so as to transport the objects to be warehousing in the buffer area to the storage area as soon as possible, thereby ensuring the normal progress of the outbound task.

[0310] Determine the number of the second objects to be out of the warehouse; when the occupancy ratio is less than the second ratio threshold and the cache area includes the target incoming object, and when the number of the second objects to be out of the warehouse is greater than or equal to the second number, control the first handling device to transport the target incoming object from the first cache position to the target storage position in the storage area.

[0311] When the ratio threshold is set to the second ratio threshold, the control device can dynamically obtain the number of objects to be released from the cache area, that is, the number of second objects to be released, wherein the second objects to be released include the objects to be released in the cache position of the cache area.

[0312] For example, the second objects to be shipped may be the number of objects to be shipped stored in the cache area corresponding to the inventory area, that is, the number of objects to be shipped placed in the cache locations throughout the entire store.

[0313] The second quantity is related to the number of second handling devices in the warehousing system. The second quantity may be greater than or equal to the number of second handling devices. For example, the second quantity may be the number of second handling devices multiplied by a second preset coefficient. The second preset coefficient may be set as needed and may be set to a value greater than or equal to 1. For example, the first preset coefficient may be set to 2 or 3, etc., which is not limited in the present embodiment.

[0314] After determining the number of the second objects to be shipped and the second quantity, the second objects to be shipped can be compared with the second quantity. If the occupancy ratio of the cache slots is less than the second ratio threshold, and the number of the second objects to be shipped is greater than or equal to the second quantity, the first handling device can be controlled to enter the storage mode and execute the storage task. In other words, even if the occupancy ratio of the cache slots does not reach the second ratio threshold, if the number of the second objects to be shipped exceeds the second quantity, the first handling device can enter the storage mode in advance to release the cache slots in the cache area.

[0315] In other examples, when the number of the second objects to be shipped out is greater than or equal to the second number, the first handling device may also enter the composite operation mode and perform the composite operation task. For example, the first handling device may transport the target incoming object in the buffer area from the first buffer position upward to the target storage position in the storage area, and transport the target outgoing object from the first storage position downward to the target buffer position in the buffer area.

[0316] The handling method provided by the embodiment of the present disclosure dynamically adjusts the proportion threshold value (i.e., the upper limit of the water level) of the cache area through the relationship between the number of first objects to be stored in and / or the number of first objects to be shipped out corresponding to at least one pending task in the warehousing system, and the number of cache locations (i.e., the first number) of the cache area. After the proportion threshold value of the cache area is adjusted, the first handling equipment is controlled to perform the corresponding handling task, such as a shipping task, a storage task, or a compound operation task, based on the relationship between the occupancy ratio of the cache locations and the proportion threshold value. The embodiment of the present disclosure realizes the adaptive adjustment of the proportion threshold value of the cache area in the warehousing system, solves the problem of poor timeliness and accuracy caused by manual configuration of the proportion threshold value in the related art, and improves the working efficiency of the warehousing system.

[0317] Since, in the composite operation mode, the first handling device needs to carry the target incoming object in the cache area from the first cache position upward to the target storage position in the storage area, and carry the target outgoing object from the first storage position downward to the target cache position in the cache area. Therefore, how to select the target incoming object and the target outgoing object will have a great impact on the handling efficiency of the first handling device. In order to further improve the handling efficiency of the first handling device, the embodiment of the present disclosure determines the optimal outgoing object in the storage area and the optimal incoming object in the cache area, so that the cost incurred by the first handling device when exchanging the incoming object and the outgoing object is smaller, thereby improving the working efficiency of the warehousing system.

[0318] 16 , the process of determining the target inbound object and the target outbound object when the first transport device enters the composite operation mode will be described.

[0319] FIG16 is a schematic diagram of another method for transporting provided in some embodiments of the present disclosure. As shown in FIG16 , the method further includes steps 1610 to 1620 as shown below. Steps 1610 to 1620 may be performed before step 1240.

[0320] Step 1610, when the first cache area includes at least one second object to be stored in and the first storage area includes at least one third object to be stored out, obtain the first position information of the at least one second object to be stored in the first cache area and the second position information of the at least one third object to be stored out on the first storage area.

[0321] The inventory area of ​​the storage system may include multiple lanes. As shown in Figure 1, at least one side of each lane includes a carrier, and the second handling device can move in the lane to perform pick-and-place operations on objects to be handled (such as containers) on the carriers on one and / or both sides of the lane.

[0322] For example, the multiple lanes in the inventory area include a first lane, which corresponds to a first buffer area and a first storage area. The first storage area is a storage area formed by all vehicles corresponding to the first lane, and the first buffer area is a buffer area formed by all vehicles corresponding to the first lane.

[0323] Since the first handling equipment needs to transport the target incoming object in the cache area to the target storage location and the target outgoing object in the storage area to the target cache location when performing a complex operation task, when the first cache area includes at least one second incoming object and the first storage area includes at least one third outgoing object, it is necessary to first determine the target incoming object among the at least one second incoming object and determine the target outgoing object among the at least one third outgoing object.

[0324] For example, the first position information of each second object to be stored in and the second position information of each third object to be stored out can be determined. The first position information can be the position information of the cache location where each object to be stored in is located, such as the coordinate position of the cache location or the cache location identifier. The second position information can be the position information of the storage location where each object to be stored out is located, such as the coordinate position of the storage location or the storage location identifier.

[0325] Step 1620: Determine a target incoming object from at least one second incoming object, and determine a target outgoing object from at least one third outgoing object, based on the first location information and the second location information.

[0326] After the first location information and each piece of second location information are determined, a target inbound object and a target outbound object may be further determined based on the first location information and the second location information.

[0327] FIG17 is a schematic diagram of another transport method provided by some embodiments of the present disclosure. As shown in FIG17 , the above-mentioned step 1620 includes steps 1621 to 1625 as shown below.

[0328] Step 1621: Determine a target object to be shipped from at least one third object to be shipped.

[0329] For example, when the first storage area includes one third object to be shipped, the third object to be shipped can be determined as the target shipping object. When the first storage area includes multiple third objects to be shipped, the target shipping object can be further determined from the multiple third objects to be shipped.

[0330] When there are multiple third objects to be shipped out in the first storage area, the target shipping object can be determined based on the distance between each third object to be shipped out and the first handling equipment (which can be called the moving distance), and / or the shipping priority of each third object to be shipped out.

[0331] The distance between each third object to be out of the warehouse and the first handling equipment can be determined based on the position information of the first handling equipment and the second position information of each third object to be out of the warehouse, and the third object to be in the warehouse that is closest to the first handling equipment among multiple third objects to be out of the warehouse can be determined as the target object to be out of the warehouse.

[0332] For example, when the first handling equipment takes out the third object to be out of the warehouse, it needs to first move horizontally in the aisle to the location of the third object to be out of the warehouse, and take out the third object to be out of the warehouse by moving the picking and placing device up and down in the vertical direction. Therefore, the distance between the third object to be out of the warehouse and the first handling equipment may include: the moving distance required for the first handling equipment to take out the third object to be out of the warehouse, and the moving distance includes the horizontal distance moved by the first handling equipment in the horizontal direction, and / or the vertical distance moved by the picking and placing device of the first handling equipment in the vertical direction.

[0333] For another example, the distance between the first handling equipment and the third object to be stored can also include at least one of the straight-line distance between the third object to be stored and the picking and placing device of the first handling equipment, the horizontal distance between the third object to be stored and the picking and placing device of the first handling equipment, and the vertical distance between the third object to be stored and the picking and placing device of the first handling equipment.

[0334] In other examples, the dispatch priority of each third object to be dispatched can be determined based on the priority of the order that matches the third object to be dispatched. For example, when the urgency of an order is high, the order has a higher priority, and the priority of the third object to be dispatched that matches the order is also higher. For example, among multiple third objects to be dispatched, the third object to be dispatched with the highest priority can be determined as the target dispatch object, thereby ensuring that the objects to be dispatched corresponding to the high-priority order are dispatched first.

[0335] In some other examples, when the target outbound object is determined based on the moving distance and the outbound priority, corresponding weight information can be configured for the moving distance and the outbound priority respectively, and then the target outbound object can be determined based on the moving distance and the distance weight, and the outbound priority and the priority weight.

[0336] In some other examples, when the target outbound object is determined based on both the moving distance and the outbound priority, a priority outbound object can be first determined from among multiple third outbound objects based on the outbound priority. When there is only one priority outbound object, the preferred outbound object is determined as the target outbound object; when there are multiple preferred outbound objects, the priority outbound object closest to the first handling device can be further determined as the target outbound object based on the distance between each priority outbound object and the first handling device.

[0337] Step 1622: Determine whether there is a candidate incoming object in the at least one second incoming object that is located in the same column as the target outgoing object based on the first position information of the at least one second incoming object and the second position information of the target outgoing object.

[0338] After the target outbound object is determined, the target inbound object is further determined based on the second position information of the target outbound object and the first position information of each second to-be-inbound object in the first buffer area.

[0339] In order to further improve the handling efficiency, it may be prioritized to determine whether the first buffer area contains objects to be stored in the same column as the target outbound object (which may be referred to as candidate inbound objects).

[0340] The two objects to be transported involved in the embodiment of the present disclosure being located in the same column may include: the two objects to be transported being located in the same column of the same carrier. For example, the horizontal coordinates of the position coordinates of the cargo locations where the two objects to be transported are located are the same.

[0341] Figure 18 is a schematic diagram of a transport process provided by some embodiments of the present disclosure. As shown in Figure 18, container A in storage area 12 and container B in buffer area 11 are located in the same column of carrier 111 (i.e., the second column from left to right).

[0342] In other examples, the two objects to be transported involved in the embodiments of the present disclosure being located in the same row may also include: although the two objects to be transported are not located in the same row of the same carrier, the first transport device does not need to move in the lane when picking up and placing the two objects to be transported. For example, when the first transport device performs a pick-and-place operation on objects to be transported placed on two adjacent rows of cargo spaces on the carrier, it is not necessary to move horizontally in the lane. In this case, it can also be determined that the objects to be transported placed on the two adjacent rows of cargo spaces are located in the same row.

