CN111861325A

CN111861325A - Storage system and storage control method

Info

Publication number: CN111861325A
Application number: CN202010703245.6A
Authority: CN
Inventors: 卢泓翰; 李考准
Original assignee: Beijing Geekplus Technology Co Ltd
Current assignee: Beijing Geekplus Technology Co Ltd
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2020-10-30
Anticipated expiration: 2040-07-21
Also published as: CN111861325B

Abstract

The present disclosure provides a warehousing system and a warehousing control method, the warehousing system comprising: one or more control servers, a plurality of first class of autonomous mobile robots, a plurality of second class of autonomous mobile robots, and a plurality of storage racks; the storage containers on the first type of storage supports at least contain goods with unit SKU heat degrees larger than or equal to a preset heat degree threshold value and/or SKU association degrees larger than or equal to a preset association degree threshold value, and the storage containers on the second type of storage supports at least contain goods with SKU heat degrees smaller than the preset heat degree threshold value and/or SKU association degrees smaller than the association degree threshold value; the control server is configured to determine one or more target storage containers hit by the ordered goods of one or more orders according to the inventory information and the order information, and control the first type of autonomous mobile robot and/or the second type of autonomous mobile robot to complete goods handling.

Description

Storage system and storage control method

Technical Field

The disclosure relates to the technical field of robots, in particular to a warehousing system and a warehousing control method.

Background

With the rapid development of electronic commerce and online shopping, a rapid opportunity is brought to the logistics storage industry, and meanwhile, an unprecedented challenge is brought to the transportation of storage logistics.

In a logistics warehouse, a general picking procedure is to take out goods packages related to a plurality of orders from a goods storage area through a logistics transportation robot, and convey the goods packages to a workstation for sorting in a unified manner, and complete order sorting at the workstation.

How to improve the cargo transportation efficiency in the picking link is an urgent ending problem to be solved.

Disclosure of Invention

The embodiment of the disclosure at least provides a storage system, and the tallying efficiency is improved.

In a first aspect, an embodiment of the present disclosure provides a storage system, including: the system comprises one or more control servers, a plurality of first-class autonomous mobile robots, a plurality of second-class autonomous mobile robots and a plurality of storage supports, wherein the control servers are respectively in communication connection with the first-class autonomous mobile robots and the second-class autonomous mobile robots; wherein,

the plurality of storage supports at least comprise a plurality of first-type storage supports and a plurality of second-type storage supports, the first-type storage supports are movable, the second-type storage supports are not movable, and a plurality of storage containers for containing goods are placed on the first-type storage supports and the second-type storage supports; the storage containers on the first type of storage bracket at least contain goods with unit SKU heat degrees larger than or equal to a preset heat degree threshold value and/or SKU association degrees larger than or equal to a preset association degree threshold value, and the storage containers on the second type of storage bracket at least contain goods with SKU heat degrees smaller than the preset heat degree threshold value and/or SKU association degrees smaller than the association degree threshold value;

The control server is configured to determine one or more target storage containers hit by order goods of one or more orders according to inventory information and order information, and control the first type of autonomous mobile robot and/or the second type of autonomous mobile robot to complete goods handling;

the first-class autonomous mobile robot is configured to convey the first-class storage rack where the target storage container is located to a destination according to a control instruction of the control server;

the second type of autonomous mobile robot is configured to take out the target storage container from the second type of storage rack and transport the target storage container to a destination according to a control instruction of the control server.

In one possible embodiment, the storage container with the higher SKU heat is placed on the first type of storage rack closer to the workstation, and the storage container with the lower SKU heat is placed on the first type of storage rack farther from the workstation.

In a possible implementation manner, the storage containers in which the cargoes with the SKU association degree greater than or equal to the preset association degree threshold are located are placed on the same first type storage bracket.

In a possible implementation manner, in addition to the goods with the SKU heat degree smaller than the preset heat degree threshold value and/or the SKU association degree smaller than the preset association degree threshold value, the storage containers on the second type storage brackets also contain the goods of other SKUs.

In one possible embodiment, the control server is configured to preferentially hit the target storage container on the first type of storage rack based on the inventory information and the order information, and to continue to hit the target storage container on the second type of storage rack if the SKU cargo on the first type of storage rack fails to meet the demand of the order.

In one possible embodiment, the control server is further configured to:

determining goods to be replenished for the first type of storage bracket within a preset time period based at least in part on the inventory information, and controlling the second type of autonomous mobile robot to complete a replenishment task for the goods to be replenished;

the second type of autonomous mobile robot is configured to take out the storage container containing the goods to be replenished from the second type of storage rack according to a control instruction of the control server, and transport the storage container containing the goods to be replenished to the first type of storage rack for storage.

In one possible embodiment, the control server is further configured to,

determining goods to be adjusted in position on the first type storage bracket and/or the second type storage bracket at least partially based on the heat degree of the SKU and/or the relevance degree of the SKU, and controlling the second type autonomous mobile robot to adjust the goods to be adjusted in position.

In one possible embodiment, the control server is configured to,

determining cargos with SKU heat degrees larger than or equal to a preset heat degree threshold value and/or SKU association degrees larger than or equal to a preset association degree threshold value on the second type of storage bracket in a preset time period, and controlling the second type of autonomous mobile robot to adjust the cargo positions according to the cargos;

the second type of autonomous mobile robot is specifically configured to take out a storage container containing the goods from the second type of storage rack, carry the storage container, and place the storage container on the first type of storage rack for storage according to a control instruction of the control server.

