CN114620386B - Warehouse system and control method thereof - Google Patents
Warehouse system and control method thereof Download PDFInfo
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- CN114620386B CN114620386B CN202210138889.4A CN202210138889A CN114620386B CN 114620386 B CN114620386 B CN 114620386B CN 202210138889 A CN202210138889 A CN 202210138889A CN 114620386 B CN114620386 B CN 114620386B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The present disclosure provides a warehouse system and a control method thereof, wherein a warehouse area of the system is used for storing carriers, and storage positions of the carriers are used for storing containers; the control server is configured to generate a tally instruction, a pick order instruction, and update inventory information; the handling device is configured to move at least two containers having order relevance and stored on different carriers onto the same target carrier based on the tally instructions of the control server. Therefore, when the picking order received by the warehousing system comprises at least two containers with the finished goods, the warehousing system can directly carry the containers from the target carrier to the workstation area for corresponding operation, so that the step that carrying equipment reciprocates between different carriers in the prior art is omitted, or the step that the containers are taken and put for operation after the different carriers are carried to the workstation area is omitted, and therefore the operation efficiency of the warehousing system is greatly improved.
Description
Technical Field
The disclosure relates to the technical field of warehousing systems, and in particular relates to a warehousing system and a control method thereof.
Background
Existing warehousing systems typically hit multiple goods on one order, and the multiple goods are stored in different containers, which may be stored on multiple carriers, respectively.
The warehouse system controls the carrying equipment to move back and forth to and from different carriers, picking stations and other operation areas for a plurality of times according to the order content, and carries different containers storing the cargoes to the operation areas for corresponding operation.
Therefore, the existing warehouse system finishes an order picking work, needs container loading and unloading equipment to move different containers back and forth among a plurality of carriers, and has the problem of low operation efficiency.
Disclosure of Invention
The utility model discloses a problem in order to solve current warehouse system operating efficiency low provides a warehouse system on the one hand.
The warehousing system of the present disclosure includes:
A workstation area;
the storage area is used for storing carriers, and the storage positions of the carriers are used for storing containers;
A control server configured to generate a tally instruction;
a handling device configured to move at least two containers having order relevance and stored on different carriers to the same target carrier based on the tally instruction,
In one embodiment of the warehousing system of the disclosure, the control server is further configured to generate a pick order instruction including the at least two containers for which the tallying is complete;
the handling apparatus is further configured to remove and place at least two containers on the target carrier into the workstation zone based on the pick order instructions.
In one embodiment of the warehousing system of the disclosure, the handling equipment is configured to transfer a container to a free storage location of the target carrier when the container needs to be moved based on the tally instruction;
or to exchange the container with other containers on the target carrier.
In one embodiment of the warehousing system of the disclosure, the handling device is configured to transfer a plurality of containers to the empty storage locations of the target carrier when the containers need to be moved based on the tally instruction;
or exchanging a plurality of the containers with other containers on the target carrier;
or transferring a portion of the containers to a free storage location on the target carrier and exchanging another portion of the containers with other containers on the target carrier.
In one embodiment of the warehousing system of the disclosure, the handling device selects a carrier in which one of the at least two containers is located as the target carrier based on the tally instruction.
In one embodiment of the warehousing system of the disclosure, when the carrier is a stationary carrier, the handling apparatus includes:
A mobile container handling apparatus configured to take the at least two containers out of respective current carriers and into the target carrier in the stock area based on the tally instructions; and/or the number of the groups of groups,
The mobile container handling apparatus is further configured to retrieve the at least two containers on the target carrier at the inventory zone based on the pick order instructions and move from the inventory zone to the workstation zone for picking.
In one embodiment of the warehousing system of the disclosure, when the carrier is a movable carrier, the handling apparatus includes a stationary container handling apparatus and a carrier handling apparatus;
the carrier handling equipment is configured to handle current carriers and target carriers respectively storing at least two containers from the stock area to the workstation area based on the tally instruction;
The stationary container handling apparatus is disposed in the workstation area and is configured to take at least two containers out of respective current carriers and put them on the target carrier based on the tally instructions; and/or the number of the groups of groups,
The stationary container handling apparatus is further configured to retrieve at least two containers from the target carrier for picking based on the pick order instructions.
In one embodiment of the warehousing system of the disclosure, when the carrier is a movable carrier, the handling apparatus includes:
A carrier handling device configured to handle a current carrier storing at least two containers respectively from the stock area to the workstation area based on the tally instruction;
The fixed container handling equipment is arranged in the workstation area and is configured to select one current carrier as a target carrier based on a tally instruction, and take out and put the containers on the other current carriers into the target carrier; and/or the number of the groups of groups,
The stationary container handling apparatus is further configured to retrieve at least two containers from the target carrier for picking based on the pick order instructions.
In one embodiment of the warehousing system of the disclosure, when the target carrier is a movable carrier, the handling apparatus includes:
A mobile container handling apparatus configured to handle the at least two containers from respective current carriers onto the target carrier in the inventory zone;
a carrier handling apparatus configured to handle the target carrier from the inventory zone to the workstation zone for picking.
In one embodiment of the warehousing system of the disclosure, the carrier handling apparatus is further configured to handle the current carrier from the workstation area to the inventory area after finishing the tallying operation; and/or the number of the groups of groups,
The carrier handling apparatus is further configured to handle the target carrier from the workstation area to the inventory area after the picking operation is completed.
In one embodiment of the warehousing system of the disclosure, the warehousing system further includes a waiting area;
The control server is further configured to control the carrier handling device to handle at least one pair of carriers selected by the tally instruction;
When one of the at least one pair of carriers selected by the tally instruction arrives at the workstation area first, the carrier handling equipment carries the carriers arriving at the workstation area first to the waiting area to wait for the arrival of the rest of carriers of the at least one pair of carriers selected by the tally instruction.
In one embodiment of the warehousing system of the disclosure, the remaining carriers of the at least one pair of carriers selected by the tally instruction reach the workstation area, and the carrier handling device is controlled to handle the carriers in the waiting area to the workstation area.
