CN116477261A - Cargo warehouse-in and warehouse-out processing method and device based on three-dimensional warehouse - Google Patents

Abstract

The invention discloses a cargo warehouse-in and warehouse-out processing method and device based on a three-dimensional warehouse. Wherein the method comprises the following steps: after receiving the request signal, determining the signal type of the request signal; when the signal type is determined to be a goods warehousing signal, controlling the stereoscopic warehouse to execute search operation on the map warehouse so as to determine the storage position of a first goods which is requested to be warehoused by the goods warehousing signal in the stereoscopic warehouse, and after controlling the carrying equipment of the stereoscopic warehouse to carry the first goods to the storage position, recording the warehousing goods information of the first goods to the map warehouse; when the type of the signal is determined to be the cargo shipment signal, the cargo shipment signal is determined to request the shipment information of the second cargo to be shipment, and the shipment information is sent to the carrying equipment so that the second cargo corresponding to the shipment information is carried out by the carrying equipment. The invention solves the technical problems that the three-dimensional bin in the related technology cannot realize automatic management, has large dependence on manpower and affects the working efficiency.

Description

Cargo warehouse-in and warehouse-out processing method and device based on three-dimensional warehouse

Technical Field

The invention relates to the technical field of warehouse management, in particular to a cargo warehouse-in and warehouse-out processing method and device based on a three-dimensional warehouse.

Background

The modern logistics business is mainly used for realizing the high-efficiency management of warehouse business such as quick and low-cost sorting in warehouse operation and reducing the proportion of warehouse execution business such as warehouse in-warehouse operation and the like in the enterprise cost. The warehouse management system comprises a warehouse management system, a warehouse management system and a warehouse management system, wherein the warehouse management system in the modern logistics industry mainly comprises management of a warehouse center, warehouse in-out operation and the like, and is used for improving the utilization rate of inventory resources of the warehouse center so as to realize planning, integration, control and scheduling processes for rapidly responding to warehouse demands, namely warehouse management; the warehouse-in and warehouse-out operation can be subdivided into order processing, warehouse-in service, warehouse-out service, inventory service and the like.

However, in existing warehouse operations, shelf support is required when goods are stored; moreover, the multi-machine cooperative operation cannot be performed, collision conflict easily occurs, and the work efficiency is affected due to the fact that the multi-machine cooperative operation is manually processed.

Aiming at the technical problems that the three-dimensional bin in the related technology cannot realize automatic management, has large dependence on manpower and influences the working efficiency, no effective solution is proposed at present.

Disclosure of Invention

The embodiment of the invention provides a cargo warehouse-in and warehouse-out processing method and device based on a three-dimensional warehouse, which at least solve the technical problems that the three-dimensional warehouse in the related art cannot realize automatic management, is greatly dependent on manpower and affects the working efficiency.

According to an aspect of the embodiment of the invention, there is provided a cargo in-out and in-in processing method based on a stereoscopic bin, including: after receiving a request signal, determining the signal type of the request signal, wherein the request signal is used for requesting a stereoscopic warehouse to execute a warehouse-out or entrance operation; when the signal type is determined to be a goods warehousing signal, controlling the stereoscopic warehouse to execute search operation on a graph warehouse so as to determine the storage position of a first goods which are requested to be warehoused by the goods warehousing signal in the stereoscopic warehouse, and after controlling the carrying equipment of the stereoscopic warehouse to carry the first goods to the storage position, recording the warehousing goods information of the first goods to the graph warehouse, wherein the warehousing goods information at least comprises: the storage position information of the first goods and the goods information of the first goods are generated in advance according to the warehouse characteristic information of the stereoscopic warehouse and the type information of the stored goods of the stereoscopic warehouse; when the signal type is determined to be a cargo delivery signal, determining delivery information of a second cargo of which delivery is requested by the cargo delivery signal, and sending the delivery information to the handling equipment so as to use the handling equipment to handle the second cargo corresponding to the delivery information for delivery, wherein the delivery information at least comprises: and the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods.

Optionally, after determining that the signal type is a cargo warehousing signal, the cargo warehousing processing method based on the stereoscopic bin further comprises the following steps: determining a storage state of the stereoscopic bin, wherein the storage state is used for indicating whether the stereoscopic bin is full; and when the storage state indicates that the three-dimensional bin is in a full bin, generating full bin prompt information, wherein the full bin prompt information is used for prompting that the three-dimensional bin does not have an idle position.

Optionally, controlling the stereo bin pair map warehouse to perform a search operation to determine a storage location of the first cargo requested to be put in the warehouse by the cargo put-in signal, including: triggering a detector of the three-dimensional bin according to the cargo inlet signal to detect the warehouse-in cargo position of the three-dimensional bin, so as to obtain a detection result; when the detection result indicates that the goods exist on the warehouse entry goods space, performing global search on the map warehouse of the stereoscopic warehouse to determine an idle position in the stereoscopic warehouse; and determining the idle position as the storage position of the first goods.

Optionally, the handling device is a manipulator, and the handling device for controlling the stereoscopic bin to handle the first cargo to the storage position includes: controlling a plurality of manipulators to cooperatively work so as to grasp the first goods; and when the plurality of manipulators are determined to successfully grab the first goods, controlling the plurality of manipulators to move to the storage position, and placing the first goods in the storage position.

Optionally, after determining that the signal type is a cargo delivery signal, the cargo delivery processing method based on the stereoscopic bin further comprises: determining whether the second cargo exists in the three-dimensional bin according to the cargo delivery signal; when the second cargoes exist in the three-dimensional bin, determining whether the number of the second cargoes in the three-dimensional bin is larger than or equal to the number of cargoes requested to be delivered by the cargo delivery signal; and generating a cargo warehousing request when the number of the second cargoes in the three-dimensional bin is not more than or equal to the number of cargoes requested to be warehoused by the cargo warehouse-out signal, wherein the cargo warehousing request is used for requesting the second cargoes to be warehoused.