In one possible embodiment, the control server is further configured to, when it is determined that there are no vacant storage locations on the first type of storage racks, determine, based at least in part on the SKU heat and/or the degree of association of SKUs, a good on the first type of storage racks that has a SKU heat that is less than a preset heat threshold and/or a degree of association of SKUs that is less than a preset degree of association threshold for a preset time period, control the second type of autonomous mobile robot to interchange locations of the good on the first type of storage racks with the good on the second type of storage racks;

The second type of autonomous mobile robot is specifically configured to interchange positions of the storage container accommodating the goods on the first type of storage rack and the storage container accommodating the goods on the second type of storage rack according to a control instruction of the control server.

In one possible embodiment, the control service entity is configured to determine, based at least in part on the SKU heat and/or the association of SKUs, the goods on the first type of storage racks that have SKU heat less than a preset heat threshold and/or SKU association less than a preset association threshold for a preset time period; controlling the second type of autonomous mobile robot to adjust the position of the goods according to the goods;

the second type of autonomous mobile robot is specifically configured to take out the storage container containing the cargo from the first type of storage rack, transport the storage container containing the cargo, and place the storage container on the second type of storage rack for storage according to a control instruction of the control server.

In a second aspect, an embodiment of the present disclosure provides a warehousing control method, which is applied to a control server in a warehousing system, where the warehousing system further includes a plurality of first-type autonomous mobile robots, a plurality of second-type autonomous mobile robots, and a plurality of storage racks;

The plurality of storage brackets at least comprise a plurality of first type storage brackets and a plurality of second type storage brackets, the first type storage brackets are movable, and the second type storage brackets are not movable;

a plurality of storage containers for containing goods are placed on the first type of storage bracket and the second type of storage bracket; the storage containers on the first type of storage bracket at least contain goods with unit SKU heat degrees larger than or equal to a preset heat degree threshold value and/or SKU association degrees larger than or equal to a preset association degree threshold value, and the storage containers on the second type of storage bracket at least contain goods with SKU heat degrees smaller than the preset heat degree threshold value and/or SKU association degrees smaller than the association degree threshold value;

the warehousing control method comprises the following steps:

determining one or more target storage containers hit by order goods of one or more orders according to the stock information and the order information;

and controlling the first type of autonomous mobile robot to convey the first type of storage rack where the target storage container is located to a destination, and/or controlling the second type of autonomous mobile robot to take out the target storage container from the second type of storage rack and convey the target storage container to the destination.

In one possible embodiment, the determining one or more target storage containers hit by order goods of one or more orders according to the stock information and the order information includes:

and preferentially hitting the target storage container on the first type of storage bracket according to the inventory information and the order information, and if the SKU goods on the first type of storage bracket cannot meet the requirement of the order, continuing hitting the target storage container on the second type of storage bracket.

In one possible embodiment, the warehousing control method further includes:

determining goods to be replenished for the first type of storage rack within a preset time period based at least in part on the inventory information;

and controlling the second type of autonomous mobile robot to take out the storage container containing the goods to be supplemented from the second type of storage bracket, and conveying the storage container containing the goods to be supplemented to the first type of storage bracket for storage.

In one possible embodiment, the warehousing control method further includes:

determining goods to be positioned on the first type of storage rack and/or the second type of storage rack based at least in part on the heat of the SKU and/or the relevancy of the SKU;

and controlling the second type of autonomous mobile robot to adjust the position of the goods according to the goods to be adjusted.

In one possible embodiment, determining the cargo to be positioned on the second type of storage rack based at least in part on the SKU heat and/or the SKU relevancy, comprises:

determining goods with SKU heat greater than or equal to a preset heat threshold value and/or SKU association greater than or equal to a preset association threshold value on the second type storage bracket within a preset time period;

The controlling the second type of autonomous mobile robot to adjust the position of the cargo with respect to the cargo includes:

and controlling the second type of autonomous mobile robot to take out the storage container containing the goods from the second type of storage bracket, carrying the storage container and putting the storage container into the first type of storage bracket for storage.

In one possible embodiment, the warehousing control method further includes: when determining that no vacant storage positions exist on the first type of storage bracket, determining goods on the first type of storage bracket, wherein the SKU heat and/or the SKU association are/is smaller than a preset heat threshold and/or the SKU association is smaller than a preset association threshold in a preset time period;

controlling the second type of autonomous mobile robot to adjust the position of the goods according to the goods to be adjusted comprises:

and controlling the second type of autonomous mobile robot to interchange the positions of the storage container containing the goods on the first type of storage bracket and the position of the storage container containing the goods on the second type of storage bracket.

In one possible embodiment, determining the goods to be positioned on the first type of storage racks based at least in part on the SKU heat and/or the SKU relevancy, comprises:

Determining goods on the first type of storage rack with SKU heat less than a preset heat threshold value and/or SKU association less than a preset association threshold value in a preset time period based at least in part on the SKU heat and/or SKU association;

the controlling the second type of autonomous mobile robot to adjust the position of the cargo for the cargo comprises:

and controlling the second type of autonomous mobile robot to take out the storage container containing the goods from the first type of storage bracket, carry the storage container containing the goods and place the storage container on the second type of storage bracket for storage.