[0343] Continuing with reference to FIG18 , when the first handling device 130 picks and places containers on the cargo spaces in the first and second columns of the carrier 111, there is no need to move in the aisle. Therefore, the containers placed on the cargo spaces in the first and second columns of the carrier 111 can belong to the same column of containers, that is, the container C located in the first column and the container C located in the second column can also be referred to as containers located in the same column.

[0344] When a candidate incoming object exists in the first buffer area and is located in the same column as the target outgoing object, the candidate incoming object can be preferentially determined as the target incoming object. In this case, when the first handling device is handling the target incoming object and the target outgoing object, it does not need to move in the lane (such as horizontally). The first handling device can move the pick-and-place device in the vertical direction (including without the need for the pick-and-place device to move) to perform the pick-and-place operation, thereby shortening the handling time of the first handling device and improving the handling efficiency of the first handling device.

[0345] The following describes a case where there is a candidate incoming object in the same column as the target outgoing object in at least one second incoming object.

[0346] Step 1623: If there is a candidate incoming object in the same column as the target outgoing object in at least one of the second incoming objects, the candidate incoming object closest to the target outgoing object is determined as the target incoming object.

[0347] If at least one of the second objects to be received contains a candidate receiving object that is located in the same column as the target outgoing object, then, if there is only one candidate receiving object, that candidate receiving object is determined as the target receiving object. If there are multiple candidate receiving objects, then, among the multiple candidate objects, the candidate that is closest to the target outgoing object in the vertical direction is determined as the target receiving object.

[0348] When the cache area includes one layer of cache slots, the number of candidate inbound objects located in the same column as the target outbound object is one. When the cache area includes at least two layers of cache slots, the number of candidate inbound objects located in the same column as the target outbound object can be multiple. Since all of these multiple candidate inbound objects are located in the same column, the candidate inbound object with the closest vertical distance to the target outbound object can be determined as the target inbound object.

[0349] After determining the target storage object, it is possible to further determine whether there is an idle storage location in the first storage area. If there is at least one idle storage location in the first storage area, the target storage location is determined in the at least one idle storage location.

[0350] When the first storage area includes one free storage bit, the free storage bit is determined as the target storage bit; when there are multiple free storage bits, the target storage bit can be determined based on position information of each free storage bit.

[0351] Since the first handling equipment needs to transport the target incoming object to the target storage position, the vacant storage position in the same column as the target incoming object can be preferentially determined as the target incoming storage position. Therefore, after the first handling equipment takes out the target incoming object, it does not need to move in the aisle. The target incoming object can be transported to the target storage position by the up and down movement of the pick-and-place device, thereby further improving the working efficiency of the first handling equipment.

[0352] When there are multiple free storage locations in the same column as the target storage object, the free storage location that is closest to the target storage object in the vertical direction may be determined as the target free storage location.

[0353] Continuing with FIG18 , when container B is the target storage object, since container B is located in the second column of carrier 111 and storage area 12 includes two storage locations in the second column, namely, storage location B1 and storage location B2, storage location B1 is closer to container B in the vertical direction than storage location B2. Therefore, storage location B1 can be determined as the target storage location for container B.

[0354] In other examples, the storage bits of the first storage area may be single-depth or multi-depth. When the first storage area is multi-depth, the vacant storage bits without any blocking objects outside may be preferentially determined as the target storage bits.

[0355] As shown in Figure 18, carrier 111 is a double-deep carrier. When container B is the target storage object, storage location B3 is also located in the same column as container B and is vertically closer to container B than storage location B1. However, because storage location B3 is located in the inner storage location and container A is placed outside storage location B3, the first handling device 130 needs to remove container A before moving container B to storage location B3, which increases the handling time of the first handling device 130. Therefore, storage location B1 can be determined as the target storage location for container B.

[0356] That is, when there are multiple free storage locations in the same column as the target storage object, when considering the vertical distance between each free storage location and the target storage object, it is also necessary to consider whether there are blocking objects outside each free storage location. You can give priority to free storage locations without blocking objects, and then select the free storage locations with the closest vertical distance from the free storage locations without blocking objects.

[0357] If there is no candidate storage slot in the at least one free storage slot that is located in the same column as the target storage object, that is, if the at least one free storage slot is located in a different column from the target storage object, the target storage slot is determined from at least one free storage slot in a different column. For example, if there is one free storage slot located in a different column from the target storage object, that free storage slot may be determined as the target storage slot.

[0358] If there are multiple free storage locations in different columns from the target object, the horizontal distance between each free storage location and the target object can be determined first, and the free storage location closest to the target object in the horizontal direction among at least one free storage location can be determined as a candidate storage location. Then, the candidate storage location closest to the target object in the vertical direction can be determined as the target storage location. This allows the first handling device to move the target object to the target location while minimizing both the horizontal movement distance and the vertical movement distance of the pick-and-place device. This shortens the handling time of the first handling device and improves its handling efficiency.

[0359] When there are two alternative storage locations that are closest to the target storage object in the horizontal direction and the vertical direction, the target storage location can be randomly determined from these two alternative storage locations, or other possible methods can be used to determine the target storage location from these two alternative storage locations. This embodiment of the present disclosure is not limited to this.

[0360] After the target storage location is determined, the first transport device is controlled to transport the target incoming object from the first cache location to the target storage location, and to transport the target outgoing object from the first storage location to the first cache location.

[0361] After the first handling device moves the target incoming object from the first cache position to the target storage position, the first cache position of the cache area (i.e., the original cache position of the target incoming object) is in an idle state. Therefore, the first handling device can move the target outgoing object from the first storage position to the first cache position.

[0362] For example, after the first handling device transports the target incoming object to the target storage location, if the target storage location is an external storage location and the internal storage location corresponding to the target storage location is idle (that is, no other objects are placed on the internal storage location), the first handling device can push the target incoming object from the target storage location to the internal storage location corresponding to the target storage location.

[0363] Before transporting the target object to be shipped out, the first transport device may first determine whether there is an obstructing object outside the target object to be shipped out. Specifically, before transporting the target object to be shipped out, the first transport device may first determine whether the first storage location where the target object is located is an internal storage location. If it is an internal storage location, the first transport device may then determine whether there is an obstructing object placed in the external storage location corresponding to the first storage location.

[0364] In the case that there is no blocking object outside the target outbound object, the first transport device is controlled to directly transport the target outbound object from the first storage location to the first cache location, wherein the target cache location includes the first cache location.

[0365] The fact that there is no blocking object outside the target outbound object includes: the first storage location where the target outbound object is located is an external storage location, or the first storage location is an internal storage location and the external storage location corresponding to the first storage location is in an idle state.

[0366] Figures 19A to 19C are scene diagrams of a transport process provided by some embodiments of the present disclosure. Figures 19A to 19C are illustrative examples of using storage and cache locations for container placement.

[0367] As shown in Figure 19A, after the target outbound object a1 is determined, the incoming object in the same column as the target outbound object a1 is determined as the target incoming object b1. The nearest free storage location A1 in the same column as the target incoming object b1 is determined as the target storage location. The first handling device 130 first moves the target incoming object b1, which is placed on buffer location B, upward to storage location A1. Since there are no obstructing objects outside the target outbound object a1, the first handling device 130 can move the target outbound object a1 downward to buffer location B. In this case, the target buffer location is buffer location B.

[0368] As shown in FIG19A , since the internal storage location A2 corresponding to the storage location A1 is idle (ie, no other container is placed on the storage location A2), the first handling device 130 can push the target warehousing object b1 from the storage location A1 to the internal storage location A2.

[0369] When there is a blocking object outside the target outbound object, control the first handling device to transport the target inbound object from the first cache position to the target storage position; control the first handling device to transport the blocking object to the first temporary storage position of at least one idle temporary storage position of the first handling device; control the first handling device to transport the target outbound object from the first storage position to the first cache position.

[0370] There is a blocking object outside the target outbound object including: the first storage position where the target outbound object is located is an internal storage position, and the external storage position corresponding to the first storage position is in a non-idle state, that is, a blocking object is placed on the external storage position corresponding to the first storage position.

[0371] When there is an obstructing object outside the target object to be removed from the warehouse, the first handling device needs to remove the obstructing object before removing the target object. For example, the first handling device may first move the obstructing object to an idle temporary storage location of the first handling device (such as the first temporary storage location), and then move the target object to the first cache location after moving the obstructing object to the first temporary storage location.

[0372] For example, the first temporary storage location may be any idle temporary storage location of at least one idle temporary storage location of the first handling equipment, or the first temporary storage location may also be an idle temporary storage location closest to the current position of the pick-and-place device, which is not limited in this embodiment of the present disclosure.

[0373] Continuing to refer to 19A, since there is a blocking object outside the target outbound object a2, after the first handling equipment 130 transports the target inbound object b1 from the cache position B to the storage position A1, the pick-and-place device 13 of the first handling equipment 130 can take out the blocking object and place the blocking object in the first temporary storage position. Then, the pick-and-place device 13 takes out the target outbound object a2 located on the internal storage position and transports the target outbound object a2 to the cache position B.

[0374] If there are no free storage locations in the first storage area, a second temporary storage location is determined from at least one free temporary storage location of the first handling device. The first handling device is controlled to move the target incoming object from the first cache location to the second temporary storage location, and to move the target outgoing object from the first storage location to the first cache location; and the first handling device is controlled to move the target incoming object from the second temporary storage location to the first storage location.

[0375] For example, after the first handling device moves the target incoming object from the first cache location to the second temporary storage location, the first cache location is idle. Therefore, the first handling device can move the target outgoing object from the first storage location to the first cache location. After moving the target outgoing object to the first cache location, the first storage location is idle. The first handling device can move the target incoming object placed in the second temporary storage location to the first storage location. In this case, the target storage location is the first storage location.

[0376] When there are no free storage locations in the first storage area, the first handling device cannot transport the target object to the first storage area. In this case, the first handling device can transport the target object to a second temporary storage location of the first handling device. The second temporary storage location can be any of the at least one free temporary storage locations on the first handling device, or the second temporary storage location can be the free temporary storage location closest to the current position of the pick-and-place device, which is not limited in the present embodiment.