Optionally, the handling device is a manipulator, and the delivering information is sent to the handling device, so that the second cargo corresponding to the delivering information is delivered to a warehouse by using the handling device, and the method includes: controlling a plurality of manipulators to cooperatively work so as to grasp the second goods; and when the plurality of manipulators are determined to successfully grab the second goods, controlling the plurality of manipulators to move to the warehouse outlet.

Optionally, sending the shipment information to the handling device to utilize the handling device to handle the second cargo corresponding to the shipment information for shipment, including: and deleting the storage information of the second goods corresponding to the goods delivery signal from the map warehouse.

Optionally, the cargo warehouse-in and warehouse-out processing method based on the three-dimensional warehouse further comprises the following steps: determining bin body information of the stereoscopic bin, wherein the bin body information at least comprises: the size of the stereoscopic bin and the shape of the stereoscopic bin; determining a storage mode of goods stored in the stereoscopic bin; and generating the map warehouse according to the bin information and the storage mode.

Optionally, the cargo warehouse-in and warehouse-out processing method based on the three-dimensional warehouse further comprises the following steps: dynamically displaying the goods warehouse-in state and the goods warehouse-out state of the three-dimensional warehouse through a display interface; verifying the credibility of a cargo warehousing management algorithm of the three-dimensional bin according to the cargo entrance state and the cargo warehousing state, wherein the cargo warehousing management algorithm is used for guiding the three-dimensional bin to execute warehousing operation; and updating the cargo warehouse-in and warehouse-out management algorithm under the condition that the credibility is lower than a preset threshold value.

According to another aspect of the embodiment of the present invention, there is also provided a cargo in-out and in-in processing device based on a stereoscopic bin, including: the first determining unit is used for determining the signal type of the request signal after receiving the request signal, wherein the request signal is used for requesting the stereoscopic bin to execute the warehouse-out or entrance operation; the control unit is used for controlling the stereoscopic warehouse to execute search operation on the map warehouse when the signal type is determined to be a goods warehouse-in signal so as to determine the storage position of a first goods which is required to be warehouse-in by the goods warehouse-in signal in the stereoscopic warehouse, and recording warehouse-in goods information of the first goods to the map warehouse after controlling the carrying equipment of the stereoscopic warehouse to carry the first goods to the storage position, wherein the warehouse-in goods information at least comprises: the storage position information of the first goods and the goods information of the first goods are generated in advance according to the warehouse characteristic information of the stereoscopic warehouse and the type information of the stored goods of the stereoscopic warehouse; the processing unit is used for determining that the cargo delivery signal requests delivery information of a second cargo delivered when the signal type is determined to be the cargo delivery signal, and sending the delivery information to the handling equipment so as to use the handling equipment to carry the second cargo corresponding to the delivery information out of the cargo, wherein the delivery information at least comprises: and the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods.

Optionally, the cargo warehouse-in and warehouse-out processing device based on the stereoscopic bin further comprises: the second determining unit is used for determining the storage state of the three-dimensional bin after determining that the signal type is a cargo storage signal, wherein the storage state is used for indicating whether the three-dimensional bin is full; the first generation unit is used for generating full bin prompt information when the storage state indicates that the three-dimensional bin is in a full bin, wherein the full bin prompt information is used for prompting that the three-dimensional bin does not have an idle position.

Optionally, the control unit includes: the detection module is used for triggering the detector of the three-dimensional bin to detect the warehouse-in cargo space of the three-dimensional bin according to the cargo inlet signal to obtain a detection result; the searching module is used for carrying out global searching on the map warehouse of the three-dimensional warehouse when the detection result indicates that the warehouse-in goods are in the goods position, so as to determine the idle position in the three-dimensional warehouse; and the first determining module is used for determining the idle position as the storage position of the first goods.

Optionally, the handling device is a manipulator, and the control unit includes: the first control module is used for controlling the plurality of manipulators to work cooperatively so as to grab the first goods; and the second control module is used for controlling the plurality of manipulators to move to the storage position and placing the first goods in the storage position when the plurality of manipulators are determined to successfully grab the first goods.

Optionally, the cargo warehouse-in and warehouse-out processing device based on the stereoscopic bin further comprises: the third determining unit is used for determining whether the second cargo exists in the three-dimensional bin according to the cargo delivery signal after determining that the signal type is the cargo delivery signal; a fourth determining unit, configured to determine, when it is determined that the second cargo exists in the stereoscopic bin, whether the number of the second cargo in the stereoscopic bin is greater than or equal to the number of cargos requested to be delivered by the cargo delivery signal; the second generating unit is used for generating a cargo warehousing request when the number of the second cargoes in the three-dimensional bin is not more than or equal to the number of cargoes requested to be warehoused by the cargo warehouse-out signal, wherein the cargo warehousing request is used for requesting the second cargoes to be warehoused.

Optionally, the handling device is a manipulator, and the processing unit includes: the second control module is used for controlling the plurality of manipulators to work cooperatively so as to grab the second goods; and the third control module is used for controlling the plurality of manipulators to move to the warehouse outlet when the plurality of manipulators are determined to successfully grab the second goods.

Optionally, the processing unit includes: and the deleting module is used for deleting the storage information of the second goods corresponding to the goods delivery signal from the map warehouse.

Optionally, the cargo warehouse-in and warehouse-out processing device based on the stereoscopic bin further comprises: a fifth determining unit, configured to determine bin body information of the stereoscopic bin, where the bin body information at least includes: the size of the stereoscopic bin and the shape of the stereoscopic bin; a sixth determining unit, configured to determine a storage manner of the goods stored in the stereoscopic bin; and the third generation unit is used for generating the map warehouse according to the bin body information and the storage mode.

Optionally, the cargo warehouse-in and warehouse-out processing device based on the stereoscopic bin further comprises: the display unit is used for dynamically displaying the goods warehouse-in state and the goods warehouse-out state of the three-dimensional warehouse through a display interface; the verification unit is used for verifying the credibility of a cargo ex-warehouse management algorithm of the three-dimensional warehouse according to the cargo entrance state and the cargo ex-warehouse state, wherein the cargo ex-warehouse management algorithm is used for guiding the three-dimensional warehouse to execute an ex-warehouse operation; and the updating unit is used for updating the cargo warehouse-in and warehouse-out management algorithm under the condition that the credibility is lower than a preset threshold value.