According to the warehousing system provided by the embodiment of the disclosure, cargoes with higher SKU heat degree and/or higher SKU association degree are stored through the first-class storage support, according to the mode, when order information is received, different autonomous mobile robots can be controlled to complete cargo carrying based on the storage support corresponding to the order cargoes, especially when the order cargoes are cargoes with higher SKU heat degree and/or higher SKU association degree, the first-class autonomous mobile robots can be controlled to carry out overall carrying on the first-class storage support, so that cargo carrying capacity can be increased, in addition, because the cargoes with higher SKU heat degree and/or higher SKU association degree are stored on the first-class storage support, various order demands can be conveniently met, cargo carrying times can be saved, and cargo carrying efficiency can be improved.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

Fig. 1 shows a schematic structural diagram of a storage system provided by an embodiment of the present disclosure;

fig. 2 shows a schematic structural diagram of a control server provided in an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram illustrating a first type of autonomous mobile robot provided in an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram illustrating a second type of autonomous mobile robot provided by the embodiment of the present disclosure;

Fig. 5 shows a schematic structural diagram of another second type of autonomous mobile robot provided by the embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram illustrating a first type of storage rack provided by an embodiment of the present disclosure;

fig. 7 is a top view illustrating a specific application scenario of a storage system provided by an embodiment of the present disclosure;

fig. 8 shows a flowchart of a warehousing control method provided by an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The term "and/or" herein merely describes an associative relationship, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

In logistics storage field, goods delivery side or commodity circulation transfer station can face the problem of goods letter sorting usually, in order to improve letter sorting efficiency, before sorting the goods, can manage the goods of putting in storage to improve goods transport efficiency, this disclosed embodiment will explain to how to improve goods transport efficiency.

Based on the research, the disclosure provides a storage system, which includes a control server, a plurality of first-class autonomous mobile robots, a plurality of second-class autonomous mobile robots, and a plurality of storage supports, where the storage supports at least include a plurality of movable first-class storage supports and a plurality of immovable second-class storage supports, where the first-class storage supports are used to store carks with SKU heat degrees greater than or equal to a preset heat degree threshold value, and/or are used to store carks with SKU association degrees greater than or equal to a preset association degree threshold value, and the second-class storage supports are used to store carks with SKU heat degrees less than the preset heat degree threshold value, and/or SKUs association degrees less than the association degree threshold value, and the control server can control the autonomous mobile robots corresponding to the two classes of storage supports to complete a cargo transportation task based on inventory information and order information.

In summary, according to the embodiment of the present disclosure, the first-type storage support is used for storing the goods with higher SKU popularity and/or higher SKU relevancy, and in this way, when the order information is received, different autonomous mobile robots can be controlled to complete the transportation of the goods based on the storage support corresponding to the order goods, and particularly, when the order goods are the goods with higher SKU popularity and/or higher SKU relevancy, the first-type autonomous mobile robots can be controlled to integrally transport the first-type storage support, so that the transportation amount of the goods can be increased.

Referring to fig. 1, a schematic structural diagram of a warehousing system provided in an embodiment of the present disclosure is shown, the warehousing system including: the system comprises one or more control servers 11, a plurality of first-type autonomous mobile robots 12, a plurality of second-type autonomous mobile robots 13 and a plurality of storage racks 14, wherein the control servers 11 are respectively in communication connection with the first-type autonomous mobile robots 12 and the second-type autonomous mobile robots 13.

The plurality of storage brackets 14 at least comprise a plurality of first-type storage brackets 141 and a plurality of second-type storage brackets 142, the first-type storage brackets 141 are movable, the second-type storage brackets 142 are not movable, and a plurality of storage containers for accommodating goods are placed on the first-type storage brackets 141 and the second-type storage brackets 142; the storage containers on the first type storage bracket 141 at least contain goods with the heat degree of the unit SKU being greater than or equal to the preset heat degree threshold value and/or the association degree of the SKU being greater than or equal to the preset association degree threshold value, and the storage containers on the second type storage bracket 142 at least contain goods with the heat degree of the SKU being less than the preset heat degree threshold value and/or the association degree of the SKU being less than the association degree threshold value.

The control server 11 is configured to determine one or more target storage containers hit by order goods of one or more orders according to the inventory information and the order information, and control the first-type autonomous mobile robot 12 and/or the second-type autonomous mobile robot 13 to complete goods handling;

the first-type autonomous mobile robot 12 is configured to transport the first-type storage rack 141, in which the target storage container is located, to a destination according to a control instruction of the control server 11;

The second-type autonomous mobile robot 13 is configured to take out a target storage container from the second-type storage rack 142 and transport the target storage container to a destination according to a control instruction of the control server 11.

The stock keeping unit SKU represents a unit of stock in/out measurement, and may be a piece of goods, a box, a head stock, or the like, and is a physically inseparable stock keeping unit, such as clothes of the same style, and SKUs of clothes of red and white L sizes are different.

For example, each kind of goods in the warehouse may be placed in a storage container, which may be a container or a bin, and SKUs of the goods stored in each storage container are the same, such as white L-size clothes with the same style.

The control server 11 is a software system with data storage and information processing capability running on a server, and can be connected with a robot, a hardware input system and other software systems through wireless or wired connection. The control server 11 may include one or more servers, and may be a centralized control architecture or a distributed computing architecture. As shown in fig. 2, the control server 11 has a processor 111 and a memory 112, and there may be an order pool 113 in the memory 112.