In one embodiment of the warehousing system of the disclosure, the stationary container handling apparatus has a buffer mechanism having at least one buffer bit for buffering containers;
the control server is further configured to control the carrier handling apparatus to handle a selected pair of carriers in the tally instruction to the workstation area;
The stationary container handling apparatus is further configured to take containers on the carriers out of and into the buffer locations, and to take containers of the buffer locations out of and into the target carriers after the target carriers are reached.
In one embodiment of the warehousing system of the disclosure, the stationary container handling apparatus has a buffer mechanism having at least one buffer bit for buffering containers;
the fixed container handling equipment is configured to temporarily store the container with the picking operation completed on the buffer position, and take out and put the container of the buffer position on the target carrier after the target carrier of the container reaches the workstation area.
In one embodiment of the warehousing system of the disclosure, the handling apparatus further comprises an identification device configured to identify at least one of the following information:
Whether a container is stored in a storage position of the carrier selected by the tally instruction;
And whether the identity information of the container on the storage bit of the carrier selected by the tally instruction is consistent with the identity information of the container selected by the tally instruction or not.
In one embodiment of the warehousing system of the disclosure, the identification device includes a reader, a 2D/3D image acquisition device, or a depth information acquisition device.
In one embodiment of the warehousing system of the disclosure, the control server is configured to generate an abnormality processing instruction or send out an alarm signal based on the recognition result of the recognition device being abnormal.
In one embodiment of the warehousing system of the disclosure, the workstation area is docked with a docking device that includes a conveyor line for delivering containers out of the workstation area.
In one embodiment of the warehousing system of the disclosure, the workstation area is provided with a picking station configured for placing containers to be picked for a picking operation.
In one embodiment of the warehousing system of the disclosure, the control server is further configured to update the inventory information based on when the container is empty after the picking operation.
In one embodiment of the warehousing system of the disclosure, the control server is configured to update the quantity of the items in the container in the current inventory information to the remaining quantity to update the inventory information based on the fact that the items remain in the container after the picking operation.
On the other hand, the disclosure also provides a control method of the warehousing system, wherein the warehousing system is the warehousing system as described above, and the control method comprises the following steps:
the control server generates a tally instruction and sends the tally instruction to the carrying equipment;
the handling equipment moves at least two containers which have order relevance and are stored on different carriers to the same target carrier based on the tallying instruction.
In one embodiment of the control method of the present disclosure, the control method further includes the steps of:
the control server generates a picking order instruction and sends the order instruction to the carrying equipment;
the handling equipment takes out at least two containers on the target carrier and places them in the workstation area based on the pick order instructions.
The warehousing system of the disclosure performs a tallying operation first, that is, at least two containers which have order relevance and are stored on different carriers are stored on the same target carrier.
Therefore, when the picking order received by the warehousing system comprises at least two containers with the finished goods, the warehousing system can directly carry the containers from the target carrier to the workstation area for corresponding operation, so that the step that carrying equipment reciprocates between different carriers in the prior art is omitted, or the step that the containers are taken and put for operation after the different carriers are carried to the workstation area is omitted, and therefore the operation efficiency of the warehousing system is greatly improved.
The warehouse system can also implement picking operation, namely at least two containers with the picked orders are directly carried to a workstation area from the same carrier for corresponding operation, so that the step that carrying equipment reciprocates between different carriers in the prior art is omitted, or the step that the containers are taken and put for operation after different carriers are carried to the workstation area is omitted, and therefore the operation efficiency of the warehouse system is further greatly improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a block diagram of one embodiment of a warehousing system of the disclosure;
FIG. 2 is a schematic structural view of one embodiment of the handling apparatus of the present disclosure;
FIG. 3 is a schematic structural view of another embodiment of the handling apparatus of the present disclosure;
Fig. 4 is a control flow diagram of a control method of the warehousing system of the present disclosure.
The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 3 is as follows:
1 carrier, 10 fixed carrier, 11 movable carrier, 20 movable container handling equipment, 21 first picking and placing container mechanism, 210 bracket, 211 first picking and placing container assembly, 30 carrier handling equipment, 31 fixed container handling equipment, 310 portal, 311 second picking and placing container assembly.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Orders involved in warehousing systems such as picking orders include a plurality of items that are placed in separate containers that are stored on separate carriers. The carriers include fixed carriers, which typically include a shelf carrier, that is fixedly disposed on the floor of the warehouse and cannot be moved, and movable carriers that can be carried by the carrier carrying equipment to move between various areas of the warehouse.
When the warehouse system receives a picking order, if a plurality of containers hit by the picking order are respectively stored on different fixed carriers, the control server controls the conveying equipment to repeatedly move back and forth between different carriers and the workstation area, so that the containers hit by the picking order are conveyed to the workstation area for picking operation.
If a plurality of containers hit by the picking order are respectively stored on different mobile carriers, the server controls the carrier conveying equipment to convey the mobile carriers to the workstation area respectively, and then controls the container loading and unloading equipment to convey the containers on the mobile carriers to the workstation area for picking operation.
Obviously, when the control method of the existing warehousing system processes the picking order, no matter the hit container is stored on the fixed carrier or the movable carrier, the step of acquiring different containers from different carriers can be involved, and the problems of long time consumption, complex operation and low efficiency of the picking procedure exist.
In order to solve the technical problem, the present disclosure provides a warehousing system, which includes an inventory area, a workstation area, a container, a carrier, a handling device, and a control server. The storage area is used for storing carriers, and the storage positions of the carriers are used for storing containers; the control server is configured to generate a tally instruction; the handling device is configured to move at least two containers having order relevance and stored on different carriers onto the same target carrier based on the tally instructions of the control server.
It should be noted that, the order relevance includes an order hit rate, where the order hit rate refers to a ratio between an order amount of a target item hit and a total order amount within a preset period, for example, an order amount of a first target item hit (cola) is 100 in one day, an order amount of a second target item hit (popcorn) is 90 in one day, a total order amount of the day is 1000, an order hit rate of the first target item is 10%, and an order hit rate of the second target item is 9%.