[0377] As shown in FIG19B , after determining that the target incoming object and the target outgoing object are located in the same column, since there are no free storage locations in the first storage area, the first handling device 130 uses the pick-and-place device 13 to retrieve the target incoming object and places it in the second temporary storage location. The first handling device 130 then uses the pick-and-place device 13 to move the target outgoing object from storage location A to cache location B. When first storage location A is free, the first handling device 130 moves the target incoming container placed in the second temporary storage location to storage location A.

[0378] When there is a free storage location in the first storage area, but the free storage location and the target storage object are located in different columns, and the horizontal distance exceeds a preset distance threshold, the first handling device can also be controlled to transport the target storage object to the second temporary storage location.

[0379] When the target incoming object is located at the second temporary storage location, if the target incoming object is hit by any outbound task, the first transport device is controlled to transport the target incoming object from the second temporary storage location to any idle cache location in the first cache area.

[0380] After the target outbound object is moved from the first storage location to the first cache location, although the first storage location is released and is in an idle state, it is not necessary to immediately move the target inbound object from the second temporary storage location to the first storage location. Instead, the target inbound object can continue to be placed on the second temporary storage location.

[0381] During the process of placing the target incoming object in the second temporary storage location, if, based on the pending tasks acquired by the control device, the target incoming object in the second temporary storage location is hit by any other outbound task within a preset time range, the first handling device is controlled to move the target incoming object from the second temporary storage location to any free buffer location in the first buffer area. The free buffer location may be the free buffer location closest to the current position of the first handling device.

[0382] In other examples, if the target incoming object located at the second temporary storage location is not hit by other outbound tasks within a preset time range, the first handling device is controlled to move the target incoming object from the second temporary storage location to any free storage location in the first storage area. The free storage location may be the free storage location closest to the current position of the first handling device.

[0383] The handling method provided by the embodiment of the present disclosure can give priority to handling target incoming objects and target outgoing objects located in the same column during the execution of a complex operation task by the first handling equipment, thereby avoiding the first handling equipment from moving in the aisle, shortening the handling time of the first handling equipment, and improving the handling efficiency of the first handling equipment.

[0384] The following describes a situation where there is no candidate incoming object in the at least one second to-be-incoming object that is located in the same column as the target outgoing object.

[0385] When there is no object to be entered in the same column as the target outbound object in at least one second object to be entered, the first handling device is controlled to move the target incoming object from the first cache position to a third temporary storage position in at least one idle temporary storage position of the first handling device, and move the target outbound object to the target cache position.

[0386] If there is no object to be shipped out in the same column as the target shipped out object among the at least one second object to be shipped in the first buffer area, the target shipping object is determined from at least one second object to be shipped in that is in a different column from the target shipped out object. The target shipping object may be a second object to be shipped in that is closest to the target shipped out object.

[0387] For example, the first handling device may transport the target incoming object to the third temporary storage location of the first handling device. The third temporary storage location may be any of at least one idle temporary storage location of the first handling device, or may be an idle temporary storage location closest to the current position of the pick-and-place device, although this disclosure is not limited thereto.

[0388] The target cache position can be any idle cache position in the first cache area, or the target cache position can be the idle cache position corresponding to the time when the first handling device moves the least distance. For example, the target cache position can be the first cache position, or it can not be the first cache position. When the target cache position is the first cache position, after the first handling device transports the target incoming object to the third temporary storage position, the first cache position is in an idle state, and the first handling device can transport the target outgoing object to the first cache position. Since the first cache position and the target outgoing object are not in the same column, the first handling device needs to move horizontally in the lane after taking out the target outgoing object, and place the target outgoing object on the target cache position when moving to the target cache position.

[0389] Based on the position information of the first handling device, a target storage location is determined in the free storage locations of the first storage area; and the first handling device is controlled to transport the target incoming object from the third temporary storage location to the target storage location.

[0390] When the target storage object is transported to the third temporary storage location, the target storage location can be determined from the free storage locations in the first storage area based on the current position information of the first transport device. The target storage location can be a free storage location closest to the current position of the first transport device.

[0391] For example, the distance between the target storage location and the first handling device may include: the horizontal distance the first handling device moves in the horizontal direction and / or the vertical distance the first handling device moves in the vertical direction when the picking and placing device of the first handling device reaches the target storage location.

[0392] As shown in FIG19C , after determining the target outbound object and the target inbound object, since the target outbound object and the target inbound object are not located in the same column, the first handling device 130 can remove the target inbound object and place it in the third temporary storage position. Then, the first handling device 130 moves horizontally in the lane. After moving to the position corresponding to the target outbound object, the pick-and-place device 13 moves up and down in the vertical direction to remove the target outbound object from the first storage position and transport the target outbound object to the cache position C1 (i.e., the target cache position). Cache position C1 is the idle cache position in the first cache area that is closest to the target outbound object.

[0393] As shown in Figure 19C, since the target incoming object has been moved to the third temporary storage position, cache position C3 is also in an idle state. However, since cache position C1 is closer to the target outgoing object than cache position C3, cache position C1 can be determined as the target cache position, and the first handling device 130 moves the target outgoing object to cache position C1.

[0394] As shown in Figure 19C , after the first handling device 130 places the target outbound object in cache location C1, since storage location C2 is the vacant storage location closest to the current position of the first handling device in the first storage area, storage location C3 can be determined as the target storage location. The first handling device 130 then moves the target inbound object from the third temporary storage location to storage location C2. The current position of the first handling device may be the location of the first handling device when it placed the target outbound object in storage location C1.

[0395] Step 1624: When there is no object to be entered in the same column as the target outbound object in at least one second object to be entered, an idle cache position in the first cache area whose distance to the target outbound object is less than a first preset threshold is determined as the target cache position.

[0396] When at least one of the second objects to be inbound does not contain an object in the same column as the target object to be outbound, a target cache location can be determined in the first cache area. The target cache location is an idle cache location whose distance from the target object to be outbound is less than a first preset threshold. The first preset threshold can be set as needed and is not limited in this embodiment of the present disclosure.

[0397] For example, the distance between the target cache location and the target outbound object may include at least one of the straight-line distance between the target outbound object and the target cache location, the vertical distance between the target outbound object and the target cache location, and the horizontal distance between the target outbound object and the target cache location.

[0398] When there are multiple free buffer locations whose distance to the target object to be shipped is less than a first preset threshold, the free buffer location closest to the target container to be shipped may be determined as the target buffer location. For example, the free buffer location closest to the target object to be shipped in the horizontal direction may be determined as the target buffer location. The shortest horizontal distance ensures that the first handling device has the shortest distance to travel in the first lane, thereby improving the handling efficiency of the first handling device.

[0399] Continuing to refer to Figure 19C, cache position C1 is the idle cache position among the multiple idle cache positions in the first cache area that is closest to the target outbound object in the horizontal direction. Therefore, cache position C1 can be determined as the target cache position, and the first handling device 130 handles the target outbound object to cache position C1.

[0400] Step 1625 : Based on the position information of the target cache location, determine the target storage object from the second to-be-stored object whose distance to the target cache location is less than a second preset threshold among the at least one second to-be-stored object.

[0401] After determining the target cache location, based on the location information of the target cache location, a second object to be stored whose distance from the target cache location is less than a second preset threshold is determined as the target storage object. The second preset threshold can be set as required and is not limited in the present embodiment.

[0402] For example, the second object to be stored that is closest to the target cache location in the horizontal direction can be determined as the target storage object. When the target storage object is closest to the target cache location in the horizontal direction, the first handling device can move a shorter distance to reach the location of the target storage object after transporting the target outbound object to the target cache location, thereby performing the storage operation on the target storage object, thereby improving the handling efficiency of the first handling device.

[0403] After determining the target cache location and the target incoming object, the first handling device transports the target outbound object to the target cache location. The first handling device moves horizontally in the lane to the location of the target incoming object, takes out the target incoming object, and transports the target incoming object to the target storage location. The target storage location is the vacant storage location closest to the target incoming object. The distance between the target storage location and the target incoming object includes: the horizontal distance moved by the first handling device when the pick-and-place device of the first handling device transports the target incoming object to the target storage location and / or the vertical distance moved by the pick-and-place device of the first handling device.

[0404] In the handling method provided by the embodiment of the present disclosure, when the first handling device performs a complex operation task, when there are no target incoming objects and target outgoing objects located in the same column, the first handling device can handle the target outgoing object to the target cache position closest to it, and handle the target incoming object to the target storage position closest to it, thereby minimizing the distance the first handling device moves in the aisle, shortening the handling time of the first handling device, and improving the handling efficiency of the first handling device.

[0405] If there are no free storage locations in the first storage area and no free temporary storage locations in the first handling device, a second lane is determined in the storage system; a target storage location is determined in at least one free storage location in the second storage area; the first handling device is controlled to transport the target incoming object from the first buffer location in the first buffer area corresponding to the first lane to the target storage location in the second storage area; and the first handling device is controlled to transport the target outgoing object to the first buffer location. The target buffer location includes the first buffer location.

[0406] When there are no free storage spaces in the first storage area and no free temporary storage spaces in the first handling device, the first handling device can perform cross-lane warehousing operations. That is, the first handling device needs to transport the objects to be stored in the first buffer area to the storage areas corresponding to other lanes for warehousing.

[0407] The second lane may be the lane closest to the first lane, or the second lane may be in the same partition as the first lane. The second lane corresponds to a second storage area and a second cache area, wherein the second storage area includes at least one free storage bit.

[0408] For example, after determining the second lane, a target storage location is determined from at least one free storage location in the second storage area. The target storage location may be the free storage location closest to the first handling device among the at least one free storage location. Being closest to the first handling device may include: the first handling device moving from the first lane to the target storage location in the second lane has the shortest distance traveled, and / or the first handling device's pick-and-place device moving the shortest distance when reaching the target storage location.