Illustratively, the first type of autonomous mobile robot 12 may be a device that interfaces with and carries a first type of storage rack (e.g., a movable rack). In one embodiment, referring to fig. 3, the first type of autonomous mobile robot 12 may include a drive mechanism 121 by which the first type of autonomous mobile robot 12 is able to move within the workspace, the first type of autonomous mobile robot 12 may further include a lifting mechanism 122 for lifting the first type of storage racks, the first type of autonomous mobile robot 12 may move under the first type of storage racks, and the first type of autonomous mobile robot 12 may lift the first type of storage racks using the lifting mechanism 122 and transport to the destination. The lifting mechanism 122 lifts the entire first-type storage rack from the ground when raised, so that the first-type autonomous mobile robot 12 carries the first-type storage rack, and the lifting mechanism 122 lowers the first-type storage rack on the ground when lowered. The target identification component 123 on the first-class autonomous mobile robot 12 can effectively identify the first-class storage rack when the first-class autonomous mobile robot 12 lifts the first-class storage rack.

In addition, if based on visual navigation, the first type of autonomous mobile robot 12 may further include a navigation recognition component (not shown in fig. 3) for recognizing navigation markers (e.g., two-dimensional codes) on the paved surface. Of course, the first type of autonomous mobile robot 12 may also include a control module (not shown in fig. 3) that controls the entire robot to implement motion, navigation, and other functions. In one example, the first-type autonomous mobile robot 12 includes at least two upward and downward cameras, can drive forward according to a two-dimensional code (or other ground identifier) captured by the downward camera, and can drive to the position below the first-type storage rack prompted by the control server 11 according to a route determined by the control server 11. And identifies the first type of storage rack based on the upward facing camera so that the docking head of the first type of autonomous mobile robot 12 (connected to the lifting mechanism) docks with the first type of storage rack when the lifting mechanism is lifted and lifts the first type of storage rack from the ground.

The second type of autonomous mobile robot 13 may be a device for taking out and storing storage containers (e.g., containers) from the second type of storage racks. In one example, referring to fig. 4, the second type of autonomous mobile robot 13 may be a container taking robot, the second type of autonomous mobile robot 13 may include a container taking mechanism 131, a lifting mechanism 132, and a mobile chassis 133, the lifting mechanism 132 drives the container taking mechanism 131 to lift to any height, the mobile chassis 133 is responsible for moving the second type of autonomous mobile robot, and a container taking telescopic direction of the container taking mechanism 131 may be perpendicular to a traveling direction of the second type of autonomous mobile robot, so as to avoid an excessively wide passage caused by steering when the second type of autonomous mobile robot takes out and deposits containers. In addition, the second type autonomous mobile robot may further include a controller for controlling the pick-and-place mechanism 131 to move up and down in parallel, an object recognition component (not shown in fig. 4), and the like. Specifically, the second type of autonomous mobile robot can travel to the fixed second type of storage rack, and determine the position of a target container to be taken on the second type of storage rack based on the target identification component; and then the controller in the second type of autonomous mobile robot adjusts the container taking mechanism to the height of the target container, and controls the container taking mechanism to extend out and take out the target container. Fig. 4 shows a robot structure for taking a single container, and the second type of autonomous mobile robot may also be a robot structure for taking multiple containers, as shown in fig. 5, compared to the robot for taking a single container, a temporary storage rack 134 is further provided on the robot for taking multiple containers for temporarily storing the taken multiple containers. The temporary storage rack 134 may be fixedly connected to a robot for picking up a plurality of containers, or may be detachably connected or directly connected, for example, the first type of autonomous mobile robot 12 may be connected to a rack.

In the embodiment of the present disclosure, it is proposed that the storage rack includes at least a plurality of first-type storage racks and a plurality of second-type storage racks, where the first-type storage racks are movable racks, as shown in fig. 6, the first-type storage rack 141 includes at least one layer 1411, the first-type storage rack 141 is divided into at least two layers by the at least one layer 1411, at least one storage container 201 can be placed on each layer of the first-type storage rack 141, and the storage container 201 contains stock goods for picking. In addition, the inventory items may also be placed directly into the grid of the first type of storage rack (not shown in fig. 6).

The bottom of the first-type storage rack 141 may be provided with a first readable mark 1412 as shown in fig. 6, for example, a two-dimensional code, and when the first-type autonomous mobile robot 12 travels below the first-type storage rack 141, the two-dimensional code is photographed by an upward camera, so that the first-type autonomous mobile robot 12 is ensured to be located right below the first-type storage rack 141, thereby ensuring that the first-type autonomous mobile robot 12 can smoothly lift and carry the first-type storage rack 141. The first type of storage rack 141 may also include one or more supports 1413. In certain embodiments, the storage container 201 may also be suspended from a hook or rod within the first type storage rack 141 or on the first type storage rack 141. The storage containers 201 can be placed on the first type of storage rack 141 on the interior or exterior surface of the first type of storage rack 141 in any suitable manner.

The second type of storage rack is identical in structure to the first type of storage rack. Optionally, a second readable mark code, for example, a two-dimensional code, may be further disposed on the front surface of the storage container on the second type storage rack, and when only the storage container needs to be carried, the second type autonomous mobile robot may ensure that the container taking mechanism is aligned with the storage container by reading the two-dimensional code 2011 (as shown in fig. 6) disposed on the storage container, for example, after the second type autonomous mobile robot travels to the front surface of the second type storage rack, the two-dimensional code disposed on the storage container is photographed by the camera, so that it is ensured that the storage container can be accurately taken.