In the warehousing system disclosed by the disclosure, when the order hit rates of the articles in at least two containers all reach a preset threshold, the at least two containers in the description have order relevance. For example, if the control server presets the order hit rate preset threshold to 8%, it is indicated that the order hit rates of the first target item and the second target item reach the preset threshold, that is, the order relevance of the first container storing the first target item and the second container storing the second target item both reach the preset threshold.
In the warehouse system of the disclosure, when 2 or more articles in at least two containers are matched products or hit by a plurality of orders at the same time, it may also be stated that the at least two containers have order relevance. Such as nail polish and polish remover, shampoos and conditioners, and the like.
The warehousing system of the disclosure performs a tallying operation first, that is, at least two containers which have order relevance and are stored on different carriers are stored on the same target carrier.
Therefore, when the picking order received by the warehousing system comprises at least two containers with the finished goods, the warehousing system can directly carry the containers from the target carrier to the workstation area for corresponding operation, so that the step that carrying equipment reciprocates between different carriers in the prior art is omitted, or the step that the containers are taken and put for operation after the different carriers are carried to the workstation area is omitted, and therefore the operation efficiency of the warehousing system is greatly improved.
The control server of the warehousing system of the present disclosure is further configured to generate a pick order instruction; the handling device is further configured to take at least two containers on the target carrier out of and into the workstation area based on a pick order instruction, wherein the pick order instruction includes the at least two containers for which the tallying is complete.
The warehouse system can also implement picking operation, namely, when picking and dispatching orders, the order of at least two containers is preferentially selected to hit simultaneously to generate a picking order instruction, and then the at least two containers are carried from the target carrier to the workstation area according to the picking order instruction, so that the step that carrying equipment reciprocates between different carriers in the prior art is omitted, or the step that the containers are taken and put for operation after the different carriers are carried to the workstation area is omitted, and the operation efficiency of the warehouse system is further greatly improved.
That is, the warehousing system of the present disclosure may implement only the tallying operation, or may implement both the tallying operation and the embodiment picking operation, and those skilled in the art may select an appropriate function based on the actual application scenario.
For ease of understanding, the warehousing system of the present disclosure will be described in detail below with reference to fig. 1 to 4 by taking specific embodiments as examples, and for keeping the text concise, the control method of the warehousing system is described together with the warehousing system, and will not be separately described.
The warehousing system at least comprises a workstation area, an inventory area, a carrier, a container, a conveying device and a control server.
The storage area may be a dense storage area or a non-dense storage area, and a plurality of carriers are disposed in the storage area, and the carriers are used for storing containers, and generally include fixed carriers and movable carriers. The fixed carrier typically comprises a shelf carrier that is fixedly disposed on the floor of the warehouse and that cannot be moved, while the movable carrier can be carried by the carrier carrying device to move between the various areas of the warehouse.
The container includes a general container and a special container, wherein the general container refers to a container capable of storing any goods, such as a storage box, a sorting box, etc., and the special container refers to a container specially used for placing a certain or a certain kind of goods, such as a shoe box, a fresh box, a water bucket, etc. From the material distinction, the containers include cartons, glass bottles, plastic boxes, metal boxes, leather boxes, and the like.
A workstation area is an area within a warehouse that is distinct from an inventory area.
The control server is in communication connection with the handling equipment in a wired or wireless mode, a worker operates the control server through an operation desk to work, the control server is a software system which runs on the server and has data storage and information processing capability, the control server can be connected with the software system of the handling equipment through wireless, and the like, the control server can comprise one or more servers and can be in a centralized control architecture or a distributed computing architecture, the control server is provided with a processor and a memory, an order pool can be arranged in the memory, and order information is stored in the order pool.
The control server is configured to generate tally instructions, pick order instructions, and/or update inventory information.
According to one embodiment of the present disclosure, a control server of the present disclosure selects at least two containers having order relevance and deposited on different carriers based on information such as historical orders to generate a tally instruction to complete a tally operation before dispatching a pick order hitting the relevant container to try to deposit the at least two containers having order relevance on the same target carrier.
According to one embodiment of the present disclosure, the control server of the present disclosure also selects orders that hit at least two containers involved in the tally order simultaneously to generate a pick order, so as to preferentially select orders that complete the tally operation for dispatch for manual or picking equipment to complete the picking operation, and updates the inventory information based on the result of the picking operation.
The handling equipment is configured to move at least two containers which have order relevance and are stored on different carriers to the same target carrier based on a tally instruction of the control server so as to complete the tally operation.
According to one embodiment of the present disclosure, when a container needs to be moved by a tally instruction and a target carrier has a free storage location thereon, the handling apparatus is configured to transfer the container that needs to be moved to the free storage location of the target carrier based on the tally instruction.
According to one embodiment of the present disclosure, when a cargo order requires movement of one container and there is no free storage bit on the target carrier, the handling device is configured to swap the container that needs to be moved with other containers of the target carrier based on the cargo order.
According to one embodiment of the present disclosure, when a tally instruction requires movement of a plurality of containers and a target carrier has a free storage location thereon, the handling apparatus is configured to transfer the plurality of containers that require movement to the corresponding free storage locations of the target carrier based on the tally instruction.
According to one embodiment of the present disclosure, when a tally instruction requires movement of a plurality of containers and there is no free storage location on a target carrier, the handling device is configured to swap the plurality of containers that require movement with other containers of the target carrier based on the tally instruction.
According to one embodiment of the present disclosure, when a tally instruction requires movement of a plurality of containers and a target carrier has a free storage location thereon, a handling apparatus is configured to transfer a portion of the containers that require movement to corresponding free storage locations of the target carrier based on the tally instruction and to exchange another portion of the containers that require movement with other containers of the target carrier.