[0409] After determining the second lane and the target storage location, the first handling device is controlled to retrieve the target incoming object from the first cache location in the first lane, and to transport the target incoming object from the first lane to the second lane, thereby transferring the target incoming object to the target storage location in the second storage area. After placing the target incoming object at the target storage location, the first handling device can then move from the second lane to the first lane, retrieve the target outgoing object from the first storage location in the first storage area, and transfer the target outgoing object to the first cache location, thereby completing the cross-lane warehousing operation for the target incoming object.

[0410] Determine a second cache position in at least one free cache position in the second cache area; control the third handling device to transport the target incoming object from the first cache position of the first cache area corresponding to the first lane to the second cache position of the second cache area corresponding to the second lane; control the fourth handling device corresponding to the second lane to transport the target incoming object from the second cache position to the target storage position of the second storage area; control the first handling device to transport the target outgoing object to the first cache position.

[0411] When there are no free storage spaces in the first storage area and no free temporary storage spaces in the first handling device, a third handling device can be used to perform cross-aisle warehousing operations. The third handling device can be any free handling device in the warehousing system. The third handling device is of the same type as the second handling device 140 in FIG. 1 and performs the same functions.

[0412] When performing a cross-aisle warehousing operation using a third handling device, a second cache location needs to be determined in the second cache area of ​​the second aisle. The second cache location can be any free cache location in the second cache area, or the free cache location closest to the first cache location. The closest distance includes the shortest distance traveled by the third handling device when moving from the first cache location to the second cache location.

[0413] After determining the second cache position, the third handling device moves to the first cache position and transports the target storage object on the first cache position to the second cache position in the second cache area. After transporting the target storage object to the second cache position, the fourth handling device of the second lane can transport the target storage object in the second cache position to the target storage position in the second storage area. Among them, the second lane includes a fourth handling device, and the fourth handling device is the same type of handling device as the first handling device 130 in Figure 1, and the functions that can be achieved are also the same. The target storage position can be an idle storage position in the second storage area that is closest to the second cache position. That is, the present disclosure can also implement the cross-lane storage operation of the target storage object by relaying the third handling device and the fourth handling device.

[0414] For example, after the third handling device moves the target incoming object out of the first cache location, the first handling device in the first lane may move the target outgoing object in the first storage area to the first cache location.

[0415] The handling method provided by the embodiment of the present disclosure can perform cross-aisle warehousing operations on the target warehousing object through the first handling equipment when there are no idle storage positions in the first storage area and no idle temporary storage positions in the first handling equipment, and can also perform cross-aisle warehousing operations on the target warehousing object through the third handling equipment and the fourth handling equipment. Cross-aisle warehousing is achieved in a relay manner, which can shorten the handling time of the first handling equipment and improve the handling efficiency of the warehousing system.

[0416] In the compound operation mode, since the first handling device moves the target incoming object upward to an idle storage position in the storage area (i.e., the target storage position), the original cache position (i.e., the first cache position) where the target incoming object is placed is in an idle state. In this case, the first handling device can move the target outgoing object in the storage area downward to the first cache position (i.e., the original cache position of the target outgoing object).

[0417] Therefore, the above-mentioned step 1240 includes: when the occupancy ratio is greater than or equal to the ratio threshold, determining whether there is an object to be out of the warehouse in the storage area; when there is at least one object to be out of the warehouse in the storage area, determining the target incoming object from at least one object to be in the cache area, and determining the target storage position from at least one free storage position in the storage area, and determining the target outgoing object from at least one object to be out of the warehouse in the storage area; controlling the first handling device to transport the target incoming object from the first cache position in the cache area to the target storage position, and transporting the target outgoing object to the first cache position.

[0418] When it is determined that the occupancy ratio is greater than or equal to a ratio threshold (such as a first ratio threshold or a second ratio threshold), if there is an object to be removed from the storage area and there is an object to be stored in the cache area, the target storage position can be determined in the storage area first, and then the target stored object in the cache area can be moved from the first cache position in the cache area to the target storage position. After the target stored object is transferred from the first cache position to the target storage position, the first cache position is in an idle state. In this case, there is no need to determine a cache position (also referred to as a target cache position) for placing the object to be removed from the other idle cache positions in the cache area. Instead, the target object to be removed from the storage area can be directly moved to the first cache position that is currently idle, thereby avoiding the process of re-determining the target cache position for the object to be removed from the storage area and improving the efficiency of storage.

[0419] That is, the handling method provided by the embodiment of the present disclosure, after the control device determines the proportion threshold of the cache area through step 1220, it can be based on the size relationship between the occupancy ratio and the proportion threshold, when the occupancy ratio of the cache position is greater than or equal to the proportion threshold, control the first handling equipment to carry an object to be stored in the cache area upward to the high-level storage area, and carry an object to be shipped out of the storage area downward to the original cache position of the object to be stored in the cache area (that is, the first cache position), so that the handling robot can transport the container to be shipped out to the workstation in time, thereby improving the shipping efficiency in the warehousing system.

[0420] The difference from step 340 in the above embodiment is that the proportional threshold value during this transport process is adaptively determined by the control device and is not preset. Since this transport process has been described in detail in the above embodiment (such as steps 330 to 340), it will not be repeated here to avoid repetition.

[0421] FIG20 is a schematic diagram of a transport method provided by some embodiments of the present disclosure. As shown in FIG20 , the transport method includes steps 2010 to 2020 as shown below.

[0422] Step 2010: Determine the occupancy ratio of the cache bits in the cache area of ​​the storage system.

[0423] The cache area includes at least one cache location, which is used to place objects to be stored or shipped. The cache area can be formed by the vehicles in a lane, or formed by the vehicles in some lanes in the storage system, or formed by the vehicles in all lanes in the storage system. For example, the occupancy rate of the cache locations in the cache area can be determined based on the total number of cache locations in the cache area and the number of occupied cache locations (i.e., non-free cache locations) in the cache area.

[0424] Step 2010 has been described in detail in the above embodiment (such as step 310), and will not be repeated here to avoid repetition.

[0425] Step 2020: Control the first transport device to transport the target outbound object stored in the storage area of ​​the warehousing system to the buffer area, and / or transport the target inbound object stored in the buffer area to the storage area according to the occupancy ratio and the ratio threshold.

[0426] After determining the occupancy ratio of the buffer location, the handling process of the first handling device can be determined based on the occupancy ratio and the ratio threshold corresponding to the buffer area. The ratio threshold can be adaptively determined by the control device or pre-set according to demand.

[0427] The following describes a situation in which the control device adaptively determines the proportional threshold corresponding to the buffer area.

[0428] The adjustment process of the ratio threshold may be performed before determining the occupancy ratio (ie, step 2010 ), or after determining the occupancy ratio, which is not limited in the embodiment of the present disclosure.

[0429] Before the above-mentioned step 2020, the handling method also includes: determining the number of first objects to be entered into the warehouse and / or the number of first objects to be taken out of the warehouse corresponding to at least one task to be processed; adjusting the proportion threshold corresponding to the cache area according to at least one of the number of first objects to be entered into the warehouse and the number of first objects to be taken out of the warehouse, as well as the first quantity; wherein the first quantity is related to the number of cache bits in the cache area.

[0430] The adjustment process of the ratio threshold has been described in detail in the above embodiment (such as step 1210 to step 1220), and will not be repeated here to avoid repetition.

[0431] After the control device determines the ratio threshold (such as the first ratio threshold or the second ratio threshold), it compares the size relationship between the occupancy ratio and the ratio threshold, and determines the operation mode of the first handling equipment based on the size relationship between the occupancy ratio and the ratio threshold.

[0432] When the proportional threshold is adaptively determined by the control device, the specific implementation process of the above step 2020 is similar to step 1240 in the above embodiment, and will not be repeated here to avoid repetition.

[0433] When the occupancy ratio of the cache position is less than the ratio threshold, it indicates that the occupancy ratio of the cache position is lower than the water level upper limit, that is, the cache position is less occupied. In this case, the first handling device gives priority to the outbound task, that is, the first handling device can transport the objects to be outbound in the storage area to the cache position in the cache area.

[0434] In other examples, when the occupancy ratio is greater than or equal to the ratio threshold, it indicates that the occupancy ratio of the cache position exceeds the upper limit, that is, the cache position is too occupied. In this case, the first handling device can enter the storage mode, that is, the first handling device transports the objects to be stored in the cache area to the storage position in the storage area. In order to ensure the efficiency of outbound storage, the first handling device can also enter the composite operation mode, that is, the first handling device transports the objects to be stored in a cache area upward to the free storage position in the storage area, and transports the objects to be outbound in a storage area downward to the free cache position in the cache area.

[0435] During the process of the first handling device performing a complex operation, the first handling device transports the objects to be stored in the cache area to the free storage positions in the storage area, and transports the objects to be shipped out of the storage area to the free cache positions in the cache area. The free cache positions for placing the objects to be shipped out can be the original cache positions of the objects to be stored in the cache area (i.e., the first cache positions in the above embodiment), or other free cache positions in the cache area.

[0436] The following describes a situation where the free cache position is the original cache position of the object to be stored in the cache area.

[0437] The above-mentioned step 2020 includes: when the occupancy ratio is greater than or equal to the ratio threshold, determining whether there is an object to be out of the warehouse in the storage area; when there is at least one object to be out of the warehouse in the storage area, determining the target incoming object from at least one object to be entered in the cache area, and determining the target storage position from at least one free storage position in the storage area, and determining the target outgoing object from the at least one object to be out of the warehouse in the storage area; controlling the first handling device to transport the target incoming object from the first cache position in the cache area to the target storage position, and transporting the target outgoing object to the first cache position.

[0438] During the process of the first transport device performing the composite operation, the ratio threshold may be pre-set based on demand or adaptively determined by the control device. Since the process of the first transport device performing the composite operation has been described in detail in the above embodiment (e.g., steps 320 to 340), it will not be repeated here to avoid repetition.

[0439] FIG21 is a schematic diagram of a transport device provided by some embodiments of the present disclosure. As shown in FIG21 , the transport device 2100 includes a determination module 2101 and a control module 2102 .