According to another aspect of the embodiment of the invention, there is also provided a stereo bin, where the stereo bin uses any one of the above-mentioned stereo bin-based cargo in-out and in-in processing methods.

According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium including a stored program, wherein the program executes the cargo in-out and in-storage processing method based on the stereoscopic bin according to any one of the above.

According to another aspect of the embodiment of the present invention, there is further provided a processor, where the processor is configured to execute a program, where the program executes any one of the above three-dimensional bin-based cargo in-out and in-storage processing methods.

In the embodiment of the invention, after receiving a request signal, determining the signal type of the request signal, wherein the request signal is used for requesting a stereoscopic bin to execute a warehouse-out or entrance operation; when the signal type is determined to be a cargo warehousing signal, controlling the stereoscopic warehouse to execute search operation on the map warehouse so as to determine the storage position of a first cargo which is requested to be warehoused by the cargo warehousing signal in the stereoscopic warehouse, and after controlling the carrying equipment of the stereoscopic warehouse to carry the first cargo to the storage position, recording the warehousing cargo information of the first cargo to the map warehouse, wherein the warehousing cargo information at least comprises: the storage position information of the first goods and the goods information of the first goods are stored in the map warehouse, and the map warehouse is a map which is generated in advance according to warehouse characteristic information of the stereoscopic warehouse and type information of the stored goods of the stereoscopic warehouse; when the signal type is determined to be the cargo delivery signal, determining delivery information of a second cargo of which the cargo delivery signal requests delivery, and sending the delivery information to the handling equipment so as to use the handling equipment to carry the second cargo corresponding to the delivery information out of the cargo, wherein the delivery information at least comprises: the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods. According to the goods warehouse-in and warehouse-out processing method based on the stereoscopic warehouse, the purposes of searching the storage positions of goods to be warehouse-in the map warehouse or searching the storage positions and the quantity of goods to be warehouse-out in the map warehouse when the map warehouse is constructed to perform warehouse-in or warehouse-out operation are achieved, guiding information is provided for warehouse-in and warehouse-out operation, the warehouse-in and warehouse-out efficiency of the stereoscopic warehouse is improved, the intelligent degree of the stereoscopic warehouse is also improved, the dependence of the warehouse-in and warehouse-out operation on manpower is reduced, and the technical problems that automatic management cannot be achieved for the stereoscopic warehouse in the related art, the dependence on manpower is large, and the working efficiency is influenced are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:

fig. 1 is a hardware structure block diagram of a mobile terminal of a cargo in-out and in-in processing method based on a stereo bin according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method for processing a stereoscopic bin-based cargo in and out of a warehouse in accordance with an embodiment of the invention;

FIG. 3 is a flow chart of a cargo warehousing operation according to an embodiment of the invention;

FIG. 4 is a flow chart of a cargo shipment operation according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a diagram warehouse according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a stereoscopic bin-based cargo in-out and in-in handling device according to an embodiment of the invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As introduced in the background art, the three-dimensional bin in the related art cannot realize automatic management, and is high in dependence on manpower, so that the working efficiency is influenced. The embodiment of the invention provides a cargo warehouse-in and warehouse-out processing method and device based on a stereoscopic warehouse, the stereoscopic warehouse, a computer readable storage medium and a processor.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The method embodiments provided in the embodiments of the present invention may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the operation on the mobile terminal as an example, fig. 1 is a hardware structure block diagram of the mobile terminal of the cargo in-out and in-in storage processing method based on the three-dimensional bin according to the embodiment of the invention. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a method for processing goods in and out of a stereoscopic bin according to an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104, thereby performing various functional applications and data processing, that is, implementing the method described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

According to an embodiment of the present invention, there is provided a method embodiment of a cargo in-out and in-in storage processing method based on a stereo bin, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different from that herein.

Fig. 2 is a flowchart of a cargo in-out and in-in processing method based on a stereoscopic bin according to an embodiment of the invention, as shown in fig. 2, the cargo in-out and in-in processing method based on a stereoscopic bin includes the following steps:

step S202, after receiving the request signal, determining the signal type of the request signal, wherein the request signal is used for requesting the stereoscopic bin to execute the warehouse-out or entrance operation.

In the embodiment, the communication relation with the three-dimensional bin can be established, so that when the three-dimensional bin is required to be required to carry out warehouse entry or warehouse exit, a request signal is directly sent to the three-dimensional bin, the warehouse entry or the warehouse exit can be automatically completed in the rear three-dimensional bin, the manual interaction operation is not required, the intelligent degree of the three-dimensional bin is improved, the dependence on the manual work is reduced, and therefore the cost is saved, and the working efficiency of the three-dimensional bin is improved.

Step S204, when the signal type is determined to be the goods warehousing signal, controlling the stereoscopic warehouse to execute search operation on the graph warehouse so as to determine the storage position of the first goods which are requested to be warehoused by the goods warehousing signal in the stereoscopic warehouse, and after controlling the carrying equipment of the stereoscopic warehouse to carry the first goods to the storage position, recording the warehousing goods information of the first goods to the graph warehouse, wherein the warehousing goods information at least comprises: the map warehouse is a map which is generated in advance according to warehouse characteristic information of the stereoscopic warehouse and type information of the stored goods of the stereoscopic warehouse.

In this embodiment, if it is determined that the request signal is for requesting the warehouse entry of the goods, an automatic search may be performed in the map warehouse to determine a location in the stereoscopic warehouse where the goods to be warehouse-entered may be placed.

Further, after determining the storage position of the goods to be accessed, the goods may be placed at the determined position after being grasped by a handling device, for example, a robot.

After determining that the goods to be put in storage are placed at the storage position, information such as the position where the goods are stored and the type of the goods can be added in the map warehouse, that is, the map warehouse is updated by using the information.

Step S206, when the signal type is determined to be the cargo delivery signal, determining delivery information of a second cargo of which the cargo delivery signal requests delivery, and sending the delivery information to the handling equipment so as to use the handling equipment to carry the second cargo corresponding to the delivery information out of the cargo, wherein the delivery information at least comprises: the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods.