It should be noted that, the carrying device exchanges the container to be moved with other containers on the target carrier in the following manner: the carrying equipment firstly takes out other containers on the target carrier and places the containers on the buffer storage position, then takes out the containers to be moved from the current carrier and places the containers on the empty storage position of the target carrier, and finally places the containers on the buffer storage position on the carrier where the moved containers are originally located.
The buffer storage position can be a buffer storage position on a buffer storage mechanism of the carrying equipment, can also be a buffer storage position arranged on a docking mechanism of the workstation area independent of the carrying equipment, can be any carrier or bracket capable of storing containers, and can also be an independent area divided from the workstation area.
Other containers in the warehousing system for interchange are containers that do not have order relevance.
According to one embodiment of the present disclosure, a specific carrier may be selected from the tally instruction of the present disclosure as a target carrier that does not belong to the current carrier in which any of the selected at least two containers in the tally instruction are located.
According to one embodiment of the present disclosure, the selected target carrier in the tally instruction of the present disclosure is a carrier in which one of the at least two containers is selected for the tally instruction.
In this way, the handling device only has to move the other container of the at least two containers from the current carrier to the target carrier. Compared with the selection of a specific carrier, the number of times that the carrying equipment moves the container is reduced, and the tallying efficiency is improved.
As mentioned above, the carrier includes a fixed carrier and a movable carrier, and the specific structure and the working principle of the carrying device are related to the type of carrier used in cooperation with the fixed carrier and the movable carrier, that is, the carrying device used in cooperation with the fixed carrier and the movable carrier are not the same, and two specific embodiments of the carrying device will be respectively described in conjunction with the specific types of carriers.
According to one embodiment of the present disclosure, referring to fig. 2, if the target carrier of the warehouse system is a stationary carrier 10, the handling equipment with which it is mated is a mobile container handling equipment.
The mobile container handling apparatus is configured to take at least two containers out of respective current carriers and into a target carrier in an inventory zone based on the tally instructions; and/or the mobile container handling apparatus is further configured to retrieve at least two containers on the target carrier in the inventory zone based on the pick order instructions and move from the inventory zone to the workstation zone for picking.
In detail, the movable container apparatus includes a first carrying mechanism 20 and a first pick-and-place container mechanism 21. In order to facilitate the overall view of the portable container handling apparatus, only one side bracket of the stationary carrier is shown in fig. 2, with its partition plate and other structures omitted.
Wherein the first handling mechanism 20 is configured to move the first pick-and-place container mechanism 21 in the inventory zone and the workstation zone; the first pick-and-place container mechanism 21 is configured to pick and place at least two containers from respective current carriers onto the target carrier in the inventory zone based on the tally instructions; and/or the first pick-and-place container mechanism 21 is further configured to pick at least two containers on the target carrier in the inventory zone based on the pick order instructions and move with the first handling mechanism 21 from the inventory zone to the workstation zone and place the at least two containers in the workstation zone.
In detail, the first pick-and-place container mechanism 21 includes a bracket 210 and a first pick-and-place container assembly 211 movably disposed on the bracket 210. The rack 21 is fixedly disposed on the first carrying mechanism 20, and the pick-and-place container assembly 211 picks up a container selected by the tally instruction from the storage location of the carrier selected by the tally instruction based on the tally instruction of the control server and moves the container to the target carrier selected by the tally instruction.
The specific form of the first picking and placing container assembly 211 is related to the storage position of the fixed carrier, if each layer of partition board of the fixed carrier is provided with the storage position of one container in the depth direction, the picking and placing container assembly is a single-extension container robot, if each layer of partition board of the fixed carrier is provided with the storage positions of two containers in the depth direction, the picking and placing container assembly is a double-extension container robot, and if each layer of partition board of the fixed carrier is provided with the storage positions of a plurality of containers in the depth direction, the picking and placing container assembly is a multi-extension container robot.
It should be noted that, in another embodiment of the present disclosure, the first picking and placing container assembly of the present disclosure picks and places the container in any manner of grabbing, clamping, sucking, lifting, and holding.
The first transport mechanism 20 may be an AGV cart. The AGV car is a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. In industrial applications, a carrier for a driver is not required, and a rechargeable storage battery is used as a power source. Generally, the traveling path and behavior of the vehicle can be controlled by a computer, or the traveling path can be established by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is stuck on the ground, and the unmanned carrier moves or uses the ground two-dimensional code or SLAM navigation by means of information brought by the electromagnetic track.
The SLAM (simultaneous localization AND MAPPING), also known as CML (Concurrent MAPPING AND Localization), performs real-time localization and mapping, or concurs with mapping and localization. The problem can be described as: if a robot is placed in an unknown position in an unknown environment, it is possible to gradually draw a complete map of the environment while moving, and the complete map (a existence map) refers to a map that can travel to every corner accessible to a room without being obstructed.
In practical application, in order to improve access efficiency, the first container taking and placing mechanism may further be provided with a buffer mechanism 22, where the buffer mechanism 22 has at least one buffer bit, where the buffer bit is used to buffer one container, and the buffer mechanism 22 may enable the handling device to take and place multiple containers at a time, so as to improve the taking and placing efficiency.
For example, during a cargo handling operation, the pick-and-place container assembly 211 may first buffer other containers on the target carrier in the buffer mechanism 22 to generate free storage bits, then place the target containers selected by each cargo handling instruction into the free storage bits on the target carrier one by one, and finally place other containers on the buffer mechanism 22 into each storage bit of the original carrier of the target container.
According to one embodiment of the present disclosure, referring to fig. 3, if the carrier of the present disclosure is a movable carrier 11, the carrier comprises a carrier 30 and a stationary container carrier 31.
Wherein the carrier handling device 30 is configured to handle the current carrier and the target carrier, which respectively store at least two containers, from the stock area to the workstation area based on the tally instruction; a stationary container handling apparatus 31 is provided in the workstation area and is configured to take at least two containers out of respective current carriers and put them on the target carrier based on a tally instruction; and/or the stationary container handling apparatus 31 is further configured to remove and place at least two containers from the target carrier into the workstation zone based on the pick order instructions. In particular, the carrier transport apparatus 30 may be an AGV transport, also commonly referred to as an AGV trolley.