[0440] The determination module 2101 is configured to: determine the occupancy ratio of the cache bits in the cache area of ​​the warehousing system; wherein the cache area includes at least one cache bit, the cache bit is located at the lower layer of the carrier, and the cache bit is used to place objects to be stored or to be shipped out.

[0441] When the occupancy ratio of the cache position is greater than or equal to the ratio threshold, determine whether there are objects to be shipped out in the storage area of ​​the warehousing system; wherein the cache area and the storage area are located in the same aisle, the storage area includes multiple storage positions, and the storage positions are located on the upper layer of the carrier.

[0442] When there is at least one object to be shipped out in the storage area, a target shipping object is determined from at least one object to be shipped in the cache area, a target storage location is determined from at least one free storage location in the storage area, and a target shipping object is determined from at least one object to be shipped out in the storage area.

[0443] The control module 2102 is configured to control the first transport device to transport the target incoming container from the first cache location of the buffer area to the target storage location, and to transport the target outgoing object to the first cache location.

[0444] FIG22 is a schematic diagram of another warehousing system provided by some embodiments of the present disclosure. As shown in FIG22 , warehousing system 2200 includes a control device 2201 and a first handling device 2202. Warehousing system 2200 further includes a plurality of carriers, which are located in an inventory area of ​​the warehousing system; each carrier is provided with a cache area and a storage area; the cache area is located at a lower level of each carrier, the storage area is located at an upper level of each carrier, and the storage area is located above the cache area; the cache area includes at least one cache location, and the storage area includes multiple storage locations, and the cache locations are used to place containers to be stored or to be shipped.

[0445] The control device 2201 is configured to: determine the occupancy ratio of the cache bits in the cache area of ​​the warehousing system; when the occupancy ratio of the cache bits is greater than or equal to the ratio threshold, determine whether there are objects to be shipped out in the storage area of ​​the warehousing system; when there is at least one object to be shipped out in the storage area, determine the target incoming object from at least one object to be shipped in the cache area, and determine the target storage bit from at least one free storage bit in the storage area, and determine the target outgoing object from at least one object to be shipped out in the storage area; wherein the cache area and the storage area are located in the same lane.

[0446] The first transport device 2202 is configured to transport the target incoming object from the first cache location in the cache area to the target storage location, and transport the target outgoing object to the first cache location.

[0447] Figure 23 is a schematic diagram of an electronic device provided in some embodiments of the present disclosure. The electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the transport method described in the above embodiments.

[0448] As shown in FIG23 , the electronic device 2300 includes a processor 2301 and a memory 2302 . The electronic device 2300 may further include a communication interface 2303 and a communication bus 2304 .

[0449] The processor 2301, the memory 2302 and the communication interface 2303 communicate with each other via a communication bus 2304. The communication interface 2303 is used to communicate with other devices such as a client or other server network elements.

[0450] The processor 2301 is used to execute the program 2305, and specifically can execute the relevant steps in the above-mentioned embodiment of the transport method. Specifically, the program 2305 can include program code, and the program code includes computer-executable instructions.

[0451] Processor 2301 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement some embodiments of the present disclosure. The one or more processors that may be included in electronic device 2300 may be processors of the same type, such as one or more CPUs, or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0452] The memory 2302 is used to store the program 2305. The memory 2302 may include a high-speed RAM memory, and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0453] The program 2305 can be specifically called by the processor 2301 to enable the electronic device 2300 to perform the transport method operation.

[0454] Some embodiments of the present disclosure provide a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on the electronic device 2300, the electronic device 2300 executes the transport method in the above embodiment.

[0455] The executable instructions can be specifically used to enable the electronic device 2300 to perform the transport method operation.

[0456] For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0457] The beneficial effects that can be achieved by the handling devices, storage systems, electronic devices, and computer-readable storage media provided in some embodiments of the present disclosure can be referred to the beneficial effects of the corresponding handling methods provided above, and will not be repeated here.

[0458] For purposes of the embodiments of the present disclosure, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transport a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device.

[0459] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic device, and a portable compact disc read-only memory (CDROM).

[0460] In addition, the computer readable medium may even be paper or other suitable medium on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, and then editing, interpreting, or processing it in other suitable ways as necessary, and then storing it in a computer memory. It should be understood that various parts of the present disclosure can be implemented in hardware, software, firmware, or a combination thereof.

[0461] In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having logic gate circuits for implementing logic functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0462] The above-described embodiments of the present disclosure do not constitute a limitation on the protection scope of the present disclosure. All embodiments of the present disclosure can be implemented independently or in combination with other embodiments, and are all deemed to be within the protection scope required by the present disclosure.

Claims

1. A transport method, applied to a control device, comprising: Determine the occupancy ratio of cache slots in a cache area of ​​the storage system; wherein the cache area includes at least one cache slot, the cache slot is located at the lower level of the carrier, and the cache slot is used to place containers to be stored or to be shipped; When the occupancy ratio of the cache position is greater than or equal to the ratio threshold, determining whether there is a container to be shipped in the storage area of ​​the storage system; wherein the cache area and the storage area are located in the same lane, the storage area includes multiple storage positions, and the storage positions are located on the upper layer of the carrier; When there is at least one container to be shipped out in the storage area, a target incoming container is determined from the at least one container to be shipped in the buffer area, a target storage location is determined from at least one free storage location in the storage area, and a target outgoing container is determined from the at least one container to be shipped out in the storage area; The first transport device is controlled to transport the target incoming container from the first cache position of the buffer area to the target storage position, and to transport the target outgoing container to the first cache position.

2. The method according to claim 1, further comprising: When the first transport device moves the target incoming container away from the first cache location, the first cache location is locked so that the first transport device moves the target outgoing container to the first cache location.

3. The method according to claim 1 or 2, wherein: When the occupancy ratio of the cache position is greater than or equal to the ratio threshold, determining whether there is a container to be shipped in the storage area of ​​the storage system includes: When the occupancy ratio of the cache position is greater than or equal to the ratio threshold, determining the switch state of the composite operation switch; wherein the composite operation refers to the first handling device carrying the containers to be stored in the cache area upward to the storage area, and carrying the containers to be stored in the storage area downward to the cache area; When the composite operation switch is in the on state, it is determined whether there is a container to be shipped out in the storage area of ​​the storage system.

4. The method according to claim 3, wherein: The switch status of the composite operation switch is related to the priority of the container storage task and the container storage task; When the priority of the container outbound task is higher than the priority of the container inbound task, the composite operation switch is in the on state; when the priority of the container outbound task is lower than the priority of the container inbound task, the composite operation switch is in the off state.

5. The method according to any one of claims 1 to 4, wherein The step of determining a target incoming container from at least one incoming container in the buffer area includes: Determining the distance between each of the containers to be stored in the buffer area and the first handling device according to the position of the first handling device; The container to be stored in the at least one container to be stored, which is closest to the first handling device, is determined as the target storage container.

6. The method according to any one of claims 1 to 5, wherein The determining of a target storage bit from at least one free storage bit in the storage area comprises: In the case that there is a candidate incoming storage location in the at least one free storage location that is located in the same column as the target incoming container, the target storage location is determined based on the candidate incoming storage location.

7. The method according to claim 6, wherein: The determining the target storage location based on the candidate storage locations includes: When there is only one candidate storage location, determining the candidate storage location as the target storage location; In the case where there are multiple candidate incoming storage locations, the vertical distance between the candidate incoming storage locations and the target incoming storage container is determined, and the candidate incoming storage location with the shortest vertical distance to the target incoming storage container among the multiple candidate incoming storage locations is determined as the target storage location.

8. The method according to any one of claims 1 to 7, wherein The determining of a target storage bit from at least one free storage bit in the storage area comprises: If there is no candidate incoming storage location in the at least one free storage location that is located in the same column as the target incoming container, determining a horizontal distance between each free storage location and the target incoming container; Determine the idle storage location closest to the target incoming container in the horizontal direction among the at least one idle storage location as the candidate incoming storage location; The target storage location is determined based on the candidate incoming storage locations; wherein the target storage location is the candidate incoming storage location that is closest to the target incoming container in the vertical direction.

9. The method according to any one of claims 1 to 8, wherein The determining of a target outbound container from the at least one to-be-outbound container in the storage area includes: Determining the priority of the orders that hit each of the containers to be shipped in the storage area; The container to be shipped that is hit by the order with the highest priority is determined as the preferred shipping container, and the target shipping container is determined based on the preferred shipping container.

10. The method according to claim 9, wherein: The determining the target outbound container based on the preferred outbound container includes: If there are multiple preferred delivery containers, and there is at least one candidate delivery container in the multiple preferred delivery containers that is located in the same column as the target storage location, the candidate delivery container that is closest to the target storage location among the at least one candidate delivery container is determined as the target delivery container; If there is no candidate outbound container located in the same column as the target storage location among the plurality of preferred outbound containers, determining a horizontal distance between each of the preferred outbound containers and the target storage location; The preferred delivery container that is closest to the target storage location in the horizontal direction and the vertical direction among the plurality of preferred delivery containers is determined as the target delivery container.

11. The method according to any one of claims 1 to 10, wherein The controlling the first transport device to transport the target incoming container from the first cache location of the buffer area to the target storage location includes: When there is a first blocking container outside the target storage location, the first transport device is controlled to transport the first blocking container to an idle temporary storage location of the first transport device or an idle storage location of the storage area, and then the target storage container is transported to the target storage location.

12. The method according to any one of claims 1 to 11, wherein The step of moving the target outbound container to the first cache location includes: When there is a second blocking container outside the target outbound container, the first transport device is controlled to transport the second blocking container to the temporary storage position of the first transport device or the idle storage position of the storage area, and then the target outbound container is transported to the first cache position.

13. A method for transporting, applied to a control device, comprising: Determine the number of first objects to be inbound and / or the number of first objects to be outbound corresponding to at least one task to be processed; adjusting a ratio threshold corresponding to a buffer area of ​​the storage system according to at least one of the number of the first objects to be received and the number of the first objects to be shipped out, as well as a first number; wherein the first number is related to the number of cache slots in the buffer area; Determining the occupancy ratio of cache bits in the cache area; According to the occupancy ratio and the ratio threshold, the first handling device is controlled to transport the target outbound object stored in the storage area of ​​the warehousing system to the cache area, and / or, to transport the target inbound object stored in the cache area to the storage area.