In this embodiment, if it is determined that the request signal is for requesting shipment of the goods, automatic searching may be performed in the map warehouse according to the type of the goods requested to be shipped, so as to determine the storage position, the number, and other information of the goods requested to be shipped in the stereoscopic warehouse.

In addition, the moving mode of the handling equipment, such as a manipulator, can be determined according to the information searched in the map warehouse, and the manipulator is controlled to move the goods to be delivered to the delivery position, so that automatic delivery of the goods to be delivered is realized.

As can be seen from the above, in the embodiment of the present invention, after receiving the request signal, the signal type of the request signal is determined; when the signal type is determined to be a goods warehousing signal, controlling the stereoscopic warehouse to execute search operation on the map warehouse so as to determine the storage position of a first goods which is requested to be warehoused by the goods warehousing signal in the stereoscopic warehouse, and after controlling the carrying equipment of the stereoscopic warehouse to carry the first goods to the storage position, recording the warehousing goods information of the first goods to the map warehouse; when the signal type is determined to be the cargo delivery signal, determining delivery information of a second cargo of which the cargo delivery signal requests delivery, and sending the delivery information to the handling equipment so as to use the handling equipment to carry the second cargo corresponding to the delivery information out of the cargo, wherein the delivery information at least comprises: the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods realize that the storage position of the goods to be stored in the map warehouse or the storage position and quantity of the goods to be stored in the map warehouse are searched when the warehouse is required to store or store out by constructing the map warehouse, so that the aim of providing guiding information for the warehouse in and out operation is fulfilled, the warehouse in and out efficiency of the three-dimensional bin is improved, the intelligent degree of the three-dimensional bin is improved, and the dependence of the warehouse in and out operation on manpower is reduced.

Therefore, through the technical scheme provided by the embodiment of the invention, the technical problems that the three-dimensional bin in the related technology cannot realize automatic management, is greatly dependent on manpower and affects the working efficiency are solved.

The cargo warehousing operation provided in the embodiment of the invention is described below with reference to the accompanying drawings.

According to the embodiment of the invention, after determining that the signal type is the cargo warehousing signal, the cargo warehousing and ex-warehouse processing method based on the three-dimensional bin further comprises the following steps: determining a storage state of the stereoscopic bin, wherein the storage state is used for indicating whether the stereoscopic bin is full; and when the warehouse state indicates that the three-dimensional warehouse is in a full warehouse, generating full warehouse prompting information, wherein the full warehouse prompting information is used for prompting that the three-dimensional warehouse does not have an idle position.

In this embodiment, the warehouse status of the stereoscopic warehouse may be determined first to determine whether it is in a full warehouse status; and when the vehicle is in a full bin state, generating full bin prompt information.

FIG. 3 is a flow chart of a cargo warehousing operation according to an embodiment of the invention, as shown in FIG. 3, after receiving a cargo warehousing signal, whether a stereoscopic bin is full can be determined according to a graph warehouse; if yes, prompting that the warehouse is full. In this way, the management personnel can quickly know the storage information of the stereoscopic bin.

According to the embodiment of the invention, the method for controlling the stereoscopic warehouse to execute searching operation on the map warehouse to determine the storage position of the first goods requested to be put in the warehouse by the goods put in-warehouse signal comprises the following steps: triggering a detector of the three-dimensional bin according to the cargo inlet signal to detect the warehouse entry cargo position of the three-dimensional bin, so as to obtain a detection result; when the detection result shows that the goods exist on the warehouse entry goods position, performing global search on the map warehouse of the stereoscopic warehouse to determine the idle position in the stereoscopic warehouse; and determining the idle position as the storage position of the first goods.

The code of the method is mainly used for python programming realization, and the design module is mainly divided into five modules: the system comprises a warehouse-in module, a warehouse-out module, a warehouse modeling module, a storage structure and a visualization module.

The implementation of the above manner mainly depends on a warehouse-in module, as shown in fig. 3, when a detector detects that a warehouse-in goods is in a warehouse-in goods position, a designed algorithm can perform global search on the warehouse to check whether the corresponding position is available for storage, if so, the corresponding position is output to a control layer, and a mechanical arm is operated to grasp the goods to the corresponding position. Otherwise, the alarm prompts that the warehouse is full.

In an alternative embodiment, the handling apparatus may be a robot, the handling apparatus controlling the stereoscopic bin to handle a first cargo to a storage location, comprising: controlling the plurality of manipulators to cooperatively work so as to grasp the first goods; and when the plurality of manipulators are determined to successfully grab the first goods, controlling the plurality of manipulators to move to the storage position, and placing the first goods in the storage position.

In this embodiment, the manner in which the goods are stacked directly may be employed without the need for shelf support. The gantry crane or the manipulator is used for regional cooperation, a plurality of cargoes are grabbed at one time, and the power-on continues to work after the condition of power failure is met, so that the working efficiency of the three-dimensional bin is improved.

The cargo delivery operation provided in the embodiment of the present invention will be described with reference to the accompanying drawings.

According to the embodiment of the invention, after determining that the signal type is the cargo delivery signal, the cargo delivery processing method based on the three-dimensional bin further comprises the following steps: determining whether a second cargo exists in the three-dimensional bin according to the cargo delivery signal; when the second cargoes exist in the three-dimensional bin, determining whether the number of the second cargoes in the three-dimensional bin is larger than or equal to the number of cargoes requested to be delivered by the cargo delivery signal; and when the number of the second cargoes in the three-dimensional bin is not more than or equal to the number of cargoes in the warehouse-out request of the cargo warehouse-out signal, generating a cargo warehouse-in request, wherein the cargo warehouse-in request is used for requesting the second cargoes to be warehoused.