According to one embodiment of the present disclosure, if the carrier of the present disclosure is a movable carrier 11, the carrier comprises a carrier 30 and a stationary container carrier 31.
Wherein the carrier handling device 30 is configured to handle the current carriers respectively storing at least two containers from the stock area to the workstation area based on the tally instructions; the fixed container handling apparatus 31 is disposed in the workstation area and configured to select one current carrier as a target carrier based on the cargo order, and take out and put in containers on the remaining current carriers on the target carrier; and/or the stationary container handling apparatus 31 is further configured to remove and place at least two containers from the target carrier into the workstation zone based on the pick order instructions.
In detail, the stationary container handling apparatus 31 includes a gantry 310 and a second pick and place container assembly 311 that moves relative to the gantry 310 along the X, Y, and Z axes of the spatial coordinate system. The vertical distance direction between the picking station and the carrier is referred to as a Y-axis direction, the direction perpendicular to the Y-axis in the horizontal plane is referred to as an X-axis direction, and the direction perpendicular to the horizontal plane is referred to as a Z-axis direction. It is also understood that the planes of the X and Y axes are horizontal and the Z axis is in the vertical plane.
The mast 310 is fixedly installed on the floor of the workstation area by fasteners such as chemical bolts. The second pick-and-place container assembly 311 takes out the container selected by the tally instruction from the storage location of the carrier selected by the tally instruction based on the tally instruction of the control server, and moves it to the target carrier selected by the tally instruction.
It should be noted that, in another embodiment of the present disclosure, the second picking and placing container assembly of the present disclosure picks and places the container in any manner of grabbing, clamping, sucking, lifting, and holding.
According to one embodiment of the present disclosure, when the target carrier is a movable carrier, the handling apparatus may also include a movable container handling apparatus and a carrier handling apparatus. Wherein the mobile container handling apparatus is configured to handle at least two containers from respective current carriers onto a target carrier in the inventory zone; the carrier handling apparatus is configured to handle a target carrier from the inventory area to the workstation area for picking.
It should be noted that, in the present embodiment, the specific structures of the mobile container handling apparatus and the carrier handling apparatus are the same as those described in the foregoing embodiments, and those skilled in the art can implement the same based on the foregoing, so that the description thereof is omitted herein.
As described above, the storage system of the present disclosure performs the tallying operation for the fixed carrier in the stock area, and performs the tallying operation for the movable carrier in the workstation area. That is, the handling device now first carries the selected carriers to the workstation area based on the tally instruction, and then moves the containers on these carriers to the same target carrier, which may be a carrier in which one of the at least two containers is selected by the tally instruction.
However, in practical use, the control server of the warehouse system may simultaneously control the carrier handling device to sequentially handle a plurality of movable carriers, and at least one pair of the movable carriers is selected by the sorting instruction, and other movable carriers directly participate in other operations such as sorting without the sorting operation. Therefore, when one of the pair of movable carriers selected by the tally instruction arrives at the workstation area first and the other movable carrier does not arrive yet, the carrying equipment needs to wait, and during the waiting period, the space of the workstation area is occupied, other movable carriers cannot enter the workstation area to perform corresponding operation, and the warehousing system is in a shutdown state.
To this end, if the carrier of the warehousing system is a movable carrier, with continued reference to fig. 1, in accordance with one embodiment of the present disclosure, the warehousing system further includes a waiting zone, the control server is further configured to control the carrier handling device 30 to handle at least three carriers, at least three carriers including at least one pair of carriers selected by the tally instruction, and one of the pair of carriers is set as the target carrier; when one of the at least one pair of carriers arrives at the workstation first, the control server is further configured to control the carrier handling device 30 to handle one of the pair of carriers to the waiting area for the other carrier to arrive; when the rest of the at least one pair of carriers reach the workstation, the control server controls the carrier handling equipment to make the carriers waiting in the waiting area in the at least one pair of carriers reach the workstation area. If at least one pair of carriers selected by the tally instruction arrives at the workstation sequentially or simultaneously, but the workstation is in a working state at the moment, the at least one pair of carriers are firstly conveyed to a waiting area for waiting, and when the workstation is idle after finishing processing, the at least one pair of carriers are conveyed to the workstation. In addition, at least one pair of carriers selected by the tally instruction may or may not include the target carrier. When the target carrier is not included, the control server controls the carrier carrying device to carry the target carrier to the workstation, and it can be understood that if the target carrier and the carrier selected by the tally instruction do not arrive at the workstation simultaneously or continuously, the carrier arriving at the workstation first is carried to the waiting area; or the working stations arrive simultaneously or continuously, the working stations are in a working state, then the target carrier and the carrier selected by the tally instruction are carried to a waiting area for waiting, and when the working stations are idle, the target carrier and the carrier selected by the tally instruction are carried to the working stations for tally.
The control method of the warehousing system comprises the following steps:
The control server simultaneously controls the carrier handling device 30 to handle at least three carriers, wherein at least one pair of carriers selected by the tally instruction is included in the at least three carriers, and one of the pair of carriers is set as the target carrier;
The control server controls the carrier handling apparatus 30 to handle one carrier of the pair of carriers to a waiting area waiting for the other carrier to arrive, and then to handle the pair of carriers to the workstation area.
In this way, the carriers which are first reached and selected by the tally instruction wait in the waiting area, at this time, other carriers which are not selected by the tally instruction can be carried to the workstation area for corresponding operation, and after the other carrier selected by the tally instruction also reaches the waiting area, the carrier carrying equipment 30 carries a pair of carriers selected by the tally instruction from the waiting area to the workstation area in sequence for tally operation, so that a plurality of carriers are in queuing order for respective corresponding operation, the problem of disordered and out-of-control of the dispatching of the warehousing system is avoided, and the smooth and orderly operation of the warehousing system is ensured.