14. The method according to claim 13, wherein: The adjusting the ratio threshold corresponding to the buffer area of ​​the storage system according to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, as well as the first quantity, includes: When at least one of the number of the first objects to be stored in and the first number to be shipped out, and the first number, satisfy a preset condition, adjusting the ratio threshold corresponding to the buffer area to the first ratio threshold; Wherein, at least one of the quantity of the first objects to be stored in and the first quantity to be stored out, and the first quantity satisfying a preset condition, include: The number of the first objects to be stored is greater than or equal to the first number, and the first duration is greater than the first duration, wherein the first duration is the duration during which the number of the first objects to be stored is greater than or equal to the first number; or The number of the first objects to be shipped out is less than the first number, and the second duration is greater than the second duration, wherein the second duration is the duration during which the number of the first objects to be shipped out is less than the first number; or The number of the first objects to be stored in is greater than or equal to the first number, the first duration is greater than the first duration, the number of the first objects to be stored out is less than the first number, and the second duration is greater than the second duration.

15. The method according to claim 14, wherein The controlling the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area according to the occupancy ratio and the ratio threshold includes: When the occupancy ratio is less than the first ratio threshold and the storage area includes the target outbound object, the first transport device is controlled to transport the target outbound object from the first storage location to the target cache location in the cache area.

16. The method according to claim 14 or 15, wherein: The step of moving the target storage object stored in the cache area to the storage area includes: When the occupancy ratio is greater than or equal to the first ratio threshold and the cache area includes the target incoming object, the first transport device is controlled to transport the target incoming object from the first cache location to the target storage location in the storage area.

17. The method according to any one of claims 14 to 16, wherein: The controlling the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area according to the occupancy ratio and the ratio threshold includes: When the occupancy ratio is greater than or equal to the first ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, the first handling device is controlled to transport the target incoming object from the first cache position to the target storage position of the storage area, and to transport the target outgoing object from the first storage position to the target cache position of the cache area.

18. The method according to any one of claims 13 to 17, wherein The adjusting the ratio threshold corresponding to the buffer area of ​​the storage system according to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, as well as the first quantity, includes: If at least one of the first number of objects to be stored in and the first number of objects to be stored out, as well as the first number, does not satisfy a preset condition, adjusting the ratio threshold corresponding to the buffer area to a second ratio threshold; wherein the second ratio threshold is greater than the first ratio threshold; Wherein, at least one of the quantity of the first objects to be stored in and the first quantity to be stored out, and the first quantity do not satisfy a preset condition, including at least one of the following situations: The quantity of the first objects to be stored is less than the first quantity; The first duration is less than or equal to the first duration, wherein the first duration is the duration during which the number of the first objects to be stored is greater than or equal to the first number; The quantity of the first objects to be shipped out is greater than or equal to the first quantity; The second duration is less than or equal to a second duration, wherein the second duration is a duration during which the quantity of the first objects to be shipped out is less than the first quantity.

19. The method according to claim 18, wherein The controlling the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area according to the occupancy ratio and the ratio threshold includes: When the occupancy ratio is less than the second ratio threshold and the storage area includes the target outbound object, the first transport device is controlled to transport the target outbound object from the first storage location to the target cache location in the cache area.

20. The method according to claim 19, further comprising: Determine the number of second objects to be shipped out; wherein the second objects to be shipped out include objects to be shipped out in the cache position of the cache area; The step of moving the target storage object stored in the cache area to the storage area includes: If the occupancy ratio is less than the second ratio threshold and the cache area includes the target incoming object, and if the number of the second objects to be outbound is greater than or equal to the second number, control the first transport device to transport the target incoming object from the first cache location to the target storage location in the storage area; The second quantity is related to the quantity of second handling equipment in the warehousing system, and the second handling equipment is used to move objects to be shipped out of the buffer area or to move objects to be shipped into the buffer area to the buffer location.

21. The method according to claim 18, wherein The step of moving the target storage object stored in the cache area to the storage area includes: When the occupancy ratio is greater than or equal to the second ratio threshold and the cache area includes the target incoming object, the first transport device is controlled to transport the target incoming object from the first cache location to the target storage location in the storage area.

22. The method according to claim 21, wherein The step of moving the target storage object stored in the cache area to the storage area includes: When the occupancy ratio is greater than or equal to the second ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, the first handling device is controlled to transport the target incoming object from the first cache position to the target storage position of the storage area, and to transport the target outgoing object from the first storage position to the target cache position of the cache area.

23. The method according to claim 17 or 22, wherein The target outbound object and the target inbound object are both located in a first lane, and the first lane corresponds to a first storage area and a first cache area; the method further includes: When the first cache area includes at least one second object to be stored in, and the first storage area includes at least one third object to be stored out, obtaining first position information of the at least one second object to be stored in the first cache area, and second position information of the at least one third object to be stored out in the first storage area; According to the first position information and the second position information, the target incoming object is determined from the at least one second object to be incoming, and the target outgoing object is determined from the at least one third object to be outgoing.

24. The method according to claim 23, wherein The determining, based on the first position information and the second position information, the target incoming object from the at least one second object to be incoming, and the determining the target outgoing object from the at least one third object to be outgoing, comprises: Determining the target outbound object from the at least one third object to be outbound; determining, based on the first position information of the at least one second object to be inbound and the second position information of the target outbound object, whether there is a candidate inbound object in the at least one second object to be inbound and located in the same column as the target outbound object; If there is a candidate inbound object in the at least one second to-be-inbound object that is located in the same column as the target outbound object, the candidate inbound object that is closest to the target outbound object is determined as the target inbound object.

25. The method according to claim 24, further comprising: In a case where there is at least one free storage bit in the first storage area, determining the target storage bit in the at least one free storage bit; Determine whether there is an obstructing object outside the target outbound object; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: When the blocking object exists outside the target outbound object, controlling the first transport device to transport the target inbound object from the first cache location to the target storage location; controlling the first transport device to transport the blocking object to a first temporary storage location among at least one idle temporary storage location of the first transport device; The first transport device is controlled to transport the target outbound object from the first storage location to the first cache location.

26. The method according to claim 24, further comprising: In the case that there is no free storage location in the first storage area, determining a second temporary storage location in at least one free temporary storage location of the first handling device; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: Controlling the first transport device to transport the target incoming object from the first cache location to the second temporary storage location, and to transport the target outgoing object from the first storage location to the first cache location; Control the first transport device to transport the target warehouse object from the second temporary storage location to the first storage location; wherein the target storage location includes the first storage location.

27. The method according to claim 24, wherein The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: If there is no object to be received in the at least one second object to be received that is located in the same column as the target object to be delivered, controlling the first handling device to carry the target object to be received from the first cache location to a third temporary storage location among the at least one free temporary storage location of the first handling device, and to carry the target object to be delivered to the target cache location; determining the target storage location in the free storage locations of the first storage area based on the location information of the first handling device; The first transport device is controlled to transport the target warehoused object from the third temporary storage location to the target storage location.

28. The method of claim 24, further comprising: If there is no object to be received in the at least one second object to be received that is located in the same column as the target object to be delivered, determining, from the at least one free cache bit in the first cache area, a free cache bit that is less than a first preset threshold from the target object to be delivered as the target cache bit; Based on the position information of the target cache location, a second object to be stored in the at least one second object to be stored whose distance to the target cache location is less than a second preset threshold is determined as the target storage object.

29. The method of claim 24, further comprising: If there is no free storage space in the first storage area and no free temporary storage space in the first handling device, determining a second lane in the storage system; wherein the second lane corresponds to the second storage area and the second buffer area; determining the target storage bit in at least one free storage bit in the second storage area; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: Controlling the first transport device to transport the target storage object from the first cache location of the first cache area corresponding to the first lane to the target storage location of the second storage area; Control the first transport device to transport the target outbound object to the first cache location; wherein the target cache location includes the first cache location.

30. The method of claim 13, wherein: The first objects to be stored include the objects to be stored after being picked by the workstation in the warehousing system, the objects to be stored transported by the second transport equipment, and the objects to be stored in the cache position in the buffer area; the first objects to be shipped out include the objects to be shipped out in the storage position in the storage area.

31. The method according to claim 13, wherein In a case where the object includes a container, controlling the first handling device to handle the target outbound object stored in the storage area of ​​the storage system to the buffer area, and / or to handle the target inbound object stored in the buffer area to the storage area, based on the occupancy ratio and the ratio threshold, includes: When the occupancy ratio is greater than or equal to the ratio threshold, determining whether there is a container to be shipped out in the storage area; When there is at least one container to be shipped out in the storage area, determining the target incoming container from the at least one container to be shipped in the buffer area, determining the target storage location from at least one free storage location in the storage area, and determining the target outgoing container from the at least one container to be shipped out in the storage area; The first transport device is controlled to transport the target incoming container from the first cache position of the buffer area to the target storage position, and to transport the target outgoing container to the first cache position.

32. The method according to claim 31 , further comprising: When the first transport device moves the target incoming container away from the first cache location, the first cache location is locked so that the first transport device moves the target outgoing container to the first cache location.

33. The method according to claim 31 or 32, wherein When the occupancy ratio of the cache position is greater than or equal to the ratio threshold, determining whether there is a container to be shipped in the storage area of ​​the storage system includes: When the occupancy ratio of the cache position is greater than or equal to the ratio threshold, determining the switch state of the composite operation switch; wherein the composite operation refers to the first handling device carrying the containers to be stored in the cache area upward to the storage area, and carrying the containers to be stored in the storage area downward to the cache area; When the composite operation switch is in the on state, it is determined whether there is a container to be shipped out in the storage area of ​​the storage system.

34. The method according to claim 33, wherein The switch state of the composite operation switch is related to the priority of the container entry task and the container exit task; when the priority of the container exit task is higher than the priority of the container entry task, the composite operation switch is in the open state; when the priority of the container exit task is lower than the priority of the container entry task, the composite operation switch is in the closed state.