Illustratively, at least goods with SKU heat degree larger than or equal to a preset heat degree threshold value and/or SKU association degree larger than or equal to a preset association degree threshold value are accommodated in the storage containers on the first type of storage supports, and the following conditions are included:

(1) the storage containers on the first type of storage bracket can contain cargoes with the heat degrees of the SKUs larger than or equal to a preset heat degree threshold value;

(2) the storage containers on the first type of storage bracket can contain cargoes of which the association degree of the SKU is greater than or equal to a preset association degree threshold value;

(3) the storage containers on the first type of storage bracket can simultaneously contain goods with SKU heat degree larger than or equal to the preset heat degree threshold value and goods with SKU association degree larger than or equal to the preset association degree threshold value.

Illustratively, the SKU heat may be determined periodically by the control server, which in one possible embodiment, in determining the SKU heat, is specifically configured to:

counting the quantity information of at least one kind of goods contained in the order information in the preset time period according to the order information received in the preset time period;

and determining the SKU heat degree of each cargo associated with the warehouse in a preset time period based on the corresponding quantity information of each cargo.

For example, the order information received in the last week may be counted, the quantity information of each kind of goods included in the order information received in the last week is determined based on the order information, and the SKU popularity of the warehouse in the last week is determined according to the quantity information corresponding to each kind of goods.

Specifically, when the SKU heat degree is determined according to the quantity information, the SKU heat degree of each item may be determined based on a conversion relationship between a preset quantity and the SKU heat degree, for example, a ratio of a quantity of each item appearing in the order information in a preset time period to a total quantity of the items in the order information in the preset time period may be taken as the SKU heat degree of each item in the preset time period, for example, the quantity of each item in the preset time period is 100, the ratio of the total quantity of the items in the historical order information in the preset time period is 1000, and the SKU heat degree of each item associated with the warehouse in the preset time period is 0.1.

In the embodiment of the present disclosure, the SKU heat of each kind of goods associated with the warehouse in the preset time period may be determined according to the order information received in the preset time period, that is, the SKU heat of each kind of goods associated with the warehouse may be dynamically determined, so that the storage location of each kind of goods associated with the warehouse may be periodically adjusted.

Illustratively, the association degree of the SKUs of the goods may also be periodically determined by the control server, and in one possible implementation, in determining the association degree of the SKUs of the goods, the control server is specifically configured to:

aiming at a goods combination formed by each kind of goods, determining the times of the goods in the goods combination appearing in the same order information according to the order information received in a preset time period;

and determining the corresponding association degree of the goods combination according to the times of the goods in the goods combination appearing in the same historical order information.

Illustratively, a combination of goods refers to a plurality of goods that can appear in the same historical order information, such as fried chicken and cola that appear in the same historical order information, and can be regarded as a combination of goods, and the association degree of the SKU of the combination of goods can represent the frequency of the combination of goods appearing in the same historical order information.

Illustratively, the order information received within the predetermined time period includes 1000 SKUs, and the association of the SKUs of a combination of items is higher the more times that combination of items appears in the same order information.

Specifically, when determining the association degree of the SKU corresponding to one cargo combination according to the number of times that each cargo in the cargo combination appears in the same order information, the association degree of the SKU corresponding to the cargo combination in the most recent set time period may be determined based on a conversion relationship between the predetermined number of times and the association degree, for example, a ratio of the number of times that the cargo combination corresponds to the total order number in the preset time period may be used as the association degree of the SKU corresponding to the cargo combination, for example, the total order number in the preset time period is 1000, the number of times that the cargo combination corresponds to 100, and according to the conversion relationship, the association degree of the SKU corresponding to the cargo combination may be determined to be 0.1.

For example, the preset heat threshold and the preset association threshold may be set according to historical data statistics.

The inventory information mentioned above includes cargo storage information of the first type storage rack and the second type storage rack, and specifically may include SKU information and storage location information of stored cargo, and the control server can determine, according to the order information and the inventory information, a storage location of one or more target storage containers hit by an order cargo in the storage racks, and then control the corresponding autonomous mobile robot to carry the cargo.

For example, when it is determined that the target storage container hit by the order goods is located on the first type storage rack, the first type autonomous mobile robot may be controlled to transport the first type storage rack on which the target storage container is located to the destination, and when it is determined that the target storage container hit by the order goods is located on the second type storage rack, the second type autonomous mobile robot may be controlled to take out the target storage container from the second type storage rack to transport the target storage container to the destination, such as to a picking workstation.

In the embodiment of the disclosure, cargoes with higher SKU heat degree and/or higher SKU association degree are stored through the first-class storage support, according to the mode, when order information is received, different autonomous mobile robots can be controlled to finish cargo transportation based on the storage support corresponding to the order cargoes, and particularly when the order cargoes are cargoes with higher SKU heat degree and/or higher SKU association degree, the first-class autonomous mobile robots can be controlled to integrally transport the first-class storage support, so that cargo transportation amount can be increased.

In one embodiment, considering that the storage rack includes a plurality of first-type storage racks, the first-type storage racks can be placed in an array when being arranged in the warehouse, the distance between each first-type storage rack and the workstation can be different, and the probability that goods with higher heat of SKU are transported to the workstation for sorting is higher, in order to improve the transportation efficiency, the embodiment of the disclosure provides that:

the storage containers with the higher-grade SKU goods are placed on the first-grade storage racks closer to the workstation, and the storage containers with the lower-grade SKU goods are placed on the first-grade storage racks farther from the workstation.