According to one embodiment of the present disclosure, the warehouse system of the present disclosure further includes a waiting area, the control server is further configured to simultaneously control the carrier handling device 30 to handle at least three carriers, at least one pair of carriers selected by the tally instruction is included in the at least three carriers, and one of the pair of carriers is set as a target carrier; the control server is further configured to control the carrier handling apparatus to handle the pair of carriers to the workstation area and to queue the remaining carriers to the waiting area.
Therefore, a pair of carriers selected in the tally instruction is firstly carried to the workstation area for tally operation, and other carriers are carried to the waiting area for waiting, so that a plurality of carriers are sequentially queued for respective corresponding operation, the problem of disordered and uncontrolled scheduling of the warehousing system is avoided, and the warehousing system is ensured to work smoothly and orderly.
In accordance with one embodiment of the present disclosure, with continued reference to fig. 3, the stationary container handling apparatus of the present disclosure has a buffer mechanism having at least one buffer bit for buffering one container.
The control server is further configured to control a vehicle handling apparatus to handle a selected pair of vehicles in the tally instructions to the workstation area and set one of the pair of vehicles as the target vehicle;
The stationary container handling apparatus is further configured to take containers on the carriers out of and into the buffer locations, and to take containers of the buffer locations out of and into the target carriers after the target carriers reach.
Therefore, when other carriers are inserted between a pair of carriers selected in the tally instruction, the container to be moved on the selected carrier which arrives first can be temporarily stored on the buffer position, after the target carrier to be selected arrives, the container temporarily stored on the buffer position is moved to the target carrier, and during waiting, the fixed container handling equipment 31 can correspondingly operate the other carriers, so that the smooth and orderly operation of the warehouse system is ensured.
When the target carrier of the warehouse system reaches the work station area, all containers with order relevance on the target carrier are carried to the work table for the personnel or equipment to carry out the picking operation, and meanwhile, the carrier carrying equipment carries the target carrier to the waiting area or returns to the stock area, so that the space of the work station area is prevented from being occupied by the idle target carrier, and the picking operation is prevented from being influenced.
To this end, according to one embodiment of the present disclosure, a stationary container handling apparatus of the present disclosure has a buffer mechanism having at least one buffer bit for buffering containers.
The fixed container handling equipment is configured to temporarily store the containers subjected to the picking operation on the buffer position, and take out the containers of the buffer position and put the containers on the target carrier after the target carrier of the containers reaches the workstation area.
In this way, when the warehouse system is in picking operation, the target carriers are moved away, the containers which finish the picking operation are temporarily stored in the buffer storage position, and after the picking operation of all the containers is finished, the target carriers of the containers are carried to the workstation area, so that all the containers return to the corresponding target carriers, the space of the workstation area is fully utilized by the holes, and the neatly and widely opened workstation area is maintained.
The handling equipment performs a cargo handling operation based on a cargo handling instruction of the control server, namely, a container selected in the cargo handling instruction is moved to the same target carrier, the cargo handling instruction comprises storage bit information of the selected container on the carrier where the selected container is located, the storage bit information comprises a storage bit ID (identity), for example, the storage bit ID comprises a carrier number, a column number and a row number of the container on the carrier, and the like. The control server sends the storage bit information to the handling equipment, and the handling equipment finds the corresponding storage bit based on the storage bit information so as to fetch and put the container.
In an actual application scene, the storage bit may not be stored in the container or the stored container is inconsistent with the identity information of the container selected by the tally instruction due to reasons such as tally errors, and then the tally operation is failed.
To this end, in one embodiment of the present disclosure, the handling device of the present disclosure further comprises identification means configured for identifying at least one of the following information:
Whether a container is stored in a storage position of the carrier selected by the tally instruction;
And whether the identity information of the container on the storage bit of the carrier selected by the tally instruction is consistent with the identity information of the container selected by the tally instruction or not.
The identity information of the containers is a unique code, and a code information is set for each container in the warehousing system so that the handling equipment can accurately find the target container, and the specific coding mode depends on the management mode of the warehousing system, can be set by a person skilled in the art based on the actual application scene, and is not limited herein.
In detail, the recognition apparatus includes a 2D/3D image acquisition device.
The control method of the warehousing system in the embodiment comprises the following steps:
the identification device identifies whether the container is stored in the storage position of the carrier selected by the tally instruction;
If the storage bit is stored with the container, continuously identifying whether the identity information of the container is consistent with the identity information of the container selected by the tally instruction, otherwise, entering an exception processing step or a server for alarming;
If the identity information is consistent, the carrying equipment moves the container to a target carrier;
otherwise, the processing step is carried out or the server alarms, that is, the control server is further configured to generate an abnormal processing instruction or send out an alarm signal based on the recognition result of the recognition device as abnormal.
The exception handling step includes entering to generate a next tally operation instruction.
Therefore, the handling equipment carries out information identification before carrying out the tallying operation, so that the resource waste caused by idle work can be avoided, and the tallying efficiency is further improved.
When the warehouse system is finished, the picking operation step is entered, for which purpose the handling device of the present disclosure is further configured to take out and put at least two containers on the target carrier, for which the picking operation is finished, into the picking operation area for the picking operation based on the picking order instruction generated by the control server.
It will be appreciated that the picking operation of the warehousing system may be performed manually or by a picking device, the specific implementation of which is not limited herein.
According to one embodiment of the present disclosure, a workstation zone of the present disclosure interfaces with a docking device that includes a conveyor line or carrier for transferring containers out of the workstation zone for subsequent operations.
According to one embodiment of the present disclosure, a docking device includes a carrier for caching containers.
According to one embodiment of the present disclosure, the workstation area of the present disclosure is provided with a picking station into which the handling device places containers for a picking operation.
After the picking operation is completed, the control server is further configured to update the inventory information based on the results of the picking operation.
Based on the specific picking operation results, the manner in which the control server updates the inventory information includes the following:
First, when the container is empty after the picking operation, the control server updates the inventory information in such a way that the empty container is deleted or the container is noted to be in an idle state.
I.e. the control server is further configured to update the stock information based on when the container is empty after the picking operation.