35. The method according to any one of claims 31 to 34, wherein The step of determining a target incoming container from at least one incoming container in the buffer area includes: Determining the distance between each of the containers to be stored in the buffer area and the first handling device according to the position of the first handling device; The container to be stored in the at least one container to be stored, which is closest to the first handling device, is determined as the target storage container.

36. The method according to any one of claims 31 to 35, wherein The determining of a target storage bit from at least one free storage bit in the storage area comprises: In the case that there is a candidate incoming storage location in the at least one free storage location that is located in the same column as the target incoming container, the target storage location is determined based on the candidate incoming storage location.

37. The method according to claim 36, wherein The determining the target storage location based on the candidate storage locations includes: When there is only one candidate storage location, determining the candidate storage location as the target storage location; In the case where there are multiple candidate incoming storage locations, the vertical distance between the candidate incoming storage locations and the target incoming storage container is determined, and the candidate incoming storage location with the shortest vertical distance to the target incoming storage container among the multiple candidate incoming storage locations is determined as the target storage location.

38. The method according to any one of claims 31 to 37, wherein The determining of a target storage bit from at least one free storage bit in the storage area comprises: If there is no candidate incoming storage location in the at least one free storage location that is located in the same column as the target incoming container, determining a horizontal distance between each free storage location and the target incoming container; Determine the idle storage location closest to the target incoming container in the horizontal direction among the at least one idle storage location as the candidate incoming storage location; The target storage location is determined based on the candidate incoming storage locations; wherein the target storage location is the candidate incoming storage location that is closest to the target incoming container in the vertical direction.

39. The method according to any one of claims 31 to 38, wherein The determining of a target outbound container from the at least one to-be-outbound container in the storage area includes: Determining the priority of the orders that hit each of the containers to be shipped in the storage area; The container to be shipped that is hit by the order with the highest priority is determined as the preferred shipping container, and the target shipping container is determined based on the preferred shipping container.

40. The method of claim 39, wherein The determining the target outbound container based on the preferred outbound container includes: If there are multiple preferred delivery containers, and there is at least one candidate delivery container in the multiple preferred delivery containers that is located in the same column as the target storage location, the candidate delivery container that is closest to the target storage location among the at least one candidate delivery container is determined as the target delivery container; If there is no candidate outbound container located in the same column as the target storage location among the plurality of preferred outbound containers, determining a horizontal distance between each of the preferred outbound containers and the target storage location; The preferred delivery container that is closest to the target storage location in the horizontal direction and the vertical direction among the plurality of preferred delivery containers is determined as the target delivery container.

41. The method according to any one of claims 31 to 40, wherein The controlling the first transport device to transport the target incoming container from the first cache location of the buffer area to the target storage location includes: When there is a first blocking container outside the target storage location, the first transport device is controlled to transport the first blocking container to the temporary storage location of the first transport device or the vacant storage location of the storage area, and then the target storage container is transported to the target storage location.

42. The method according to any one of claims 31 to 41, wherein The step of moving the target outbound container to the first cache position of the target inbound container in the cache area includes: When there is a second blocking container outside the target outbound container, the first transport device is controlled to transport the second blocking container to the temporary storage position of the first transport device or the idle storage position of the storage area, and then the target outbound container is transported to the first cache position of the target inbound container in the cache area.

43. A method for transporting, applied to a control device, comprising: Determining the occupancy ratio of cache slots in a cache area of ​​the storage system; wherein the cache area is located at the lower level of each carrier, the cache area includes at least one cache slot, and the cache slot is used to place objects to be stored or to be shipped; According to the occupancy ratio and the ratio threshold, the first handling equipment is controlled to transport the target outbound object stored in the storage area of ​​the warehousing system to the cache area, and / or, to transport the target inbound object stored in the cache area to the storage area; the storage area is located on the upper layer of each carrier, and the storage area is located above the cache area.

44. The method of claim 43, further comprising: Determine the number of first objects to be inbound and / or the number of first objects to be outbound corresponding to at least one task to be processed; Adjust the proportional threshold corresponding to the cache area of ​​the warehousing system based on at least one of the number of the first objects to be entered and the number of the first objects to be exited, as well as the first quantity; wherein the first quantity is related to the number of cache bits in the cache area.

45. The method of claim 44, wherein: The adjusting the ratio threshold corresponding to the buffer area of ​​the storage system according to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, as well as the first quantity, includes: When at least one of the number of the first objects to be stored in and the first number to be shipped out, and the first number, satisfy a preset condition, adjusting the ratio threshold corresponding to the buffer area to the first ratio threshold; Wherein, at least one of the quantity of the first objects to be stored in and the first quantity to be stored out, and the first quantity satisfying a preset condition, include: The number of the first objects to be stored is greater than or equal to the first number, and the first duration is greater than the first duration, wherein the first duration is the duration during which the number of the first objects to be stored is greater than or equal to the first number; or The number of the first objects to be shipped out is less than the first number, and the second duration is greater than the second duration, wherein the second duration is the duration during which the number of the first objects to be shipped out is less than the first number; or The number of the first objects to be stored in is greater than or equal to the first number, the first duration is greater than the first duration, the number of the first objects to be stored out is less than the first number, and the second duration is greater than the second duration.

46. ​​The method of claim 45, wherein The controlling the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area according to the occupancy ratio and the ratio threshold includes: When the occupancy ratio is less than the first ratio threshold and the storage area includes the target outbound object, the first transport device is controlled to transport the target outbound object from the first storage location to the target cache location in the cache area.

47. The method according to claim 45 or 46, wherein The step of moving the target storage object stored in the cache area to the storage area includes: When the occupancy ratio is greater than or equal to the first ratio threshold and the cache area includes the target incoming object, the first transport device is controlled to transport the target incoming object from the first cache location to the target storage location in the storage area.

48. The method according to any one of claims 45 to 47, wherein The controlling the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area according to the occupancy ratio and the ratio threshold includes: When the occupancy ratio is greater than or equal to the first ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, the first handling device is controlled to transport the target incoming object from the first cache position to the target storage position of the storage area, and to transport the target outgoing object from the first storage position to the target cache position of the cache area.

49. The method according to any one of claims 44 to 48, wherein The adjusting the ratio threshold corresponding to the buffer area of ​​the storage system according to at least one of the number of the first objects to be stored in and the number of the first objects to be stored out, as well as the first quantity, includes: If at least one of the first number of objects to be stored in and the first number of objects to be stored out, as well as the first number, does not satisfy a preset condition, adjusting the ratio threshold corresponding to the buffer area to a second ratio threshold; wherein the second ratio threshold is greater than the first ratio threshold; Wherein, at least one of the quantity of the first objects to be stored in and the first quantity to be stored out, and the first quantity do not satisfy a preset condition, including at least one of the following situations: The quantity of the first objects to be stored is less than the first quantity; The first duration is less than or equal to the first duration, wherein the first duration is the duration during which the number of the first objects to be stored is greater than or equal to the first number; The quantity of the first objects to be shipped out is greater than or equal to the first quantity; The second duration is less than or equal to a second duration, wherein the second duration is a duration during which the quantity of the first objects to be shipped out is less than the first quantity.

50. The method of claim 49, wherein The controlling the first transport device to transport the target outbound object stored in the storage area of ​​the storage system to the buffer area according to the occupancy ratio and the ratio threshold includes: When the occupancy ratio is less than the second ratio threshold and the storage area includes the target outbound object, the first transport device is controlled to transport the target outbound object from the first storage location to the target cache location in the cache area.

51. The method of claim 50, further comprising: Determine the number of second objects to be shipped out; wherein the second objects to be shipped out include objects to be shipped out in the cache position of the cache area; The step of moving the target storage object stored in the cache area to the storage area includes: If the occupancy ratio is less than the second ratio threshold and the cache area includes the target incoming object, and if the number of the second objects to be outbound is greater than or equal to the second number, control the first transport device to transport the target incoming object from the first cache location to the target storage location in the storage area; The second quantity is related to the quantity of second handling equipment in the warehousing system, and the second handling equipment is used to move objects to be shipped out of the buffer area or to move objects to be shipped into the buffer area to the buffer location.

52. The method of claim 49, wherein The step of moving the target storage object stored in the cache area to the storage area includes: When the occupancy ratio is greater than or equal to the second ratio threshold and the cache area includes the target incoming object, the first transport device is controlled to transport the target incoming object from the first cache location to the target storage location in the storage area.

53. The method of claim 52, wherein: The step of moving the target storage object stored in the cache area to the storage area includes: When the occupancy ratio is greater than or equal to the second ratio threshold, the cache area includes the target incoming object, and the storage area includes the target outgoing object, the first handling device is controlled to transport the target incoming object from the first cache position to the target storage position of the storage area, and to transport the target outgoing object from the first storage position to the target cache position of the cache area.

54. The method according to claim 48 or 53, wherein The target outbound object and the target inbound object are both located in a first lane, and the first lane corresponds to a first storage area and a first cache area; the method further includes: When the first cache area includes at least one second object to be stored in, and the first storage area includes at least one third object to be stored out, obtaining first position information of the at least one second object to be stored in the first cache area, and second position information of the at least one third object to be stored out in the first storage area; According to the first position information and the second position information, the target incoming object is determined from the at least one second object to be incoming, and the target outgoing object is determined from the at least one third object to be outgoing.

55. The method of claim 54, wherein The determining, based on the first position information and the second position information, the target incoming object from the at least one second object to be incoming, and the determining the target outgoing object from the at least one third object to be outgoing, comprises: Determining the target outbound object from the at least one third object to be outbound; determining, based on the first position information of the at least one second object to be inbound and the second position information of the target outbound object, whether there is a candidate inbound object in the at least one second object to be inbound and located in the same column as the target outbound object; If there is a candidate inbound object in the at least one second to-be-inbound object that is located in the same column as the target outbound object, the candidate inbound object that is closest to the target outbound object is determined as the target inbound object.