In another embodiment, in consideration of the fact that the probability that goods with the relevance greater than or equal to the preset relevance threshold appear in the same order information is high, when a plurality of goods with high relevance are extracted, the goods, such as the fried chicken and the cola mentioned above, are generally picked simultaneously, so in order to improve the picking efficiency, the embodiment of the disclosure provides that:

and the storage containers with the SKU association degree larger than or equal to the preset association degree threshold value where the cargos are positioned are placed on the same first type of storage bracket.

In one embodiment, considering that the SKU heat and/or the association of SKUs are not constant, and as the order information changes, the SKU heat and the association of SKUs of the goods may also change, and there may be a greater number of goods with SKUs heat greater than or equal to the preset heat threshold and/or SKU association greater than or equal to the preset association threshold during a period of time, but there may be a lesser number of goods with SKU heat greater than or equal to the preset heat threshold and/or SKU association greater than or equal to the preset association threshold during another period of time, and the number of storage shelves of the first type may not change during a period of time, so when the SKU heat is greater than or equal to the preset heat threshold and/or the number of goods with SKU association greater than or equal to the preset association threshold is greater than the capacity of the storage shelves of the first type, the remaining SKU with the heat greater than or equal to the preset heat threshold and/or the SKU with the association greater than or equal to the preset association threshold may be placed on the second type of storage rack, and when there is an empty storage location on the first type of storage rack, replenishment may be performed for the first type of storage rack.

Therefore, the embodiment of the disclosure provides that, in addition to the goods with the SKU heat degree smaller than the preset heat degree threshold and/or the SKU association degree smaller than the preset association degree threshold, the storage containers on the second type of storage rack also contain the goods of other SKUs, for example, the goods with the SKU heat degree larger than or equal to the preset heat degree threshold and/or the SKU association degree larger than or equal to the preset association degree threshold can also be stored.

In one embodiment, the control server is specifically configured to:

and according to the inventory information and the order information, preferentially hitting the target storage container on the first type storage bracket, and if the SKU goods on the first type storage bracket cannot meet the requirement of the order, continuing hitting the target storage container on the second type storage bracket.

According to the storage containers of the first type of storage bracket, at least goods with SKU heat degrees larger than or equal to the preset heat degree threshold value and/or SKU association degrees larger than or equal to the preset association degree threshold value are contained, when order information is received, the target storage container is hit according to the inventory information on the first type of storage bracket preferentially, so that when the first type of autonomous mobile robot is controlled to transport the first type of storage bracket, a large number of goods with SKU heat degrees larger than or equal to the preset heat degree threshold value and/or SKU association degrees larger than or equal to the preset association degree threshold value can be transported simultaneously, the first type of storage bracket can also contain other goods with SKU heat degrees and/or SKU association degrees higher, therefore, the goods with SKU heat degrees and/or SKU association degrees higher can be transported to the workstation to be sorted simultaneously without multiple transportation, thereby improving the efficiency of cargo transportation.

In one embodiment, the control server is further configured to:

determining goods to be supplemented for the first type of storage bracket within a preset time period at least partially based on the inventory information, and controlling the second type of autonomous mobile robot to complete a goods supplementing task for the goods to be supplemented;

the second type of autonomous mobile robot is configured to take out a storage container containing goods to be replenished from the second type of storage rack and transport the storage container containing goods to be replenished to the first type of storage rack for storage according to a control instruction of the control server.

For example, the inventory information of the first type storage rack in the preset time period may reflect whether replenishment is required for the first type storage rack in the preset time period, for example, when it is determined that there is an empty storage location or a shortage of cargo species in the preset time period for the first type storage rack, replenishment may be performed for the first type storage rack, in the case that there is an empty storage location, a storage container corresponding to the empty storage location in a historical time period may be used as a storage container of the cargo to be replenished, and in the case that there is a shortage of cargo species, the cargo corresponding to the shortage of cargo species may be used as the cargo to be replenished.

In addition, in another embodiment, the goods to be supplemented for the first type of storage rack within a preset time period can be determined based on the inventory information and the order information, and the second type of autonomous mobile robot is controlled to complete the goods supplementing task for the goods to be supplemented.

The order information in the preset time period can reflect goods with high heat degree of SKU and/or high association degree of SKU in the preset time period, and after the order information is combined with the inventory information of the first type storage bracket, the goods which need to be supplemented by the first type storage bracket can be reflected.

After determining the goods to be supplemented for the first-class storage bracket within the preset time period, the control server can send a control instruction for completing a goods supplementing task for the goods to be supplemented to the second-class autonomous mobile robot, control the second-class autonomous mobile robot to travel to the second-class storage bracket to remove a storage container containing the goods to be supplemented, and transport the storage container to the first-class storage bracket for storage.

In the embodiment of the present disclosure, in consideration that the heat of the SKU of the cargo and the association degree of the SKU are not constant, in addition to the replenishment process for the first type storage rack, a tallying process for the first type storage rack and/or the second storage rack may be further included, and in another implementation, the control server is further configured to:

and determining goods to be adjusted in position on the first type storage bracket and/or the second type storage bracket at least partially based on the heat degree of the SKU and/or the relevance degree of the SKU, and controlling the second type autonomous mobile robot to adjust the goods to be adjusted in position.

For example, when determining the goods to be positioned on the first type storage rack based on the SKU heat and/or the SKU association, the following situations may be included:

determining goods to be adjusted on the first type of storage bracket based on the heat of the SKU; determining goods to be adjusted on the first type of storage bracket based on the relevance of the SKU; and determining the goods to be adjusted on the first type storage bracket based on the SKU heat degree and the SKU association degree.