The removed container returns to the empty container store waiting to be enabled.
Second, when there are items remaining in the container after the picking operation, the handling device returns the container to the carrier, and the control server updates the stock information holding container and deducts the picked item information. For example, 100 bottles of cola were originally stored in the container, 50 bottles remained in the container after the picking operation was completed, and the control server included the container information and updated the number of cola therein to 50 bottles.
That is, the control server is configured to update the inventory information based on the number of items in the container in the current inventory information to the remaining amount when there are items in the container remaining after the picking operation.
Referring to fig. 4, the control method of the warehousing system includes the following main steps:
S10, the control server generates a tally instruction and sends the tally instruction to the carrying equipment;
And S11, the carrying equipment moves at least two containers which have order relevance and are stored on different carriers to the same target carrier based on the tally instruction.
With continued reference to fig. 4, the control method of the warehousing system of the disclosure further includes the following steps:
s12, the control server generates a picking order instruction and sends the picking order instruction to the carrying equipment, wherein the picking order instruction comprises at least two containers on a target carrier with the finished goods;
And S13, the carrying equipment takes out at least two containers on the target carrier based on the order picking instruction and puts the containers in the workstation area.
The control method of the warehousing system firstly carries out the tallying operation, namely at least two containers which have order relevance and are stored on different carriers are stored on the same target carrier, then orders which hit the at least two containers simultaneously are preferentially selected to generate a picking order instruction when picking a picking order, then the at least two containers are carried from the carrier to a workstation area according to the picking order instruction, and finally inventory information is updated.
Obviously, the control method of the warehousing system can take and put the containers from the same carrier to the workstation area for corresponding operation, so that the step that the carrying equipment reciprocates between different carriers in the prior art is omitted, or the step that the containers are taken and put for operation after the different carriers are carried to the workstation area is omitted, and the operation efficiency of the warehousing system is greatly improved.
In order to further update inventory information of the warehousing system in time, when the order picking instruction is completed, the control method of the warehousing system further comprises the following steps:
S14, the control server updates the inventory information.
In detail, based on the specific picking operation result, the manner in which the control server updates the inventory information includes the following:
first, when the container is empty after the picking operation, the control server updates the inventory information to delete the empty container.
I.e. the control server is further configured to delete a container from the current inventory information to update the inventory information or to note that the container is in an idle state, based on when the container is empty after the picking operation.
The removed container returns to the empty container store waiting to be enabled.
Second, when there are items remaining in the container after the picking operation, the handling device returns the container to the carrier, and the control server updates the stock information holding container and deducts the picked item information. For example, 100 bottles of cola were originally stored in the container, 50 bottles remained in the container after the picking operation was completed, and the control server included the container information and updated the number of cola therein to 50 bottles.
That is, the control server is configured to update the inventory information based on the number of items in the container in the current inventory information to the remaining amount when there are items in the container remaining after the picking operation.
According to an embodiment of the present disclosure, if the carrier of the warehousing system of the present disclosure is a movable carrier, the carrier handling device is further configured to handle the current carrier from the workstation area to the inventory area after finishing the tallying operation, so as to avoid wasting resources or inconvenient actions of staff or other devices in the workstation area caused by the space occupied by the carrier which does not participate in the work temporarily.
Similarly, according to an embodiment of the present disclosure, if the carrier of the warehouse system of the present disclosure is a movable carrier, the carrier handling device is further configured to handle the target carrier from the workstation area to the inventory area after the picking operation is completed, so as to avoid wasting resources or inconvenient actions of staff or other devices in the workstation area caused by the space occupied by the carrier temporarily not participating in the work.
It will be appreciated that the carrier handling apparatus may be configured to perform only current carrier retrieval operations after a tallying operation or only target carrier retrieval operations after a picking operation. Of course, the carrier handling device may perform both the current carrier recycling operation after the cargo handling operation and the target carrier recycling operation after the picking operation, and those skilled in the art may select based on the actual application scenario.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.
Claims (21)
1. A warehousing system, comprising:
A workstation area;
A waiting area;
the storage area is used for storing carriers, and the storage positions of the carriers are used for storing containers;
A control server configured to generate a tally instruction;
The control server is further configured to control the carrier handling device to handle at least one pair of carriers selected by the tally instruction;
When one of at least one pair of carriers selected by the tally instruction reaches the workstation area first, the carrier carrying equipment carries the carriers which reach the workstation area first to the waiting area, and the rest carriers in the at least one pair of carriers selected by the tally instruction reach the workstation area, the carrier carrying equipment is controlled to carry the carriers in the waiting area to the workstation area;
And the container handling equipment is configured to move at least two containers which have order relevance and are stored on different carriers to the same target carrier based on the tally instruction.
2. The warehousing system of claim 1, wherein the control server is further configured to generate a pick order instruction including the at least two containers for which a tally is completed;
The container handling apparatus is further configured to remove and place at least two containers on the target carrier into the workstation zone based on the pick order instructions.
3. The warehousing system of claim 1 or 2, wherein the container handling apparatus is configured to transfer a container to a free storage location of the target carrier when the container needs to be moved based on the tally instruction;
or to exchange the container with other containers on the target carrier.
4. The warehousing system of claim 1 or 2, wherein the container handling apparatus is configured to transfer a plurality of containers to the empty storage locations of the target carrier, respectively, when the plurality of containers need to be moved based on the tally instruction;
or exchanging a plurality of the containers with other containers on the target carrier;
or transferring a portion of the containers to a free storage location on the target carrier and exchanging another portion of the containers with other containers on the target carrier.
5. The warehousing system of claim 1 or 2, wherein the container handling apparatus selects a carrier on which one of the at least two containers is located as the target carrier based on the tally instruction.
6. The warehousing system of claim 2 wherein when the target carrier is a stationary carrier, the container handling apparatus comprises:
A mobile container handling apparatus configured to take the at least two containers out of respective current carriers and into the target carrier in the stock area based on the tally instructions; and/or the number of the groups of groups,
The mobile container handling apparatus is further configured to retrieve the at least two containers on the target carrier at the inventory zone based on the pick order instructions and move from the inventory zone to the workstation zone for picking.
7. The warehousing system of claim 2, wherein when the target carrier is a movable carrier, the carrier handling apparatus is configured to handle a current carrier and a target carrier, each storing at least two containers, from the inventory zone to the workstation zone based on the tally instructions;
The container handling apparatus includes a stationary container handling apparatus disposed at the workstation area and configured to take at least two containers out of respective current carriers and into the target carrier based on the tally instructions; and/or the number of the groups of groups,
The stationary container handling apparatus is further configured to retrieve at least two containers from the target carrier for picking based on the pick order instructions.
8. The warehousing system of claim 2, wherein when the target carrier is a movable carrier, the carrier handling apparatus is configured to handle a current carrier storing at least two containers, respectively, from the inventory zone to the workstation zone based on the tally instructions;
The container handling equipment comprises fixed container handling equipment which is arranged in the workstation area and is configured to select one current carrier as a target carrier based on a tally instruction, and take out the containers on the other current carriers and put the containers on the target carrier; and/or the number of the groups of groups,
The stationary container handling apparatus is further configured to retrieve at least two containers from the target carrier for picking based on the pick order instructions.
9. The warehousing system of claim 2 wherein when the target carrier is a mobile carrier, the container handling apparatus comprises:
A mobile container handling apparatus configured to handle the at least two containers from respective current carriers onto the target carrier in the inventory zone;
The carrier handling apparatus is configured to handle the target carrier from the inventory zone to the workstation zone for picking.
10. The warehousing system of claim 7 or 8, wherein the carrier handling equipment is further configured to handle a current carrier from the workstation area to the inventory area after a tally operation is completed; and/or the number of the groups of groups,
The carrier handling apparatus is further configured to handle the target carrier from the workstation area to the inventory area after the picking operation is completed.
11. The warehousing system of claim 7 or 8 wherein the stationary container handling apparatus has a buffer mechanism having at least one buffer bit for buffering containers;
the control server is further configured to control the carrier handling apparatus to handle a selected pair of carriers in the tally instruction to the workstation area;
The stationary container handling apparatus is further configured to take containers on at least one of the pair of carriers out of and into the buffer location, and to take containers of the buffer location out of and into the target carrier after the target carrier is reached.
12. The warehousing system of claim 7 or 8 wherein the stationary container handling apparatus has a buffer mechanism having at least one buffer bit for buffering containers;
the fixed container handling equipment is configured to temporarily store the container with the picking operation completed on the buffer position, and take out and put the container of the buffer position on the target carrier after the target carrier of the container reaches the workstation area.
13. The warehousing system of claim 1 or 2, wherein the container handling apparatus further comprises an identification device configured to identify at least one of the following information:
Whether a container is stored in a storage position of the carrier selected by the tally instruction;
And whether the identity information of the container on the storage bit of the carrier selected by the tally instruction is consistent with the identity information of the container selected by the tally instruction or not.
14. The warehousing system of claim 13 wherein the identification means includes 2D and/or 3D image acquisition devices.
15. The warehousing system of claim 13, wherein the control server is configured to generate an exception handling instruction or issue an alarm signal based on the identification of the device as being abnormal.
16. A warehousing system according to claim 1 or 2, wherein the workstation area is docked with a docking device comprising a conveyor line for delivering containers to or from the workstation.
17. The warehousing system of claim 2 wherein the workstation area is provided with a picking station configured for placing containers to be picked for a picking operation.
18. The warehousing system of claim 2 wherein the control server is further configured to update inventory information based on when the container is empty after the picking operation.
19. The warehousing system of claim 2 wherein the control server is configured to update the quantity of items in the container in the current inventory information to a remaining quantity based on the quantity of items in the container remaining after the picking operation to update the inventory information.
20. A control method of a warehousing system, the warehousing system being as set forth in any one of claims 1 to 19, the control method comprising the steps of:
the control server generates a tally instruction and sends the tally instruction to the carrying equipment;
The control server controls the carrier handling equipment to handle at least one pair of carriers selected by the tally instruction;
When one carrier of at least one pair of carriers selected by the tally instruction reaches a working station area firstly, controlling the carrier carrying equipment to carry the carrier which reaches the working station area firstly to a waiting area, waiting for the rest carriers of at least one pair of carriers selected by the tally instruction to reach the working station area, and controlling the carrier carrying equipment to carry the carrier in the waiting area to the working station area;
The container handling apparatus moves at least two containers having order relevance and stored on different carriers to the same target carrier based on the tally instruction.
21. The control method according to claim 20, characterized in that the control method further comprises the step of:
The control server generates a picking order instruction and sends the picking order instruction to the container handling equipment, wherein the picking order instruction comprises at least two containers on a target carrier with the finished goods;
the container handling apparatus retrieves at least two containers on the target carrier and places the containers in the workstation area based on the pick order instructions.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210138889.4A CN114620386B (en) | 2022-02-15 | 2022-02-15 | Warehouse system and control method thereof |
| PCT/CN2023/075049 WO2023155722A1 (en) | 2022-02-15 | 2023-02-08 | Warehousing system and control method therefor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210138889.4A CN114620386B (en) | 2022-02-15 | 2022-02-15 | Warehouse system and control method thereof |
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| WO2023155722A1 (en) * | 2022-02-15 | 2023-08-24 | 北京极智嘉科技股份有限公司 | Warehousing system and control method therefor |
| WO2024022245A1 (en) * | 2022-07-28 | 2024-02-01 | 北京极智嘉科技股份有限公司 | Warehousing system, warehousing scheduling method, and junction station |
| CN117657644A (en) * | 2022-08-24 | 2024-03-08 | 北京极智嘉科技股份有限公司 | Warehouse management system |
| CN117735129A (en) * | 2022-09-14 | 2024-03-22 | 北京极智嘉科技股份有限公司 | Warehouse system |
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