56. The method of claim 55, further comprising: In a case where there is at least one free storage bit in the first storage area, determining the target storage bit in the at least one free storage bit; Determine whether there is an obstructing object outside the target outbound object; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: When the blocking object exists outside the target outbound object, controlling the first transport device to transport the target inbound object from the first cache location to the target storage location; controlling the first transport device to transport the blocking object to a first temporary storage location among at least one idle temporary storage location of the first transport device; The first transport device is controlled to transport the target outbound object from the first storage location to the first cache location.

57. The method of claim 55, further comprising: In the case that there is no free storage location in the first storage area, determining a second temporary storage location in at least one free temporary storage location of the first handling device; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: Controlling the first transport device to transport the target incoming object from the first cache location to the second temporary storage location, and to transport the target outgoing object from the first storage location to the first cache location; Control the first transport device to transport the target warehouse object from the second temporary storage location to the first storage location; wherein the target storage location includes the first storage location.

58. The method of claim 55, wherein The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: If there is no object to be received in the at least one second object to be received that is located in the same column as the target object to be delivered, controlling the first handling device to carry the target object to be received from the first cache location to a third temporary storage location among the at least one free temporary storage location of the first handling device, and to carry the target object to be delivered to the target cache location; determining the target storage location in the free storage locations of the first storage area based on the location information of the first handling device; The first transport device is controlled to transport the target warehoused object from the third temporary storage location to the target storage location.

59. The method of claim 55, further comprising: If there is no object to be received in the at least one second object to be received that is located in the same column as the target object to be delivered, determining, from the at least one free cache bit in the first cache area, a free cache bit that is less than a first preset threshold from the target object to be delivered as the target cache bit; Based on the position information of the target cache location, a second object to be stored in the at least one second object to be stored whose distance to the target cache location is less than a second preset threshold is determined as the target storage object.

60. The method of claim 55, further comprising: If there is no free storage space in the first storage area and no free temporary storage space in the first handling device, determining a second lane in the storage system; wherein the second lane corresponds to the second storage area and the second buffer area; determining the target storage bit in at least one free storage bit in the second storage area; The controlling the first transport device to transport the target incoming object from the first cache location to the target storage location of the storage area, and to transport the target outgoing object from the first storage location to the target cache location of the cache area, comprises: Controlling the first transport device to transport the target storage object from the first cache location of the first cache area corresponding to the first lane to the target storage location of the second storage area; Control the first transport device to transport the target outbound object to the first cache location; wherein the target cache location includes the first cache location.

61. The method of claim 44, wherein: The first objects to be stored include the objects to be stored after being picked by the workstation in the warehousing system, the objects to be stored transported by the second transport equipment, and the objects to be stored in the cache position in the buffer area; the first objects to be shipped out include the objects to be shipped out in the storage position in the storage area.

62. The method of claim 43, wherein The controlling, based on the occupancy ratio and the ratio threshold, of the first handling device to handle the target outbound object stored in the storage area of ​​the storage system to the buffer area, and / or to handle the target inbound object stored in the buffer area to the storage area, comprises: If the occupancy ratio is greater than or equal to the ratio threshold, determining whether there is an object to be shipped out of the storage area; In the case where there is at least one object to be shipped out in the storage area, determining the target shipping object from the at least one object to be shipped in the cache area, determining a target storage location from at least one free storage location in the storage area, and determining the target shipping object from the at least one object to be shipped out in the storage area; The first transport device is controlled to transport the target incoming object from the first cache location of the cache area to the target storage location, and to transport the target outgoing object to the first cache location.

63. The method of claim 62, further comprising: When the first transport device moves the target incoming object away from the first cache location, the first cache location is locked so that the first transport device moves the target outgoing object to the first cache location.

64. The method according to claim 62 or 63, wherein When the occupancy ratio of the cache location is greater than or equal to the ratio threshold, determining whether there is an object to be shipped out in the storage area of ​​the warehousing system includes: When the occupancy ratio of the cache position is greater than or equal to the ratio threshold, determining the switch state of the composite operation switch; wherein the composite operation refers to the first handling device carrying the objects to be stored in the cache area upward to the storage area, and carrying the objects to be stored in the storage area downward to the cache area; When the composite operation switch is in the on state, it is determined whether there is an object to be shipped out in the storage area of ​​the warehousing system.

65. The method of claim 64, wherein The switch state of the compound operation switch is related to the priority of the object entry task and the object exit task; when the priority of the object exit task is higher than the priority of the object entry task, the compound operation switch is in the open state; when the priority of the object exit task is lower than the priority of the object entry task, the compound operation switch is in the closed state.

66. The method according to any one of claims 62 to 65, wherein The determining of a target storage object from at least one to-be-stored object in the cache area includes: Determining the distance between each of the objects to be stored in the buffer area and the first handling device according to the position of the first handling device; The object to be stored in the at least one object to be stored, which is closest to the first handling device, is determined as the target object to be stored.

67. The method according to any one of claims 62 to 66, wherein The determining of a target storage bit from at least one free storage bit in the storage area comprises: In the case that there is a candidate storage location in the at least one free storage location that is located in the same column as the target storage object, the target storage location is determined based on the candidate storage location.

68. The method of claim 67, wherein The determining the target storage location based on the candidate storage locations includes: When there is only one candidate storage location, determining the candidate storage location as the target storage location; In the case where there are multiple candidate storage locations, the vertical distance between the candidate storage locations and the target storage object is determined, and the candidate storage location with the shortest vertical distance to the target storage object among the multiple candidate storage locations is determined as the target storage location.

69. The method according to any one of claims 62 to 68, wherein The determining of a target storage bit from at least one free storage bit in the storage area comprises: If there is no candidate storage location in the at least one free storage location that is located in the same column as the target storage object, determining a horizontal distance between each free storage location and the target storage object; Determine the idle storage location that is closest to the target storage object in the horizontal direction among the at least one idle storage location as the candidate storage location; The target storage location is determined based on the candidate storage locations; wherein the target storage location is the candidate storage location that is closest to the target storage object in the vertical direction.

70. The method according to any one of claims 62 to 69, wherein The determining of a target object to be shipped from the at least one object to be shipped in the storage area includes: Determining the priority of the orders that hit the objects to be shipped in the storage area; The object to be shipped that is hit by the order with the highest priority is determined as the preferred shipping object, and the target shipping object is determined based on the preferred shipping object.

71. The method of claim 70, wherein The determining the target outbound object based on the preferred outbound object includes: If there are multiple preferred outbound objects, and there is at least one candidate outbound object in the multiple preferred outbound objects that is located in the same column as the target storage location, the candidate outbound object that is closest to the target storage location among the at least one candidate outbound object is determined as the target outbound object; If there is no candidate outbound object located in the same column as the target storage location among the plurality of preferred outbound objects, determining the horizontal distance between each of the preferred outbound objects and the target storage location; The preferred outbound object that is closest to the target incoming storage location in the horizontal direction and the vertical direction among the plurality of preferred outbound objects is determined as the target outbound object.

72. The method according to any one of claims 62 to 71, wherein The controlling the first transport device to transport the target incoming object from the first cache location of the buffer area to the target storage location includes: When there is a first blocking object outside the target storage location, the first transport device is controlled to transport the first blocking object to the temporary storage location of the first transport device or the idle storage location of the storage area, and then the target warehousing object is transported to the target storage location.

73. The method according to any one of claims 62 to 72, wherein The step of moving the target outbound object to the first cache location of the target inbound object in the cache area includes: When there is a second blocking object outside the target outbound object, the first transporting device is controlled to transport the second blocking object to the temporary storage position of the first transporting device or the free storage position of the storage area, and then the target outbound object is transported to the first cache position of the target inbound object in the cache area.

74. A transport device comprising: The determination module is configured to: determine the occupancy ratio of cache bits in a cache area of ​​the warehousing system; wherein the cache area includes at least one cache bit, the cache bit is located at a lower level of a carrier, and the cache bit is used to place objects to be stored in or to be shipped out; if the occupancy ratio of the cache bit is greater than or equal to a ratio threshold, determine whether there is an object to be shipped out in the storage area of ​​the warehousing system; wherein the cache area and the storage area are located in the same lane, the storage area includes a plurality of storage bits, and the storage bits are located at a higher level of a carrier; if there is at least one object to be shipped out in the storage area, determine a target storage bit from the at least one object to be stored in the cache area, determine a target storage bit from at least one free storage bit in the storage area, and determine a target shipping object from the at least one object to be shipped out in the storage area; The control module is configured to: control the first transport device to transport the target incoming object from the first cache position of the cache area to the target storage position, and transport the target outgoing object to the first cache position of the target incoming object.

75. A warehousing system comprising: Multiple carriers, the multiple carriers are located in the inventory area of ​​the storage system; each carrier is provided with a buffer area and a storage area; wherein, The cache area is located at the lower level of each carrier, the storage area is located at the upper level of each carrier, and the storage area is located above the cache area. The cache area includes at least one cache bit, and the storage area includes multiple storage bits. The cache bits are used to place objects to be stored or to be removed from the warehouse. The control device is configured to: determine the occupancy ratio of cache bits in a cache area of ​​the storage system; When the occupancy ratio of the cache bits is greater than or equal to a ratio threshold, determining whether there is an object to be shipped out in the storage area of ​​the warehousing system; When there is at least one object to be shipped out in the storage area, determining a target shipping object from at least one object to be shipped in the cache area, determining a target storage location from at least one free storage location in the storage area, and determining a target shipping object from the at least one object to be shipped out in the storage area; Generate a transport instruction based on the target incoming object, the target storage location, and the target outgoing object; wherein the buffer area and the storage area are located in the same lane; The first transport device is configured to: based on the transport instruction, transport the target incoming object from the first cache location of the cache area to the target storage location, and transport the target outgoing object to the first cache location.

76. An electronic device comprising: one or more processors and memory; The memory is configured to: store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the transport method according to any one of claims 1 to 73.

77. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the transport method according to any one of claims 1 to 73.

78. A computer program product, comprising a computer program, which, when executed by a processor, implements the transport method according to any one of claims 1 to 73.

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