For example, when determining the goods to be positioned on the second type storage rack based on the SKU heat and/or the association degree of the SKUs, the following situations may be included:

Determining goods to be adjusted on the second type storage bracket based on the heat of the SKU; determining goods to be adjusted on the second type of storage bracket based on the relevance of the SKU; and determining the goods to be adjusted on the second type storage bracket based on the SKU heat degree and the SKU association degree.

For the tally process, in one embodiment, the control server is configured to:

determining cargos with SKU heat degrees larger than or equal to a preset heat degree threshold value and/or SKU association degrees larger than or equal to a preset association degree threshold value on a second type of storage bracket in a preset time period, and controlling a second type of autonomous mobile robot to adjust the cargo positions according to the cargos;

the second type of autonomous mobile robot is specifically configured to take out a storage container containing goods from the second type of storage rack, carry the storage container, and place the storage container on the first type of storage rack for storage, according to a control instruction of the control server.

For example, the control server can periodically count the heat degree of the SKU and/or the association degree of the SKU of each kind of goods according to the order information, so that the second type of autonomous mobile robot can be controlled to transport the goods with the heat degree of the SKU being greater than or equal to the preset heat threshold value and/or the association degree of the SKU being greater than or equal to the preset association threshold value on the second type of storage rack within the preset time period to the first type of storage rack, and the purpose of automatically adjusting the eligible goods from the second type of storage rack to the first type of storage rack is achieved.

During the adjustment, the control server is further configured to determine goods on the first type storage bracket with the SKU heat degree smaller than a preset heat degree threshold value and/or the SKU association degree smaller than a preset association degree threshold value in a preset time period based at least in part on the SKU heat degree and/or the SKU association degree when determining that no vacant storage position exists on the first type storage bracket, and control the second type autonomous mobile robot to perform position interchange on the goods on the first type storage bracket and the goods on the second type storage bracket;

the second type of autonomous mobile robot is specifically configured to interchange positions of the storage containers containing the goods on the first type of storage rack with the storage containers containing the goods on the second type of storage rack according to a control instruction of the control server.

For example, when the control server controls the second type of autonomous mobile robot to transfer eligible goods to the first type of storage rack and determines that there is no vacant storage location on the first type of storage rack, the control server may also transfer goods on the first type of storage rack whose SKU heat is less than a preset heat threshold and/or whose association degree of SKU is less than a preset association threshold within a preset time period from the first storage rack, so as to achieve the purpose of adjusting the goods stored in the first type of storage rack within the preset time period according to the SKU heat and/or the association degree of SKU.

In another embodiment, the control service entity is configured to,

determining goods on the first type of storage racks with the SKU heat less than a preset heat threshold value and/or the SKU association less than a preset association threshold value in a preset time period based at least in part on the SKU heat and/or the SKU association; controlling the second type of autonomous mobile robot to adjust the position of the goods according to the goods;

the second type of autonomous mobile robot is specifically configured to take out a storage container containing goods from the first type of storage rack, carry the storage container containing goods, and place the storage container on the second type of storage rack for storage according to a control instruction of the control server.

Similarly, when the control server periodically counts the heat of the SKU and/or the association degree of the SKU of each type of goods according to the order information, the second type of autonomous mobile robot can be controlled to transport the goods, of which the heat of the SKU is smaller than the preset heat threshold value and/or the association degree of the SKU is smaller than the preset association threshold value, on the first type of storage bracket within the preset time period to the second type of storage bracket, so that the purpose of automatically adjusting the goods which do not meet the conditions from the first type of storage bracket to the second type of storage bracket is achieved.

In the embodiment of the disclosure, goods stored on the first-type storage bracket and/or the second-type storage bracket can be periodically adjusted through the second-type autonomous mobile robot, so that the tallying efficiency can be improved.

The warehousing system is described in one embodiment with reference to FIG. 7:

as shown in fig. 7, a top view of the warehousing system is an example, and includes a control server (not shown in fig. 7), a first type storage rack 141, a second type storage rack 142, a storage container (not shown in fig. 7) on each first type storage rack 141, and a storage container 201 on each second type storage rack 142, and in addition, a workstation 143 for sorting goods based on order information and a second type autonomous mobile robot 13 transporting the storage container 201 are also shown in fig. 7.

The control server can determine one or more target storage containers hit by the order information when receiving the order information, preferentially determine whether goods meeting the order requirement exist on the first type of storage bracket if the SKU heat degree and/or the association degree of the SKU of the goods stored in the target storage containers meet set conditions (the SKU heat degree is larger than or equal to a preset heat degree threshold value and/or the association degree of the SKU is larger than or equal to a preset association degree threshold value), and hit the second type of storage bracket if the goods stored in the first type of storage bracket cannot meet the order requirement.

In particular, in the embodiments of the present disclosure, the control server may detect a remaining capacity of each of the first and second types of autonomous mobile robots, and may schedule the autonomous mobile robots to be charged based on the remaining capacity of each of the autonomous mobile robots; in addition, when the control server controls the autonomous mobile robot to carry, the autonomous mobile robot may navigate according to the positioning two-dimensional code pasted in the target warehouse, which is not described herein.