In this embodiment, whether the goods requiring shipment (i.e., the second goods) exist in the stereoscopic warehouse may be determined according to the goods shipment signal, and when it is determined that the goods requiring shipment exist, it may be determined whether the number of the goods requiring shipment in the stereoscopic warehouse satisfies the number of requiring shipment; if yes, directly executing the ex-warehouse operation; otherwise, a cargo warehousing request is generated, for example, the cargo which requests to be delivered from other areas can be deployed to meet delivery requirements. Namely, the three-dimensional bin provided by the embodiment of the invention can be communicated with other three-dimensional bins to cooperatively finish the delivery of goods, so that the intelligent degree of the three-dimensional bin is further improved.

In an alternative embodiment, the handling device may be a robot, and the delivering information is sent to the handling device, so that the second cargo corresponding to the delivering information is delivered to the delivering device, and the method includes: controlling the plurality of manipulators to cooperatively work so as to grasp the second goods; and when the plurality of manipulators are determined to successfully grab the second goods, controlling the plurality of manipulators to move to the warehouse outlet.

In this embodiment, the plurality of manipulators may be controlled to cooperate to move the requested shipment to the shipment port to ensure that the requested shipment is able to complete a secure shipment.

Fig. 4 is a flow chart of a cargo shipment operation according to an embodiment of the present invention, as shown in fig. 4, the shipment operation is mainly completed through a shipment module. When an order signal is entered, the algorithm will first retrieve globally to see if the source is sufficient. When the goods sources are sufficient, the positions where the goods can be placed can be output, and the map warehouse stores the basic information and the position information of the goods. Otherwise, the alarm prompts the shortage of warehouse goods sources, and the warehouse goods sources are required to be replaced.

According to the above embodiment of the present invention, the sending of the shipment information to the handling apparatus to handle the second shipment corresponding to the shipment information with the handling apparatus includes: and deleting the storage information of the second goods corresponding to the goods delivery signals from the map warehouse.

In the embodiment, after goods requiring to be delivered out of the warehouse are delivered out of the stereoscopic warehouse, the information of the goods can be deleted from the map warehouse to update the map warehouse, so that the subsequent searching operation before the delivering operation is performed is finished based on the latest map warehouse, the delivering accuracy is improved, and invalid work is avoided.

According to the embodiment of the invention, the cargo warehouse-in and warehouse-out processing method based on the three-dimensional warehouse further comprises the following steps: determining bin body information of the three-dimensional bin, wherein the bin body information at least comprises: the size of the stereoscopic bin and the shape of the stereoscopic bin; determining a storage mode of goods stored in the stereoscopic bin; and generating a map warehouse according to the bin information and the storage mode.

In this embodiment, the map repository may be generated according to the bin body information of the stereoscopic bin and the storage manner of the goods in the stereoscopic bin.

This embodiment may be implemented by a warehouse modeling module, for example, the intelligent warehouse needs to determine information such as the size of the site, the type of the stored goods in the area, the maximum stacking height of the goods, etc. in advance, which are some important parameters for completion of initial advanced setting of the warehouse.

Fig. 5 is a schematic diagram of a graph warehouse according to an embodiment of the present invention, and fig. 5 shows a storage structure of the graph warehouse, and as shown in fig. 5, a data structure for storing cargo information and location information is a graph formed by associating multiple linked lists, each linked list being divided into an address pointer and a location, and cargo information and a location. In this way the following beneficial effects can be achieved: 1) The searching speed is high: the sequential storage is continuous, and the address of the stored information structure can be directly found, so that the method is fast and convenient; 2) Efficient insertion and deletion of nodes: when the graph structure is operated for insertion and deletion, only the link address of a node on the deleted node is required to be modified, and no element is required to be moved; 3) Dynamic memory allocation does not result in memory wastage and overflow.

According to the embodiment of the invention, the cargo warehouse-in and warehouse-out processing method based on the three-dimensional warehouse may further include: dynamically displaying the goods warehouse-in state and the goods warehouse-out state of the three-dimensional warehouse through a display interface; verifying the credibility of a cargo ex-warehouse management algorithm of the three-dimensional warehouse according to the cargo entrance state and the cargo ex-warehouse state, wherein the cargo ex-warehouse management algorithm is used for guiding the three-dimensional warehouse to execute ex-warehouse operation; and updating the cargo warehouse-in and warehouse-out management algorithm under the condition that the reliability is lower than a preset threshold value.

In this embodiment, the visualization module may be used to test the algorithm for completion of the goods into the warehouse, order out of the warehouse. The matplotlib library is mainly called to demonstrate warehouse entry and warehouse exit changes.

In summary, according to the cargo warehouse-in and warehouse-out processing method based on the stereoscopic warehouse provided by the embodiment of the invention, the cargo can be stored in a direct stacking mode without the support of a goods shelf, and a mode of replacing a large number of AVGs in the traditional intelligent warehouse by using a mechanical arm or a gantry crane is adopted. The way in which the data structure is stored by the design drawing reduces the need to determine a plurality of basic parameters before warehouse modeling, and the defects that the type of warehouse goods is often changed are overcome. In addition, an optimized thought or a reinforcement learning algorithm can be adopted to replace the method, so that an optimal path can be found, the warehouse-in and warehouse-out time is shortened, and the warehouse-in and warehouse-out efficiency is improved.

According to the cargo warehouse-in and warehouse-out processing method based on the three-dimensional warehouse, provided by the embodiment of the invention, a plurality of linked lists can be designed to be associated into a graph structure, the graph is used for storing basic information of all cargoes and position coordinates thereof, and an algorithm is designed based on the graph; the algorithm divides the warehouse into different areas, and the areas cooperate with multiple machines to avoid collision conflict and improve the working efficiency and the speed and safety of the completion operation; and designing a search algorithm, searching target goods in the map warehouse, finding out a target meeting the condition, and searching by using the target goods in the warehouse, so as to complete the order. The conventional warehouse is not required to transfer cargoes by a large number of AGVs with high cost, but a manipulator and a gantry crane with low cost can be selected for substitution. The goods can be stacked in an open warehouse, so that the cost is reduced. Collision is avoided, and working efficiency is improved. Compared with the existing cargo warehouse-in and warehouse-out mode, the method has the following effective effects: 1) Goods can be stacked in an open warehouse without the support of a goods shelf, so that the cost is reduced; 2) The multi-machine collaborative work can be realized in different areas, collision conflict is avoided, the working efficiency is improved, and the work is completed rapidly and safely; 3) And the design drawing storage structure is used for rapidly adding and deleting cargoes, so that the storage is convenient and the efficiency is improved.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method described in the embodiments of the present application.

According to an embodiment of the present invention, there is further provided a stereoscopic bin-based cargo in-out and in-storage processing device for implementing the stereoscopic bin-based cargo in-out and in-storage processing method, and fig. 6 is a schematic diagram of the stereoscopic bin-based cargo in-out and in-storage processing device according to an embodiment of the present invention, as shown in fig. 6, the device includes: a first determination unit 61, a control unit 63 and a processing unit 65. The cargo in-out and in-in processing device based on the three-dimensional bin is described in detail below.

The first determining unit 61 is configured to determine a signal type of a request signal after receiving the request signal, where the request signal is used to request the stereoscopic bin to perform a warehouse-out or entrance operation.

The control unit 63 is configured to, when determining that the signal type is a cargo warehousing signal, control the stereoscopic warehouse to perform a search operation on the map warehouse to determine a storage position of a first cargo requested to be warehoused by the cargo warehousing signal in the stereoscopic warehouse, and record, after controlling a conveying device of the stereoscopic warehouse to convey the first cargo to the storage position, warehousing cargo information of the first cargo to the map warehouse, where the warehousing cargo information at least includes: the map warehouse is a map which is generated in advance according to warehouse characteristic information of the stereoscopic warehouse and type information of the stored goods of the stereoscopic warehouse.

The processing unit 65 is configured to determine, when the signal type is determined to be a cargo shipment signal, shipment information of a second cargo that the cargo shipment signal requests for shipment, and send the shipment information to the handling device, so as to use the handling device to handle and ship the second cargo corresponding to the shipment information, where the shipment information at least includes: the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods.

Here, it should be noted that the first determining unit 61, the control unit 63, and the processing unit 65 correspond to steps S202 to S206 in the above embodiments, and the three modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to those disclosed in the above embodiments.

As can be seen from the above, in the solution described in the above embodiment of the present invention, the first determining unit may determine the signal type of the request signal after receiving the request signal, where the request signal is used to request the stereo bin to execute the warehouse-out or entrance operation; and then when the signal type is determined to be the goods warehousing signal by utilizing the control unit, controlling the stereoscopic warehouse to execute search operation on the graph warehouse so as to determine the storage position of the first goods which are requested to be warehoused by the goods warehousing signal in the stereoscopic warehouse, and after the first goods are carried to the storage position by controlling the carrying equipment of the stereoscopic warehouse, recording the warehousing goods information of the first goods to the graph warehouse, wherein the warehousing goods information at least comprises: the storage position information of the first goods and the goods information of the first goods are stored in the map warehouse, and the map warehouse is a map which is generated in advance according to warehouse characteristic information of the stereoscopic warehouse and type information of the stored goods of the stereoscopic warehouse; and when the signal type is determined to be the cargo delivery signal by utilizing the processing unit, determining delivery information of a second cargo of which the cargo delivery signal requests delivery, and sending the delivery information to the carrying equipment so as to carry the second cargo corresponding to the delivery information out of the cargo by utilizing the carrying equipment, wherein the delivery information at least comprises: the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods realize that the storage position of the goods to be stored in the map warehouse or the storage position and quantity of the goods to be stored in the map warehouse are searched when the warehouse is required to store or store out by constructing the map warehouse, so that the aim of providing guiding information for the warehouse in and out operation is fulfilled, the warehouse in and out efficiency of the three-dimensional bin is improved, the intelligent degree of the three-dimensional bin is improved, and the dependence of the warehouse in and out operation on manpower is reduced.

Therefore, through the technical scheme provided by the embodiment of the invention, the technical problems that the three-dimensional bin in the related technology cannot realize automatic management, is greatly dependent on manpower and affects the working efficiency are solved.

In an alternative embodiment, the cargo in-out and in-in processing device based on stereoscopic bin further comprises: the second determining unit is used for determining the storage state of the three-dimensional bin after determining that the signal type is a goods storage signal, wherein the storage state is used for indicating whether the three-dimensional bin is full; the first generation unit is used for generating full bin prompt information when the storage state indicates that the three-dimensional bin is in a full bin, wherein the full bin prompt information is used for prompting that the three-dimensional bin does not have an idle position.

In an alternative embodiment, the control unit comprises: the detection module is used for triggering the detector of the three-dimensional bin to detect the warehouse entry cargo position of the three-dimensional bin according to the cargo entry signal to obtain a detection result; the searching module is used for carrying out global searching on the map warehouse of the stereoscopic warehouse when the detection result shows that the warehouse has cargoes, so as to determine the idle position in the stereoscopic warehouse; the first determining module is used for determining the idle position as the storage position of the first goods.

In an alternative embodiment, the handling device is a robot, the control unit comprising: the first control module is used for controlling the plurality of manipulators to work cooperatively so as to grasp first goods; and the second control module is used for controlling the plurality of manipulators to move to the storage position and placing the first goods in the storage position when the plurality of manipulators are determined to successfully grab the first goods.

In an alternative embodiment, the cargo in-out and in-in processing device based on stereoscopic bin further comprises: the third determining unit is used for determining whether a second cargo exists in the three-dimensional bin according to the cargo delivery signal after determining that the signal type is the cargo delivery signal; a fourth determining unit, configured to determine, when it is determined that the second cargo exists in the stereo bin, whether the number of the second cargo in the stereo bin is greater than or equal to the number of cargos requested to be delivered by the cargo delivery signal; the second generating unit is used for generating a cargo warehousing request when the number of the second cargoes in the three-dimensional bin is not more than or equal to the number of cargoes requested to go out of the warehouse by the cargo shipment signal, wherein the cargo warehousing request is used for requesting the second cargoes to be warehoused.

In an alternative embodiment, the handling device is a robot, the processing unit comprising: the second control module is used for controlling the plurality of manipulators to work cooperatively so as to grasp a second cargo; and the third control module is used for controlling the plurality of manipulators to move to the warehouse outlet when the plurality of manipulators are determined to successfully grab the second goods.

In an alternative embodiment, a processing unit includes: and the deleting module is used for deleting the storage information of the second goods corresponding to the goods delivery signal from the picture warehouse.

In an alternative embodiment, the cargo in-out and in-in processing device based on stereoscopic bin further comprises: a fifth determining unit, configured to determine bin body information of the stereoscopic bin, where the bin body information at least includes: the size of the stereoscopic bin and the shape of the stereoscopic bin; a sixth determining unit, configured to determine a storage mode of the goods stored in the stereoscopic bin; and the third generation unit is used for generating a graph warehouse according to the bin body information and the storage mode.

In an alternative embodiment, the cargo in-out and in-in processing device based on stereoscopic bin further comprises: the display unit is used for dynamically displaying the goods warehouse-in state and the goods warehouse-out state of the three-dimensional warehouse through the display interface; the verification unit is used for verifying the credibility of a cargo ex-warehouse management algorithm of the three-dimensional warehouse according to the cargo entrance state and the cargo ex-warehouse state, wherein the cargo ex-warehouse management algorithm is used for guiding the three-dimensional warehouse to execute ex-warehouse operation; and the updating unit is used for updating the cargo warehouse-in and warehouse-out management algorithm under the condition that the reliability is lower than a preset threshold value.

According to another aspect of the embodiment of the invention, a three-dimensional warehouse is provided, and the three-dimensional warehouse is based on the goods input and output warehouse processing method.

According to another aspect of the embodiments of the present invention, there is also provided a computer readable storage medium including a stored program, wherein the program executes any one of the above three-dimensional bin-based cargo in-out-in-storage processing methods.

Alternatively, in the present embodiment, the above-described computer-readable storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of communication devices.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: after receiving the request signal, determining the signal type of the request signal, wherein the request signal is used for requesting the stereoscopic bin to execute the warehouse-out or entrance operation; when the signal type is determined to be a cargo warehousing signal, controlling the stereoscopic warehouse to execute search operation on the map warehouse so as to determine the storage position of a first cargo which is requested to be warehoused by the cargo warehousing signal in the stereoscopic warehouse, and after controlling the carrying equipment of the stereoscopic warehouse to carry the first cargo to the storage position, recording the warehousing cargo information of the first cargo to the map warehouse, wherein the warehousing cargo information at least comprises: the storage position information of the first goods and the goods information of the first goods are stored in the map warehouse, and the map warehouse is a map which is generated in advance according to warehouse characteristic information of the stereoscopic warehouse and type information of the stored goods of the stereoscopic warehouse; when the signal type is determined to be the cargo delivery signal, determining delivery information of a second cargo of which the cargo delivery signal requests delivery, and sending the delivery information to the handling equipment so as to use the handling equipment to carry the second cargo corresponding to the delivery information out of the cargo, wherein the delivery information at least comprises: the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: determining a storage state of the stereoscopic bin, wherein the storage state is used for indicating whether the stereoscopic bin is full; and when the warehouse state indicates that the three-dimensional warehouse is in a full warehouse, generating full warehouse prompting information, wherein the full warehouse prompting information is used for prompting that the three-dimensional warehouse does not have an idle position.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: triggering a detector of the three-dimensional bin according to the cargo inlet signal to detect the warehouse entry cargo position of the three-dimensional bin, so as to obtain a detection result; when the detection result shows that the goods exist on the warehouse entry goods position, performing global search on the map warehouse of the stereoscopic warehouse to determine the idle position in the stereoscopic warehouse; and determining the idle position as the storage position of the first goods.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: controlling the plurality of manipulators to cooperatively work so as to grasp the first goods; and when the plurality of manipulators are determined to successfully grab the first goods, controlling the plurality of manipulators to move to the storage position, and placing the first goods in the storage position.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: determining whether a second cargo exists in the three-dimensional bin according to the cargo delivery signal; when the second cargoes exist in the three-dimensional bin, determining whether the number of the second cargoes in the three-dimensional bin is larger than or equal to the number of cargoes requested to be delivered by the cargo delivery signal; and when the number of the second cargoes in the three-dimensional bin is not more than or equal to the number of cargoes in the warehouse-out request of the cargo warehouse-out signal, generating a cargo warehouse-in request, wherein the cargo warehouse-in request is used for requesting the second cargoes to be warehoused.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: controlling the plurality of manipulators to cooperatively work so as to grasp the second goods; and when the plurality of manipulators are determined to successfully grab the second goods, controlling the plurality of manipulators to move to the warehouse outlet.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: and deleting the storage information of the second goods corresponding to the goods delivery signals from the map warehouse.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: determining bin body information of the three-dimensional bin, wherein the bin body information at least comprises: the size of the stereoscopic bin and the shape of the stereoscopic bin; determining a storage mode of goods stored in the stereoscopic bin; and generating a map warehouse according to the bin information and the storage mode.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: dynamically displaying the goods warehouse-in state and the goods warehouse-out state of the three-dimensional warehouse through a display interface; verifying the credibility of a cargo ex-warehouse management algorithm of the three-dimensional warehouse according to the cargo entrance state and the cargo ex-warehouse state, wherein the cargo ex-warehouse management algorithm is used for guiding the three-dimensional warehouse to execute ex-warehouse operation; and updating the cargo warehouse-in and warehouse-out management algorithm under the condition that the reliability is lower than a preset threshold value.

According to another aspect of the embodiment of the present invention, there is further provided a processor, configured to execute a program, where the program executes any one of the above three-dimensional bin-based cargo in-out and in-in processing methods.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. The cargo warehouse-in and warehouse-out processing method based on the three-dimensional warehouse is characterized by comprising the following steps of:

after receiving a request signal, determining the signal type of the request signal, wherein the request signal is used for requesting a stereoscopic warehouse to execute a warehouse-out or entrance operation;

when the signal type is determined to be a goods warehousing signal, controlling the stereoscopic warehouse to execute search operation on a graph warehouse so as to determine the storage position of a first goods which are requested to be warehoused by the goods warehousing signal in the stereoscopic warehouse, and after controlling the carrying equipment of the stereoscopic warehouse to carry the first goods to the storage position, recording the warehousing goods information of the first goods to the graph warehouse, wherein the warehousing goods information at least comprises: the storage position information of the first goods and the goods information of the first goods are generated in advance according to the warehouse characteristic information of the stereoscopic warehouse and the type information of the stored goods of the stereoscopic warehouse;

When the signal type is determined to be a cargo delivery signal, determining delivery information of a second cargo of which delivery is requested by the cargo delivery signal, and sending the delivery information to the handling equipment so as to use the handling equipment to handle the second cargo corresponding to the delivery information for delivery, wherein the delivery information at least comprises: and the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods.

2. The stereoscopic bin-based cargo out-of-warehouse processing method of claim 1, further comprising, after determining the signal type as a cargo in-warehouse signal:

determining a storage state of the stereoscopic bin, wherein the storage state is used for indicating whether the stereoscopic bin is full;

and when the storage state indicates that the three-dimensional bin is in a full bin, generating full bin prompt information, wherein the full bin prompt information is used for prompting that the three-dimensional bin does not have an idle position.

3. The stereoscopic bin-based cargo out-of-warehouse processing method according to claim 1, wherein controlling the stereoscopic bin to perform a search operation on a map warehouse to determine a storage location of a first cargo that the cargo-in-warehouse signal requests to be in-warehouse comprises:

Triggering a detector of the three-dimensional bin according to the cargo inlet signal to detect the warehouse-in cargo position of the three-dimensional bin, so as to obtain a detection result;

when the detection result indicates that the goods exist on the warehouse entry goods space, performing global search on the map warehouse of the stereoscopic warehouse to determine an idle position in the stereoscopic warehouse;

and determining the idle position as the storage position of the first goods.

4. The stereoscopic bin-based cargo out-of-warehouse processing method of claim 1, wherein the handling device is a robotic arm, the handling device controlling the stereoscopic bin to handle the first cargo to the storage location comprising:

controlling a plurality of manipulators to cooperatively work so as to grasp the first goods;

and when the plurality of manipulators are determined to successfully grab the first goods, controlling the plurality of manipulators to move to the storage position, and placing the first goods in the storage position.

5. The stereoscopic bin-based cargo out-of-warehouse processing method of claim 1, further comprising, after determining the signal type as a cargo out-of-warehouse signal:

determining whether the second cargo exists in the three-dimensional bin according to the cargo delivery signal;

When the second cargoes exist in the three-dimensional bin, determining whether the number of the second cargoes in the three-dimensional bin is larger than or equal to the number of cargoes requested to be delivered by the cargo delivery signal;

and generating a cargo warehousing request when the number of the second cargoes in the three-dimensional bin is not more than or equal to the number of cargoes requested to be warehoused by the cargo warehouse-out signal, wherein the cargo warehousing request is used for requesting the second cargoes to be warehoused.

6. The stereoscopic bin-based cargo in-out and in-storage processing method according to claim 1, wherein the handling apparatus is a robot, and the out-of-storage information is sent to the handling apparatus to handle the second cargo corresponding to the out-of-storage information with the handling apparatus, comprising:

controlling a plurality of manipulators to cooperatively work so as to grasp the second goods;

and when the plurality of manipulators are determined to successfully grab the second goods, controlling the plurality of manipulators to move to the warehouse outlet.

7. The stereoscopic bin-based cargo out-of-warehouse processing method according to claim 6, wherein transmitting the out-of-warehouse information to the handling apparatus to handle the second cargo corresponding to the out-of-warehouse information with the handling apparatus, comprises:

And deleting the storage information of the second goods corresponding to the goods delivery signal from the map warehouse.

8. The stereoscopic bin-based cargo out-of-warehouse processing method according to any one of claims 1 to 7, further comprising:

determining bin body information of the stereoscopic bin, wherein the bin body information at least comprises: the size of the stereoscopic bin and the shape of the stereoscopic bin;

determining a storage mode of goods stored in the stereoscopic bin;

and generating the map warehouse according to the bin information and the storage mode.

9. The stereoscopic bin-based cargo out-of-warehouse processing method according to any one of claims 1 to 7, further comprising:

dynamically displaying the goods warehouse-in state and the goods warehouse-out state of the three-dimensional warehouse through a display interface;

verifying the credibility of a cargo warehousing management algorithm of the three-dimensional bin according to the cargo entrance state and the cargo warehousing state, wherein the cargo warehousing management algorithm is used for guiding the three-dimensional bin to execute warehousing operation;

and updating the cargo warehouse-in and warehouse-out management algorithm under the condition that the credibility is lower than a preset threshold value.

10. Goods go out warehouse entry processing apparatus based on three-dimensional storehouse, characterized by comprising:

the first determining unit is used for determining the signal type of the request signal after receiving the request signal, wherein the request signal is used for requesting the stereoscopic bin to execute the warehouse-out or entrance operation;

the control unit is used for controlling the stereoscopic warehouse to execute search operation on the map warehouse when the signal type is determined to be a goods warehouse-in signal so as to determine the storage position of a first goods which is required to be warehouse-in by the goods warehouse-in signal in the stereoscopic warehouse, and recording warehouse-in goods information of the first goods to the map warehouse after controlling the carrying equipment of the stereoscopic warehouse to carry the first goods to the storage position, wherein the warehouse-in goods information at least comprises: the storage position information of the first goods and the goods information of the first goods are generated in advance according to the warehouse characteristic information of the stereoscopic warehouse and the type information of the stored goods of the stereoscopic warehouse;

the processing unit is used for determining that the cargo delivery signal requests delivery information of a second cargo delivered when the signal type is determined to be the cargo delivery signal, and sending the delivery information to the handling equipment so as to use the handling equipment to carry the second cargo corresponding to the delivery information out of the cargo, wherein the delivery information at least comprises: and the storage position information of the second goods in the three-dimensional bin and the quantity of the second goods.