The embodiment of the disclosure also provides a warehousing control method, which is applied to a control server in a warehousing system, wherein the warehousing system further comprises a plurality of first-type autonomous mobile robots, a plurality of second-type autonomous mobile robots and a plurality of storage supports;

a plurality of storage containers for containing goods are respectively arranged on the first type storage bracket and the second type storage bracket; the storage containers on the first type of storage supports at least contain goods with unit SKU heat degrees larger than or equal to a preset heat degree threshold value and/or SKU association degrees larger than or equal to a preset association degree threshold value, and the storage containers on the second type of storage supports at least contain goods with SKU heat degrees smaller than the preset heat degree threshold value and/or SKU association degrees smaller than the association degree threshold value;

as shown in fig. 8, a flowchart of the warehousing control method specifically includes the following steps S801 to S802:

s801, determining one or more target storage containers hit by order goods of one or more orders according to the stock information and the order information;

And S802, controlling the first type of autonomous mobile robot to convey the first type of storage rack where the target storage container is located to the destination, and/or controlling the second type of autonomous mobile robot to take the target storage container out of the second type of storage rack and convey the target storage container to the destination.

In one possible embodiment, the storage containers with the higher SKU heat items are placed on the first type of storage racks closer to the workstation, and the storage containers with the lower SKU heat items are placed on the first type of storage racks farther from the workstation.

In a possible implementation manner, the storage containers in which the cargos with the SKU association degree greater than or equal to the preset association degree threshold are located are placed on the same first type storage bracket.

In one possible embodiment, the storage containers on the second type of storage rack contain the cargoes of other SKUs in addition to the cargoes with SKU heat less than the preset heat threshold and/or SKU association less than the preset association threshold.

In one possible embodiment, determining one or more target storage containers hit by order goods of one or more orders according to the stock information and the order information includes:

In one possible embodiment, the warehousing control method further comprises:

and controlling the second type of autonomous mobile robot to take out the storage container containing the goods to be supplemented from the second type of storage bracket, and transporting the storage container containing the goods to be supplemented to the first type of storage bracket for storage.

In one possible embodiment, the warehousing control method further comprises:

determining goods to be positioned on the first type storage bracket and/or the second type storage bracket based at least in part on the heat degree of the SKU and/or the relevance degree of the SKU;

In one possible embodiment, determining the goods to be positioned on the second type of storage rack based at least in part on the SKU heat and/or the SKU relevancy, comprises:

Determining goods with SKU heat greater than or equal to a preset heat threshold value and/or SKU association greater than or equal to a preset association threshold value on a second type storage bracket in a preset time period;

control second type autonomous mobile robot carries out goods position adjustment to the goods, includes:

In one possible embodiment, the warehousing control method further comprises: when determining that no vacant storage positions exist on the first type of storage bracket, determining goods on the first type of storage bracket, wherein the SKU heat and/or the SKU association are/is less than a preset heat threshold and/or the SKU association is less than a preset association threshold in a preset time period;

controlling the second type of autonomous mobile robot to adjust the position of the goods for the position to be adjusted comprises:

and controlling the second type of autonomous mobile robot to interchange the positions of the storage container containing the goods on the first type of storage bracket and the storage container containing the goods on the second type of storage bracket.

In one possible embodiment, determining the goods to be positioned on the first type of storage rack based at least in part on the SKU heat and/or the SKU relevancy, comprises:

Determining goods on the first type of storage racks with the SKU heat less than a preset heat threshold value and/or the SKU association less than a preset association threshold value in a preset time period based at least in part on the SKU heat and/or the SKU association;

control second type autonomous mobile robot to carry out the adjustment of goods position to the goods, include:

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

The computer program product of the warehousing control method provided by the embodiment of the present disclosure includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the warehousing control method described in the above method embodiment, which may be referred to in the above method embodiment specifically, and are not described herein again.

The embodiments of the present disclosure also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A warehousing system, comprising: the system comprises one or more control servers, a plurality of first-class autonomous mobile robots, a plurality of second-class autonomous mobile robots and a plurality of storage supports, wherein the control servers are respectively in communication connection with the first-class autonomous mobile robots and the second-class autonomous mobile robots; wherein,

2. The warehousing system of claim 1, wherein the storage containers with higher SKU heat are placed on the first type of storage racks closer to the workstation and the storage containers with lower SKU heat are placed on the first type of storage racks farther from the workstation.

3. The warehousing system of claim 1 or 2, characterized in that the storage containers with the SKU association degree greater than or equal to a preset association degree threshold are placed on the same first type storage rack.

4. The warehousing system of claim 1, wherein the storage containers on the second type of storage racks contain cargo from other SKUs in addition to cargo having a SKU heat less than a preset heat threshold and/or a SKU association less than a preset association threshold.

5. The warehousing system of claim 4, wherein the control server is configured to preferentially hit a target storage container on the first type of storage rack based on the inventory information and the order information and to continue hitting a target storage container on the second type of storage rack if the SKU cargo on the first type of storage rack fails to meet the requirements of the order.

6. The warehousing system of claim 1, wherein the control server is further configured to:

7. The warehousing system of claim 1, wherein the control server is further configured to,

8. The warehousing system of claim 7, wherein said control service entity is configured as,

9. The warehousing system of claim 8,

the control server is further configured to, when determining that there are no vacant storage positions on the first type of storage rack, determine goods on the first type of storage rack with SKU heat less than a preset heat threshold value and/or SKU association less than a preset association threshold value within a preset time period based at least in part on the SKU heat and/or SKU association, and control the second type of autonomous mobile robot to perform position interchange on the goods on the first type of storage rack and the goods on the second type of storage rack;

10. The warehousing control method is characterized by being applied to a control server in a warehousing system, wherein the warehousing system further comprises a plurality of first-type autonomous mobile robots, a plurality of second-type autonomous mobile robots and a plurality of storage supports;

The warehousing control method comprises the following steps: