CN117775582A

CN117775582A - Method, device, system and computer storage medium for controlling warehouse-in and warehouse-out

Info

Publication number: CN117775582A
Application number: CN202311837940.1A
Authority: CN
Inventors: 王哲; 张雷
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2023-12-28
Filing date: 2023-12-28
Publication date: 2024-03-29

Abstract

The disclosure relates to a warehouse-in and warehouse-out control method, a warehouse-in and warehouse-out control device, a warehouse-out control system and a computer storage medium, and relates to the technical field of warehouse-in and warehouse-out. The warehouse-in and warehouse-out control method comprises the following steps: controlling a carrying device to carry and store the warehouse-in goods to a first target temporary storage position at the bottom of a first goods shelf along a goods carrying warehouse-in path; controlling a first access device to move the warehouse-in goods from a first target temporary storage position to a target warehouse-in goods position; controlling a second access device to move the shipment from the target shipment location to a second target temporary storage position at the bottom of the second shelf; controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to the second target temporary storage position; and controlling the conveying equipment to convey the delivered goods from the second target temporary storage position to be delivered along a goods delivery path, wherein the direction of the goods delivery path is different from that of the goods delivery path. The system and the method can effectively improve warehouse-in and warehouse-out efficiency.

Description

Method, device, system and computer storage medium for controlling warehouse-in and warehouse-out

Technical Field

The disclosure relates to the technical field of warehousing, and in particular relates to a warehouse-in and warehouse-out control method, a warehouse-out and warehouse-out control device, a warehouse-in and warehouse-out control system and a computer storage medium.

Background

The existing warehouse industry typically employs robots integrated with automatic climbing and movement capabilities to access and transport goods in roadway movement between shelves. The warehouse is large in area, and the mode and the path of the robot for transporting goods are reasonably planned, so that the efficiency of delivering and warehousing can be effectively improved.

Disclosure of Invention

The inventor researches and discovers that the current warehouse industry has larger warehouse area and frequent warehouse-in and warehouse-out tasks, the robot needs to carry cargoes between the warehouse and an external platform and also needs to store and fetch cargoes from a goods shelf, so that the path of the robot for executing the warehouse-in and warehouse-out tasks is complex, disorder is easily caused, and the warehouse-in and warehouse-out efficiency is influenced.

Based on the problem, the disclosure provides a warehouse-in and warehouse-out control method, when a warehouse-in task is executed, transfer of warehouse-in goods and warehouse-out goods between an external workstation and a warehouse is allocated to a carrying device for execution, and a process of storing the warehouse-in goods into a target warehouse-in goods place and taking out the warehouse-out goods from the target warehouse-out goods place is allocated to an access device for execution. Therefore, the in-out warehouse process is decomposed, the carrying equipment and the access equipment are controlled to cooperate to finish warehouse entry, the task complexity of the carrying equipment and the access equipment is reduced, the transportation path of the carrying equipment and the access equipment is easy to plan, the whole in-out warehouse process is more orderly, and the in-out warehouse efficiency can be improved.

The warehouse-in and warehouse-out method provided by the disclosure enables the carrying equipment to carry warehouse-in cargoes into warehouse and then carry warehouse-out cargoes out of warehouse, thereby fully utilizing the transportation capacity of the carrying equipment and further improving the warehouse-in and warehouse-out efficiency.

According to some embodiments of the present disclosure, there is provided a method of controlling access to a warehouse, including: controlling a carrying device to carry and store the warehouse-in goods to a first target temporary storage position at the bottom of a first goods shelf along a goods carrying warehouse-in path; controlling a first access device to move the warehouse-in goods from a first target temporary storage position to a target warehouse-in goods position; controlling a second access device to move the shipment from the target shipment location to a second target temporary storage position at the bottom of the second shelf; controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to the second target temporary storage position; and controlling the conveying equipment to convey the delivered goods from the second target temporary storage position to be delivered along a goods delivery path, wherein the direction of the goods delivery path is different from that of the goods delivery path.

In some embodiments, the strip warehouse entry path is planned according to the aisle at the bottom of the racks, and the strip warehouse exit path is planned according to the roadway between the racks.

In some embodiments, the warehouse entry path includes, according to a aisle plan at the bottom of the rack: the belt warehouse-in path comprises a channel at the bottom of the first goods shelf; the belt shipment path comprises the following steps according to roadway planning among the racks: the strip shipment path includes any one of the lanes on both sides of the second shelf.

In some embodiments, when the first rack and the second rack are the same rack and a direction from the first target staging position to the second target staging position is the same as a travel direction of the handling device on a aisle of the first rack bottom, controlling the handling device to move from a travel area corresponding to the first target staging position to a travel area corresponding to the second target staging position includes: controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to the second target temporary storage position along a channel at the bottom of the first goods shelf; or controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position corresponding to the first target temporary storage position at the bottom of the adjacent goods shelf of the first goods shelf; controlling the carrying equipment to move along a channel at the bottom of the adjacent goods shelf of the first goods shelf from a driving area corresponding to the first corresponding position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position at the bottom of the adjacent goods shelf of the first goods shelf; and controlling the conveying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position.

In some embodiments, in a case where the first rack and the second rack are the same rack and a direction from the first target staging position to the second target staging position is opposite to a travel direction of the handling device on a aisle of the first rack bottom, controlling the handling device to move from a travel area corresponding to the first target staging position to a travel area corresponding to the second target staging position includes: controlling the carrying equipment to drive out of the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position and move to a first roadway adjacent to the first goods shelf, wherein the first roadway is any one of the roadways on two sides of the first goods shelf; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the first roadway along the first roadway; and controlling the conveying equipment to drive into the bottom of the first goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

In some embodiments, when the first shelf and the second shelf are adjacent shelves and the first target staging position points to a second corresponding position in the first shelf that corresponds to the second target staging position in the same direction as the travel direction of the handling device in the aisle at the bottom of the first shelf, controlling the handling device to move from the travel area corresponding to the first target staging position to the travel area corresponding to the second target staging position includes: controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position in the first goods shelf along a channel at the bottom of the first goods shelf; controlling the carrying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position at the bottom of the second goods shelf; or controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position at the bottom of the second goods shelf and corresponding to the first target temporary storage position; and controlling the carrying equipment to move from the driving area corresponding to the first corresponding position to the driving area corresponding to the second target temporary storage position along the channel at the bottom of the second goods shelf.

In some embodiments, in a case where the first rack and the second rack are adjacent racks, and the first target staging position points to a second corresponding position in the first rack that corresponds to the second target staging position in a direction opposite to a direction of travel of the handling device in the aisle at the bottom of the first rack, controlling the handling device to move from the travel area corresponding to the first target staging position to the travel area corresponding to the second target staging position includes: controlling the carrying equipment to drive out of the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position and move to a second roadway adjacent to the second goods shelf, wherein the second roadway is any one of two side roadways of the second goods shelf; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the second roadway along the second roadway; and controlling the conveying equipment to drive into the bottom of the second goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

In some embodiments, the strip warehouse entry path is planned according to a roadway between shelves and the strip warehouse exit path is planned according to a aisle at the bottom of the shelf.

In some embodiments, the load-in path comprises, according to a roadway plan between the racks: the belt warehouse-in path comprises any one of roadways on two sides of the first goods shelf; the path of the shipment of the goods includes according to the channel planning of the goods shelf bottom: the strip shipment path includes a channel at the bottom of the second shelf.

In some embodiments, in a case where the first rack and the second rack are the same rack and the first target staging position points to the second target staging position in a direction opposite to a travel direction of the handling device in the aisle at the bottom of the second rack, controlling the handling device to move from the travel area corresponding to the first target staging position to the travel area corresponding to the second target staging position includes: controlling the carrying equipment to drive out of the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position and move to a first roadway adjacent to the first goods shelf, wherein the first roadway is any one of the roadways on two sides of the first goods shelf; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the first roadway along the first roadway; and controlling the conveying equipment to drive into the bottom of the first goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

In some embodiments, in a case where the first rack and the second rack are the same rack, and the direction in which the first target staging position points to the second target staging position is the same as the travel direction of the handling apparatus in the aisle of the second rack bottom, controlling the handling apparatus to move from the travel area corresponding to the first target staging position to the travel area corresponding to the second target staging position includes: controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to the second target temporary storage position along a channel at the bottom of the first goods shelf; or controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position corresponding to the first target temporary storage position at the bottom of the adjacent goods shelf of the first goods shelf; controlling the carrying equipment to move from a driving area corresponding to the first corresponding position to a driving area corresponding to a second corresponding position corresponding to a second target temporary storage position at the bottom of the adjacent goods shelf along the channel at the bottom of the adjacent goods shelf; and controlling the conveying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position.

In some embodiments, in a case where the first rack and the second rack are adjacent racks, and the first target staging position points to a first corresponding position in the racks that corresponds to the second target staging position in a direction opposite to a travel direction of the handling device in a aisle at a bottom of the second rack, controlling the handling device to move from a travel area corresponding to the first target staging position to a travel area corresponding to the second target staging position includes: controlling the carrying equipment to drive out of the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position and move to a second roadway adjacent to the second goods shelf, wherein the second roadway is any one of two side roadways of the second goods shelf; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the second roadway along the second roadway; and controlling the conveying equipment to drive into the bottom of the second goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

In some embodiments, in a case where the first rack and the second rack are adjacent racks, and the first target staging position points to a second corresponding position in the first rack that corresponds to the second target staging position in the same direction as the travel direction of the handling device in the aisle at the bottom of the second rack, controlling the movement of the handling device from the travel area that corresponds to the first target staging position to the travel area that corresponds to the second target staging position includes: controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position at the bottom of the second goods shelf and corresponding to the first target temporary storage position; controlling the carrying equipment to move from the driving area corresponding to the first corresponding position to the driving area corresponding to the second target temporary storage position along the channel at the bottom of the second goods shelf; or controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position at the bottom of the first goods shelf along the channel at the bottom of the first goods shelf; and controlling the conveying equipment to move from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position transversely across the roadway.

In some embodiments, the aisle at the bottom of the rack is a low aisle or a high aisle, wherein the low aisle allows the handling equipment to pass low lift cargo; the elevated channel allows the handling equipment to elevated lift cargo therethrough.

In some embodiments, the first target staging location is located on the same shelf as the target warehouse entry location or on an adjacent shelf; the second target temporary storage location is located on the same shelf or on an adjacent shelf as the target delivery location.

In some embodiments, the handling device is an automated guided vehicle, and the first access device or the second access device is an access mechanism suspended from and moving laterally on the pallet, or a robot walking on the ground with a lifting mechanism and access mechanism.

According to other embodiments of the present disclosure, there is provided an in-out warehouse control device, including: a first control module configured to control the handling device to handle and store the warehouse-in goods along the warehouse-in path of the belt goods to a first target temporary storage position at the bottom of the first goods shelf; a second control module configured to control the first access device to move the warehouse entry cargo from the first target temporary storage location to the target warehouse entry cargo location; a third control module configured to control the second access device to move the shipment from the target shipment location to a second target temporary location at the bottom of the second shelf; a fourth control module configured to control the handling equipment to move along the adjustment path from the travel area corresponding to the first target temporary storage position to the travel area corresponding to the second target temporary storage position; and a fifth control module configured to control the handling apparatus to handle the shipment from the second target temporary storage location along a shipment path, wherein the direction of the shipment path is different from the direction of the shipment path.

According to other embodiments of the present disclosure, there is provided an in-out warehouse control device, including: a processor; and a memory coupled to the processor for storing instructions that, when executed by the processor, cause the processor to perform the method of controlling access as described above.

According to further embodiments of the present disclosure, there is provided a warehouse entry control system comprising: a warehouse-in and warehouse-out control device as described above; the conveying equipment is configured to convey and store the warehouse-in goods to the first target temporary storage position, move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to the second target temporary storage position, and convey the warehouse-out goods from the second target temporary storage position; and the access equipment is configured to move the warehouse-in goods from the first target temporary storage position to the target warehouse-in goods position or move the warehouse-out goods from the target warehouse-out goods position to the second target temporary storage position.

According to further embodiments of the present disclosure, a computer readable storage medium is provided, on which a computer program is stored, wherein the program when executed by a processor implements the steps of the access control method as described above.

The warehouse-in and warehouse-out control method provided by the disclosure can effectively improve the warehouse-in and warehouse-out efficiency.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

Fig. 1A illustrates a schematic diagram of warehousing goods in accordance with some embodiments of the present disclosure.

FIG. 1B illustrates a schematic diagram of a pallet according to some embodiments of the present disclosure.

FIG. 1C illustrates a schematic structural view of a shelf-hung access mechanism according to some embodiments of the present disclosure.

Fig. 2 illustrates a flow diagram of a method of controlling access to a warehouse in accordance with some embodiments of the present disclosure.

Fig. 3 illustrates a schematic diagram of a path of a handling device load into a pallet according to some embodiments of the present disclosure.

Fig. 4 illustrates a schematic view of a path of a handling device load into a pallet according to further embodiments of the present disclosure.

Fig. 5A-5D illustrate schematic diagrams of a path of a handling device load into a pallet and a load out of the pallet according to some embodiments of the present disclosure.

Fig. 5E-5H illustrate schematic diagrams of a path of a handling device load into a pallet and a load out of the pallet according to further embodiments of the present disclosure.

Fig. 6 illustrates a schematic structural diagram of an access control device according to some embodiments of the present disclosure.

Fig. 7 is a schematic structural view of an access control device according to other embodiments of the present disclosure.

Fig. 8 illustrates a schematic diagram of a configuration of an access control system according to some embodiments of the present disclosure.

Detailed Description

The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. 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. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.

The warehouse comprises a plurality of shelves, wherein the shelves are provided with a plurality of layers of goods places for storing goods, and the goods on the goods places can be stored in the form of containers such as bins, for example, each goods place stores one bin. The process of delivering and storing the goods is that the delivered goods are delivered from an external work station and stored in a target delivering goods place, and delivering the goods are carried out, namely, delivering the delivered goods from the target delivering goods place and delivered to the external work station.

The temporary storage position formed by the temporary storage rack arranged at the bottom of the goods shelf is used for transferring when goods are put in and put out of the warehouse, and the transfer of the goods is realized by matching with the use of the carrying equipment and the storage equipment. The handling device is responsible for transferring goods between the temporary storage location and the external workstation, and the access device is responsible for transferring goods between the temporary storage location and the goods space.

In some embodiments, the handling device is an automated guided vehicle, has an automatic navigation function, can travel between a travel area corresponding to the temporary storage position and the workstation, and has an loading mechanism, and can store and fetch goods on the temporary storage rack. The traveling area corresponding to the temporary storage position is an active area for the handling equipment to access the goods on the temporary storage rack, for example, the traveling area corresponding to the temporary storage position comprises an area below the temporary storage rack.

The storage and taking equipment is used for storing and taking goods on the goods shelf and the temporary storage rack, and the goods between the goods space and the temporary storage position are transferred. In some embodiments, the access device is an access mechanism that hangs on a pallet and moves on the sides of the pallet, or a robot with a lifting mechanism and access mechanism that walks on the ground, such as an existing multi-level bin robot. Where the access devices are storage mechanisms suspended from shelves, there may be one or more storage mechanisms on each shelf. When the access device is a robot walking on the ground, it is necessary that there is no blocking mechanism on the ground that blocks the robot from walking.

Fig. 1A illustrates a schematic diagram of warehousing goods in accordance with some embodiments of the present disclosure. As shown in fig. 1A, the goods 140 are circulated among the shelves 110, the transition zone 120, and the workstation 130 during the warehouse-in and warehouse-out process. A handling device (e.g., a transfer trolley) 150 transfers and stores the warehoused cargo from the workstation 130 through the transition zone 120 to a first staging location at the bottom of the pallet 110, from where it is then transferred to a target warehouse location by a storage device (e.g., a storage mechanism on the pallet) 160. The access device 160 (which may not be the same access device as the aforementioned access device for transferring the warehoused cargo, and the access device 160 is not specifically limited to a specific access device) moves the shipment from the target shipment location to the second temporary storage location, the handling device 150 moves from the traveling area corresponding to the first temporary storage location to the traveling area corresponding to the second temporary storage location, takes out the shipment, leaves the shelf area, and passes through the transition area 120 to handle the shipment to the workstation 130.

The workstation 130 is a working position for picking the cargoes 140, and generally includes a distributing rack or a distributing slot, and a worker or a mechanical arm can wait for the carrying device 150 to carry the cargoes 140 at the workstation 130, and pick the corresponding cargoes to finish picking.

The workstation 130 is shown in fig. 1A by way of example on one side of the shelves 110, and only one. It will be appreciated that the number of workstations 130 may be provided as many as desired, and that the location of the workstations 130 relative to the shelves 110 may likewise be provided as desired, e.g., the workstations 130 may be provided on both sides of the shelves 110.

FIG. 1B illustrates a schematic diagram of a pallet according to some embodiments of the present disclosure. As shown in fig. 1B, the pallet 110 includes a plurality of layers of cargo supports, such as shelves or other structures for supporting cargo, arranged in a vertically spaced apart relationship, so as to form storage locations arranged in a vertically spaced apart relationship, the cargo supports extending in a horizontal direction to form a plurality of cargo locations on the same layer (e.g., each layer of storage locations includes 2 rows of cargo locations in fig. 1B).

A layer of staging locations for staging goods is provided at the bottom of the shelves (the form in which all of the shelves 110 are provided with staging locations on the bottom side in fig. 1B is merely exemplary). As shown in fig. 1B, a temporary storage rack 111 extending in a horizontal direction is provided below the bottom-most cargo support of the pallet, and the temporary storage support is typically a rack or a support plate capable of supporting the cargo, thereby forming a temporary storage position. One or more access mechanisms 112 are suspended from the shelves 110, the access mechanisms 112 being movable laterally of the shelves 110 for transferring cargo between a staging position and a cargo space.

FIG. 1C illustrates a schematic structural view of a shelf-hung access mechanism according to some embodiments of the present disclosure. As shown in fig. 1C, the storing and taking mechanism 112 includes a transverse rail 1121, a vertical rail 1122, and a fork 1123, the fork 1123 is slidably connected to the vertical rail 1122, and the vertical rail 1122 is slidably connected to the transverse rail 1121, so that the fork 1123 moves along the entire side of the rack 110, and the goods on the rack 110 are stored and taken.

Storage and retrieval mechanisms 112 may be provided on both sides of the pallet 110, with the forks 1123 moving along the sides of the pallet 110, and the lanes between the pallet and the pallet providing the travel space for the forks 1123 to store and retrieve goods.

The transverse rail 1121 is fixed on a cross beam on the surface of the goods shelf 110, the vertical rail 1122 and the fork 1123 integrally move horizontally and transversely along the goods shelf 110 through driving wheels and driven wheels, the lifting movement of the fork 1123 on the vertical rail can be driven by a driving belt, and the lifting movement can be realized by the cooperation of a driving gear on the fork and a rack on the vertical rail or the cooperation of a driving gear on the fork and a rack belt. The lifting movement of the forks 1123 is used to access the cargo at various locations on the pallet.

The fork 1123 can pick and place goods left and right, that is, the storage structure 112 can store and take goods on its own shelf, and can store and take goods on its adjacent shelf. The specific form of the fork 1123 may be various, and the fork 1123 may be a common fork, a lifting tray type fork, a sucking disc or a hook type fork for taking goods, etc.

As shown in fig. 1B, a roadway 170 is formed between the shelves, and the access mechanism 112 suspended from the shelf 110 does not obstruct the passage of the handling device 150, for example, when the handling device 150 passes by with goods, the access mechanism 112 may be controlled to rise to allow the handling device 150 to pass smoothly, that is, the roadway 170 may allow the handling device 150 to pass by with goods or without goods. As shown in FIG. 1B, the bottom of the pallet 110 has a channel that also allows the handling equipment 150 to pass by with or without load. When goods are put in and put out, the transportation path of the transportation equipment 150 between the working station 130 and the running area corresponding to the temporary storage position can be reasonably planned by utilizing the tunnel between the goods shelves and the passage at the bottom of the goods shelves, so that the transportation time of the transportation equipment 150 is shortened, and the in and out efficiency is improved.

Fig. 2 illustrates a flow diagram of a method of controlling access to a warehouse in accordance with some embodiments of the present disclosure. As shown in fig. 2, the method of this embodiment includes steps S202 to S210.

In step S202, the handling apparatus is controlled to handle and store the warehouse-in goods along the warehouse-in path to a first target temporary storage location at the bottom of the first shelf.

The first target temporary storage position corresponds to a target warehouse entry position of the warehouse entry goods, and the warehouse entry goods are required to be transferred between the first target temporary storage position and the target warehouse entry position. That is, the first rack may be any rack in the warehouse as long as transfer of the warehouse-in goods between the first target temporary storage location and the target warehouse-in goods location can be achieved.

However, to reduce transfer time and transfer complexity, in some embodiments, the first target staging location is located on the same shelf as the target warehouse entry location, or on an adjacent shelf. The storage mechanism suspended on the goods shelf where the target storage goods is located or the goods shelf adjacent to the goods shelf where the target storage goods is located can be used for transferring the storage goods between the first target temporary storage position and the target storage goods, the transfer is simple, the complexity is low, and the storage efficiency can be improved.

In some embodiments, controlling the handling apparatus to handle and store the warehouse entry goods along the load entry path to a first target staging location located at the bottom of the first shelf comprises: and controlling the carrying equipment to carry the warehouse-in goods along the warehouse-in path of the carried goods to reach a driving area corresponding to the first target temporary storage position, and then controlling the carrying equipment to adjust the pose, namely steering and lifting the goods, in the driving area corresponding to the first target temporary storage position, and placing the goods on a temporary storage frame, namely storing the warehouse-in goods to the first target temporary storage position.

In some embodiments, the load-in path includes a path for the entire shipment to the shelf inventory corresponding to the first target staging location, such as when the warehouse entry is performed by a workstation location, the load-in path includes a path within the transition zone 120 and a path into the shelf area.

As shown in fig. 1B, the handling equipment may be carried or unloaded through aisles at the bottom of the racks, lanes 170 between the racks. Thus, in some embodiments, the load-in path is planned according to aisles at the bottom of the racks, or the load-in path is planned according to lanes between racks. That is, the path into the shelf area may include a aisle at the bottom of the shelf or a lane between shelves.

In some embodiments, the warehouse entry path includes, according to a aisle plan at the bottom of the rack: the load-in path includes a channel at the bottom of the first shelf.

As shown in fig. 1B, the bottom of the shelf has a low-level channel 180 or a high-level channel 190, the low-level channel 180 refers to a running channel formed between the temporary storage shelf and the ground, and the high-level channel 190 is located at one side of the temporary storage shelf and is formed between the last layer of goods support of the shelf and the ground. Wherein the lower channel 180 allows the handling equipment to lower the lifting and warehousing goods to pass through; the overhead tunnel 190 allows the handling equipment to lift the warehoused cargo high through.

Fig. 3 illustrates a schematic diagram of a path of a handling device load into a pallet according to some embodiments of the present disclosure. As shown in fig. 3, 110-1 is a first shelf, 150 is a handling device, and the handling device may reach a driving area corresponding to a first target temporary storage position through a high-level channel at the bottom of the first shelf 110-1, and store the warehouse-in goods to the first target temporary storage position.

In some embodiments, the load-in path comprises, according to a roadway plan between the racks: the warehouse entry path includes any one of the lanes on both sides of the first pallet.

Fig. 4 illustrates a schematic view of a path of a handling device load into a pallet according to further embodiments of the present disclosure. As shown in fig. 4, 110-1 is a first shelf, 150 is a handling device, and the handling device may reach a driving area corresponding to the first target temporary storage position from any one of lanes on two sides of the first shelf 110-1, and store the warehouse-in goods to the first target temporary storage position.

The handling device 150 may be located along a path at the bottom of the first pallet 110-1 or along lanes on both sides of the first pallet 110-1 from reaching a driving area corresponding to the first target temporary storage location. The conveying equipment has a plurality of feasible conveying paths, can adapt to complex actual conditions, for example, under the condition that the channel at the bottom of the first goods shelf is crowded, the roadways at two sides of the first goods shelf are selected as the warehouse-in paths with boxes of the first conveying equipment, and the warehouse-in efficiency is prevented from being influenced due to queuing blockage among the conveying equipment.

In step S204, the first access device is controlled to move the warehouse entry goods from the first target temporary storage location to the target warehouse entry goods location.

After the conveying equipment conveys the warehouse-in goods to the first target temporary storage position, the first access equipment moves the warehouse-in goods from the first target temporary storage position to the target warehouse-in goods position, so that warehouse-in of the warehouse-in goods is completed.

In some embodiments, the first access device is a first shelf, or an access mechanism suspended from a shelf adjacent to the first shelf, so long as the access mechanism is capable of storing the warehoused cargo at the first target temporary storage location in the target warehouse-in cargo space.

In some embodiments, the first access device is a ground-traveling robot having a climbing mechanism lifting column and an access mechanism, the first access device being capable of retrieving and storing the warehoused cargo at the first target temporary storage location in the target warehouse entry location.

In the warehousing process, the warehouse-in goods are transported and stored to the first target temporary storage position by using the transporting equipment, then the warehouse-in goods are moved to the target warehouse-in goods position from the first target temporary storage position by using the first access equipment, the warehouse-in process is decomposed into the transporting process and the storing process, the working complexity of the transporting equipment and the first access equipment is low, and the warehouse-in efficiency can be effectively improved.

In step S206, the second access device is controlled to move the shipment from the target shipment location to a second target temporary location at the bottom of the second shelf.

In order to fully utilize the transportation capacity of the transporting equipment and improve the warehouse-in and warehouse-out efficiency, after the transporting equipment transports and stores the warehouse-in goods to the first target temporary storage position, the transporting equipment is controlled to go to the second target temporary storage position corresponding to the warehouse-out goods, the warehouse-out goods are taken out, and the warehouse-out goods are transported.

In some embodiments, the delivery device may perform delivery tasks for delivery of delivery goods, either as planned for extraction or as distributed in real time.

In some embodiments, to improve efficiency, the second access device may be controlled to move the shipment from the target shipment location to the second target staging location at the bottom of the second shelf before the handling device reaches the travel area corresponding to the second target staging location. It will be appreciated that step S206 thus unnecessarily occurs after step S204 and before step S208.

The second target temporary storage position corresponds to a target delivery position of the delivery goods, and delivery goods are required to be transferred between the second target temporary storage position and the target delivery position. That is, the second rack may be any rack in the warehouse as long as the transfer of the shipment between the second target escrow location and the target shipment location can be achieved.

However, to reduce transfer time and transfer complexity, in some embodiments, the second target staging location is located on the same shelf as the target delivery location, or on an adjacent shelf. The goods to be delivered can be transferred between the second target temporary storage position and the target delivery goods position by using the goods shelf where the target delivery goods position is located or the goods shelf which is adjacent to the goods shelf where the target delivery goods position is located, so that the transfer is simple, the complexity is low, and the warehousing efficiency can be improved.

In step S208, the conveyance device is controlled to move from the travel area corresponding to the first target temporary storage position to the travel area corresponding to the second target temporary storage position.

The conveying equipment can travel along a roadway between the shelves or along a channel at the bottom of the shelf in the process of moving from a travel area corresponding to the first target temporary storage position to a travel area corresponding to the second target temporary storage position. The handling equipment may also traverse the aisle at the bottom of the pallet, i.e. across the pallet, or across the roadway during travel.

In step S210, the handling apparatus is controlled to handle the shipment from the second target temporary storage location along a tape shipment path, wherein the direction of the tape shipment path is different from the direction of the tape shipment path.

In some embodiments, controlling the handling apparatus to handle the shipment from the second target staging location along the tape-out path includes: and controlling the carrying equipment to adjust the pose in the driving area corresponding to the second target temporary storage position, taking out the goods on the temporary storage frame, and turning to the goods discharging frame area, namely carrying the goods discharged from the warehouse out of the second target temporary storage position.

In some embodiments, the strip delivery path includes the entire path of the pick delivery from the scratch shelf corresponding to the second target scratch location, such as the path out of the shelf area and the path within the transition zone 120 when the goods need to be delivered to the workstation location.

Similar to the tape-in path, the tape-out path may be planned according to a aisle at the bottom of the pallet, or the tape-out path may be planned according to a roadway between pallets.

In some embodiments, to avoid collisions of the handling equipment while traveling along the load-in and load-out paths, the load-out path is planned according to lanes between shelves when the load-in path is planned according to lanes at the bottom of the shelves; when the warehouse-in path of the belt goods is planned according to the roadway between the goods shelves, the warehouse-out path of the belt goods is planned according to the channel at the bottom of the goods shelves.

In some embodiments, the strip shipment path includes, according to a roadway plan between shelves: the strip shipment path includes any one of the lanes on both sides of the second shelf. The path of the shipment of the goods includes according to the channel planning of the goods shelf bottom: the strip shipment path includes a channel at the bottom of the second shelf.

For each pallet, the path of the handling equipment into and out of the pallet area forms a circulation path. The handling equipment may continuously enter and leave the shelf area along the circulation path. Each pallet has virtually two circulation paths because there are two adjacent lanes per pallet.

As shown in fig. 3, the handling device 150 enters the first pallet 110-1 along a high-level aisle at the bottom of the first pallet 110-1, and may then exit the pallet area along any one of the lanes on both sides of the first pallet 110-1. That is, the transporting device may select a delivery path to the inner lane with respect to the high-order lane, or may travel to the outer lane with respect to the high-order lane. For example, lanes on both sides of the first pallet 110-1 are designated 1511 and 1512, then the lanes at the bottom of the first pallet 110-1 and 1511 may be referred to as the inner circulation path into and out of the first pallet and the lanes at the bottom of the first pallet 110-1 and 1512 may be referred to as the outer circulation path into and out of the first pallet.

Similarly, as shown in FIG. 4, the handling device 150 enters the first pallet 110-1 along any one of the lanes on either side of the first pallet 110-1, and may then exit the pallet area along the elevated pathway at the bottom of the first pallet 110-1. For example, lanes on both sides of the first pallet 110-1 are designated 1511 and 1512, then the high-level lanes and 1511 at the bottom of the first pallet 110-1 may be referred to as the inner circulation path into and out of the first pallet, and the high-level lanes and 1512 at the bottom of the first pallet 110-1 may be referred to as the outer circulation path into and out of the first pallet.

Each goods shelf is provided with two circulation paths for the conveying equipment to enter and exit, the circulation path is simple to plan, the transportation complexity of the conveying equipment can be simplified, errors are not easy to occur, and accordingly the warehouse-in and warehouse-out efficiency can be improved.

Fig. 5A-5D illustrate schematic diagrams of a path of a handling device load into a pallet and a load out of the pallet according to some embodiments of the present disclosure. As shown in fig. 5A to 5D, the solid line is the carry route of the transporting apparatus 150, and the broken line is the empty route of the transporting apparatus 150. After the control handling device 150 carries and stores the warehouse-in goods to the first target temporary storage position (denoted as a in the figure) along the high-level channel at the bottom of the first goods shelf 110-1, the control handling device moves from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the second target temporary storage position (denoted as B in the figure) at the bottom of the second goods shelf 110-2, and takes out the warehouse-out goods, and takes the warehouse-out goods out of the roadway on one side of the second goods shelf 110-2.

As shown in fig. 5A, the first target temporary storage position a and the second target temporary storage position B are on the same shelf, and are denoted as a first shelf 110-1. After the transporting device 150 reaches the traveling area corresponding to the first target temporary storage position a along the high-position channel at the bottom of the first shelf 110-1, the pose is adjusted, namely, the goods are turned and lifted, stored to the first target temporary storage position a, then the goods are moved from the traveling area corresponding to the first target temporary storage position a to the traveling area corresponding to the second target temporary storage position B, the pose is adjusted after the goods reach the traveling area corresponding to the second target temporary storage position B, the goods which are delivered out of the warehouse are taken out from the second target temporary storage position B, and the pose is adjusted again to leave the first shelf 110-1.

As shown in fig. 5A, when the first rack and the second rack are the same rack and the direction from the first target temporary storage position to the second target temporary storage position is the same as the traveling direction of the transporting apparatus in the lane at the bottom of the first rack, controlling the transporting apparatus to move from the traveling area corresponding to the first target temporary storage position to the traveling area corresponding to the second target temporary storage position includes: controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to the second target temporary storage position along a channel at the bottom of the first goods shelf; or controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position corresponding to the first target temporary storage position at the bottom of the adjacent goods shelf of the first goods shelf; controlling the carrying equipment to move along a channel at the bottom of the adjacent goods shelf of the first goods shelf from a driving area corresponding to the first corresponding position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position at the bottom of the adjacent goods shelf of the first goods shelf; and controlling the conveying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position.

As shown in fig. 5A, the conveying apparatus moves from the traveling area corresponding to the first target temporary storage position to the traveling area corresponding to the second target temporary storage position, and one of the two paths is to traverse the lane to reach the high-level lane of the adjacent pallet of the first pallet 110-1, to reach the traveling area corresponding to the second corresponding position corresponding to the second target temporary storage position in the adjacent pallet along the lane of the adjacent pallet, to traverse the lane to reach the traveling area corresponding to the second target temporary storage position B, to lift the pickup box, to traverse the lane, and to exit along the lane.

The other path is that after the carrying equipment stores the warehouse-in goods into the first target temporary storage position A, the warehouse-in goods are turned to transversely enter in situ and move to a running area corresponding to the second target temporary storage position along the high-level channel of the first goods shelf 110-1, the position and the position are adjusted to pick up goods, and then the warehouse-in goods are turned to enter a roadway in situ by rotating 180 degrees, and are discharged along the roadway.

As shown in fig. 5B, when the first rack and the second rack are the same rack and the direction from the first target temporary storage position to the second target temporary storage position is opposite to the traveling direction of the transporting apparatus in the lane at the bottom of the first rack, controlling the transporting apparatus to move from the traveling area corresponding to the first target temporary storage position to the traveling area corresponding to the second target temporary storage position includes: controlling the carrying equipment to drive out of the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position and move to a first roadway adjacent to the first goods shelf, wherein the first roadway is any one of the roadways on two sides of the first goods shelf; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the first roadway along the first roadway; and controlling the conveying equipment to drive into the bottom of the first goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

As shown in fig. 5C, when the first shelf and the second shelf are adjacent shelves and the first target temporary storage position points to a second corresponding position corresponding to the second target temporary storage position in the first shelf in the same direction as the traveling direction of the lane of the conveying apparatus at the bottom of the first shelf, controlling the conveying apparatus to move from the traveling area corresponding to the first target temporary storage position to the traveling area corresponding to the second target temporary storage position includes: controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position in the first goods shelf along a channel at the bottom of the first goods shelf; controlling the carrying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position at the bottom of the second goods shelf; or controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position at the bottom of the second goods shelf and corresponding to the first target temporary storage position; and controlling the carrying equipment to move from the driving area corresponding to the first corresponding position to the driving area corresponding to the second target temporary storage position along the channel at the bottom of the second goods shelf.

As shown in fig. 5D, when the first shelf and the second shelf are adjacent shelves and the first target temporary storage position points to a second corresponding position in the first shelf corresponding to the second target temporary storage position, and the direction of travel of the handling device in the lane at the bottom of the first shelf is opposite, controlling the handling device to move from the travel area corresponding to the first target temporary storage position to the travel area corresponding to the second target temporary storage position includes: controlling the carrying equipment to drive out of the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position and move to a second roadway adjacent to the second goods shelf, wherein the second roadway is any one of two side roadways of the second goods shelf; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the second roadway along the second roadway; and controlling the conveying equipment to drive into the bottom of the second goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

Similarly, fig. 5E-5H illustrate schematic diagrams of the path of a handling device load into a pallet and a load out of the pallet according to further embodiments of the present disclosure. As shown in fig. 5A to 5D, the solid line is the carry route of the transporting apparatus 150, and the broken line is the empty route of the transporting apparatus 150. After the control handling device 150 carries and stores the warehouse-in goods to the first target temporary storage position (denoted as a in the figure) along the roadway on one side of the first goods shelf 110-1, the control handling device moves from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the second target temporary storage position (denoted as B in the figure), the warehouse-out goods are taken out, and the warehouse-out goods are carried out from the high-order channel at the bottom of the second goods shelf 110-2.

As shown in fig. 5E, when the first rack and the second rack are the same rack and the direction in which the first target temporary storage position points to the second target temporary storage position is opposite to the traveling direction of the conveying apparatus in the lane at the bottom of the second rack, controlling the conveying apparatus to move from the traveling area corresponding to the first target temporary storage position to the traveling area corresponding to the second target temporary storage position includes: controlling the carrying equipment to drive out of the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position and move to a first roadway adjacent to the first goods shelf, wherein the first roadway is any one of the roadways on two sides of the first goods shelf; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the first roadway along the first roadway; and controlling the conveying equipment to drive into the bottom of the first goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

As shown in fig. 5F, when the first rack and the second rack are the same rack, and the direction in which the first target temporary storage position points to the second target temporary storage position is the same as the traveling direction of the conveying apparatus in the lane at the bottom of the second rack, controlling the conveying apparatus to move from the traveling area corresponding to the first target temporary storage position to the traveling area corresponding to the second target temporary storage position includes: controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to the second target temporary storage position along a channel at the bottom of the first goods shelf; or controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position corresponding to the first target temporary storage position at the bottom of the adjacent goods shelf of the first goods shelf; controlling the carrying equipment to move from a driving area corresponding to the first corresponding position to a driving area corresponding to a second corresponding position corresponding to a second target temporary storage position at the bottom of the adjacent goods shelf along the channel at the bottom of the adjacent goods shelf; and controlling the conveying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position.

As shown in fig. 5G, when the first shelf and the second shelf are adjacent shelves and the first target temporary storage position is directed to a first corresponding position of the shelves corresponding to the second target temporary storage position in a direction opposite to a traveling direction of the conveying apparatus in the lane at the bottom of the second shelf, controlling the conveying apparatus to move from the traveling area corresponding to the first target temporary storage position to the traveling area corresponding to the second target temporary storage position includes: controlling the carrying equipment to drive out of the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position and move to a second roadway adjacent to the second goods shelf, wherein the second roadway is any one of two side roadways of the second goods shelf; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the second roadway along the second roadway; and controlling the conveying equipment to drive into the bottom of the second goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

As shown in fig. 5H, when the first rack and the second rack are adjacent racks, and the direction in which the first target temporary storage position points to the second corresponding position corresponding to the second target temporary storage position in the first rack is the same as the traveling direction of the conveying apparatus in the lane at the bottom of the second rack, controlling the conveying apparatus to move from the traveling area corresponding to the first target temporary storage position to the traveling area corresponding to the second target temporary storage position includes: controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position at the bottom of the second goods shelf and corresponding to the first target temporary storage position; controlling the carrying equipment to move from the driving area corresponding to the first corresponding position to the driving area corresponding to the second target temporary storage position along the channel at the bottom of the second goods shelf; or controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position at the bottom of the first goods shelf along the channel at the bottom of the first goods shelf; and controlling the conveying equipment to move from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position transversely across the roadway.

In the embodiments shown in fig. 5A to 5H, the carrying device adjusts the position and the direction of the carrying device in the areas corresponding to the first target temporary storage position and the second target temporary storage position, so as to access the goods and leave the areas corresponding to the first target temporary storage position and the second target temporary storage position.

Fig. 6 illustrates a schematic structural diagram of an access control device according to some embodiments of the present disclosure. As shown in fig. 6, the warehouse entry control device 60 includes modules 610-650.

A first control module 610 configured to control the handling device to handle and store the warehoused cargo along the load-in path to a first target staging location at the bottom of the first shelf.

The second control module 620 is configured to control the first access device to move the warehouse entry cargo from the first target temporary storage location to the target warehouse entry cargo location.

And a third control module 630 configured to control the second access device to move the shipment from the target shipment location to a second target staging location at the bottom of the second shelf.

The fourth control module 640 is configured to control the conveying device to move from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the second target temporary storage position along the adjustment path.

And a fifth control module 650 configured to control the handling apparatus to handle the shipment from the second target temporary storage location along a tape shipment path, wherein the direction of the tape shipment path is different from the direction of the tape shipment path.

In some embodiments, in the case where the first shelf and the second shelf are the same shelf and the direction from the first target staging location to the second target staging location is the same as the direction of travel of the handling device along the aisle at the bottom of the first shelf, the fourth control module 640 is further configured to control the handling device to move along the aisle at the bottom of the first shelf from the travel area corresponding to the first target staging location to the travel area corresponding to the second target staging location; or controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position corresponding to the first target temporary storage position at the bottom of the adjacent goods shelf of the first goods shelf; controlling the carrying equipment to move along a channel at the bottom of the adjacent goods shelf of the first goods shelf from a driving area corresponding to the first corresponding position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position at the bottom of the adjacent goods shelf of the first goods shelf; and controlling the conveying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position.

In some embodiments, in the case where the first rack and the second rack are the same rack and the direction from the first target staging location to the second target staging location is opposite to the direction of travel of the handling device on the aisle of the first rack bottom, the fourth control module 640 is further configured to control the handling device to travel out of the first rack bottom from the travel area corresponding to the first target staging location to move to a first lane adjacent to the first rack, wherein the first lane is any one of lanes on both sides of the first rack; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the first roadway along the first roadway; and controlling the conveying equipment to drive into the bottom of the first goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

In some embodiments, in the case where the first rack and the second rack are adjacent racks, and the first target staging position points to a second corresponding position in the first rack that corresponds to the second target staging position in the same direction as the travel direction of the handling device along the aisle at the bottom of the first rack, the fourth control module 640 is further configured to control the handling device to move along the aisle at the bottom of the first rack from a travel area corresponding to the first target staging position to a travel area corresponding to the second corresponding position in the first rack that corresponds to the second target staging position; controlling the carrying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position at the bottom of the second goods shelf; or controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position at the bottom of the second goods shelf and corresponding to the first target temporary storage position; and controlling the carrying equipment to move from the driving area corresponding to the first corresponding position to the driving area corresponding to the second target temporary storage position along the channel at the bottom of the second goods shelf.

In some embodiments, in the case where the first rack and the second rack are adjacent racks, and the first target temporary location points to a second corresponding location in the first rack that corresponds to the second target temporary location in a direction opposite to the travel direction of the handling device in the aisle of the first rack bottom, the fourth control module 640 is further configured to control the handling device to travel out of the first rack bottom from the travel area corresponding to the first target temporary location, to a second lane adjacent to the second rack, wherein the second lane is either one of the lanes on both sides of the second rack; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the second roadway along the second roadway; and controlling the conveying equipment to drive into the bottom of the second goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

In some embodiments, in the case where the first rack and the second rack are the same rack and the first target staging position points in a direction opposite to the direction of travel of the handling device in the aisle of the second rack bottom, the fourth control module 640 is further configured to control the handling device to travel out of the first rack bottom from the travel area corresponding to the first target staging position to a first lane adjacent to the first rack, wherein the first lane is any one of the lanes on both sides of the first rack; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the first roadway along the first roadway; and controlling the conveying equipment to drive into the bottom of the first goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

In some embodiments, in the case where the first rack and the second rack are the same rack and the direction in which the first target staging location points to the second target staging location is the same as the direction of travel of the handling device in the aisle of the second rack bottom, the fourth control module 640 is further configured to control the handling device to move along the aisle of the first rack bottom from the travel area corresponding to the first target staging location to the travel area corresponding to the second target staging location; or controlling the conveying equipment to traverse the roadway from the driving area corresponding to the first target temporary storage position to the driving area corresponding to the first corresponding position corresponding to the first target temporary storage position at the bottom of the adjacent goods shelf of the first goods shelf; controlling the carrying equipment to move from a driving area corresponding to the first corresponding position to a driving area corresponding to a second corresponding position corresponding to a second target temporary storage position at the bottom of the adjacent goods shelf along the channel at the bottom of the adjacent goods shelf; and controlling the conveying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position.

In some embodiments, in the case where the first rack and the second rack are adjacent racks, and the first target staging position points to a first corresponding position in the racks that corresponds to the second target staging position in a direction opposite to the travel direction of the handling device in the aisle of the second rack bottom, the fourth control module 640 is further configured to control the handling device to travel out of the first rack bottom from the travel area corresponding to the first target staging position to a second lane adjacent to the second rack, wherein the second lane is either one of the lanes on both sides of the second rack; controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the second roadway along the second roadway; and controlling the conveying equipment to drive into the bottom of the second goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

In some embodiments, where the first rack and the second rack are adjacent racks and the first target staging position points to a second corresponding location in the first rack that corresponds to the second target staging position in the same direction as the travel direction of the handling device in the aisle at the bottom of the second rack, the fourth control module 640 is further configured to control the handling device to move from a travel area corresponding to the first target staging position across the roadway to a travel area corresponding to a first corresponding location at the bottom of the second rack that corresponds to the first target staging position; controlling the carrying equipment to move from the driving area corresponding to the first corresponding position to the driving area corresponding to the second target temporary storage position along the channel at the bottom of the second goods shelf; or controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position at the bottom of the first goods shelf along the channel at the bottom of the first goods shelf; and controlling the conveying equipment to move from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position transversely across the roadway.

The in-out control device and the out-of control device in the embodiments of the present disclosure may each be implemented by various computing devices or computer systems, and are described below in connection with fig. 7.

Fig. 7 is a schematic structural view of an access control device according to other embodiments of the present disclosure. As shown in fig. 7, the warehouse entry control device 70 includes: a memory 710 and a processor 720 coupled to the memory 710, the processor 720 being configured to execute the method of access control in any of the embodiments of the present disclosure based on instructions stored in the memory 710.

The memory 710 may include, for example, system memory, fixed nonvolatile storage media, and so forth. The system memory stores, for example, an operating system, application programs, boot Loader (Boot Loader), database, and other programs.

The ingress and egress control device 70 may also include an input/output interface 730, a network interface 740, a storage interface 750, and the like. These interfaces 730, 740, 750, as well as the memory 710 and the processor 720, may be connected by a bus 760, for example. The input/output interface 730 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, a touch screen, etc. The network interface 740 provides a connection interface for various networking devices, such as may be connected to a database server or cloud storage server, or the like. Storage interface 750 provides a connection interface for external storage devices such as SD cards, U-discs, and the like.

Fig. 8 illustrates a schematic diagram of a configuration of an access control system according to some embodiments of the present disclosure. As shown in fig. 8, the in-out control system 80 includes: the warehouse entry control device 810 as described above; a handling device 820 configured to handle and store a warehouse-in cargo to a first target temporary storage position, move from a traveling area corresponding to the first target temporary storage position to a traveling area corresponding to a second target temporary storage position, and handle a warehouse-out cargo from the second target temporary storage position; the access device 830 is configured to move the warehouse entry cargo from a first target temporary storage location to a target warehouse entry cargo location, or to move the ex-warehouse cargo from a target ex-warehouse cargo location to a second target temporary storage location.

Embodiments of the present disclosure also provide a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements any one of the aforementioned warehouse entry control methods or access control methods.

It will be appreciated by those skilled in the art that embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The foregoing description of the preferred embodiments of the present disclosure is not intended to limit the disclosure, but rather to cover any and all modifications, equivalents, improvements or alternatives falling within the spirit and principles of the present disclosure.

Claims

1. A method of controlling access to a warehouse, comprising:

controlling a carrying device to carry and store the warehouse-in goods to a first target temporary storage position at the bottom of a first goods shelf along a goods carrying warehouse-in path;

Controlling a first access device to move the warehouse-in goods from the first target temporary storage position to a target warehouse-in goods position;

controlling a second access device to move the shipment from the target shipment location to a second target temporary storage position at the bottom of the second shelf;

controlling the carrying equipment to move from a running area corresponding to the first target temporary storage position to a running area corresponding to the second target temporary storage position;

and controlling the conveying equipment to convey the delivered goods from the second target temporary storage position to be delivered along a goods delivery path, wherein the direction of the goods delivery path is different from that of the goods delivery path.

2. The method of claim 1, wherein the warehouse entry and exit paths are planned according to aisles at the bottom of shelves and the warehouse exit paths are planned according to lanes between shelves.

3. The method for controlling access to a warehouse as claimed in claim 2, wherein,

the goods carrying and warehousing path comprises the following steps according to the channel planning at the bottom of the goods shelf:

the goods carrying and warehousing path comprises a channel at the bottom of the first goods shelf;

the delivery path with goods comprises the following steps according to the roadway planning among goods shelves:

the shipment path comprises any one of the roadways on two sides of the second goods shelf.

4. The method for controlling the access of a vehicle according to claim 3, wherein, in the case where the first rack and the second rack are the same rack and the direction from the first target escrow position to the second target escrow position is the same as the traveling direction of the lane of the transporting apparatus at the bottom of the first rack,

the controlling the transporting device to move from the traveling area corresponding to the first target temporary storage position to the traveling area corresponding to the second target temporary storage position includes:

controlling the carrying equipment to move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to the second target temporary storage position along a channel at the bottom of the first goods shelf; or alternatively

Controlling the conveying equipment to traverse a roadway from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a first corresponding position corresponding to the first target temporary storage position, wherein the driving area is positioned at the bottom of an adjacent goods shelf of the first goods shelf;

controlling the conveying equipment to move along a channel at the bottom of an adjacent shelf of the first shelf from a driving area corresponding to the first corresponding position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position at the bottom of the adjacent shelf of the first shelf;

And controlling the conveying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position.

5. The method for controlling the access of a vehicle according to claim 3, wherein, in the case where the first rack and the second rack are the same rack and the direction from the first target escrow position to the second target escrow position is opposite to the traveling direction of the lane of the transporting apparatus at the bottom of the first rack,

controlling the carrying equipment to leave the bottom of the first goods shelf from a running area corresponding to the first target temporary storage position and move to a first roadway adjacent to the first goods shelf, wherein the first roadway is any one of the roadways on two sides of the first goods shelf;

controlling the carrying equipment to move to a second area corresponding to a second target temporary storage position in the first roadway along the first roadway;

and controlling the carrying equipment to drive into the bottom of the first goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

6. The method for controlling the access of a vehicle according to claim 3, wherein, in the case where the first rack and the second rack are adjacent racks and the first target escrow position is directed to a second corresponding position corresponding to the second target escrow position in the first rack in the same direction as the traveling direction of the transportation facility in the lane at the bottom of the first rack,

controlling the conveying equipment to move along a channel at the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a second corresponding position corresponding to the second target temporary storage position in the first goods shelf;

controlling the conveying equipment to traverse the roadway from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position at the bottom of the second goods shelf; or alternatively

Controlling the conveying equipment to traverse a roadway from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a first corresponding position corresponding to the first target temporary storage position at the bottom of the second goods shelf;

And controlling the carrying equipment to move along the channel at the bottom of the second goods shelf from the driving area corresponding to the first corresponding position to the driving area corresponding to the second target temporary storage position.

7. The method for controlling the access of a vehicle according to claim 3, wherein, in the case where the first rack and the second rack are adjacent racks and the first target escrow position is directed to a second corresponding position of the first rack corresponding to the second target escrow position in a direction opposite to a traveling direction of the transporting apparatus in a lane at the bottom of the first rack,

controlling the carrying equipment to drive out of the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position and move to a second roadway adjacent to the second goods shelf, wherein the second roadway is any one of the roadways on two sides of the second goods shelf;

controlling the carrying equipment to move to a second area corresponding to the second target temporary storage position in the second roadway along the second roadway;

And controlling the carrying equipment to drive into the bottom of the second goods shelf from the second area and move to a driving area corresponding to the second target temporary storage position.

8. The method of claim 1, wherein the warehouse entry and exit paths are planned according to lanes between shelves and the warehouse exit paths are planned according to aisles at the bottom of the shelves.

9. The method for controlling access to a warehouse of claim 8, wherein,

the warehouse entry path of the belt cargo comprises the following steps according to the roadway planning among the cargo frames:

the goods carrying and warehousing path comprises any one of the roadways on two sides of the first goods shelf;

the delivery path comprises the following steps according to the channel planning at the bottom of the goods shelf:

the strip shipment path includes a channel at the bottom of the second shelf.

10. The method according to claim 9, wherein in the case where the first rack and the second rack are the same rack and the first target escrow position is directed to the second target escrow position in a direction opposite to a traveling direction of the transporting apparatus in a lane at the bottom of the second rack,

controlling the carrying equipment to move to a second area corresponding to the second target temporary storage position in the first roadway along the first roadway;

11. The method according to claim 9, wherein in the case where the first rack and the second rack are the same rack and the first target escrow position is directed to the second target escrow position in the same direction as the traveling direction of the transporting apparatus in the lane at the bottom of the second rack,

controlling the conveying equipment to move along the channel at the bottom of the adjacent goods shelf from the driving area corresponding to the first corresponding position to the driving area corresponding to the second corresponding position at the bottom of the adjacent goods shelf and corresponding to the second target temporary storage position;

12. The method according to claim 9, wherein in the case where the first rack and the second rack are adjacent racks and the first target escrow position is directed to a first corresponding position of the racks corresponding to the second target escrow position in a direction opposite to a traveling direction of the transporting apparatus in a lane at the bottom of the second rack,

Controlling the carrying equipment to leave the bottom of the first goods shelf from a running area corresponding to the first target temporary storage position and move to a second roadway adjacent to the second goods shelf, wherein the second roadway is any one of the roadways on two sides of the second goods shelf;

13. The method according to claim 9, wherein in the case where the first rack and the second rack are adjacent racks, and the first target escrow position is directed to a second corresponding position corresponding to the second target escrow position in the first rack in the same direction as the traveling direction of the transporting apparatus in the lane at the bottom of the second rack,

controlling the carrying equipment to move from the driving area corresponding to the first corresponding position to the driving area corresponding to the second target temporary storage position along the channel at the bottom of the second goods shelf; or alternatively

Controlling the carrying equipment to move along a channel at the bottom of the first goods shelf from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a second corresponding position at the bottom of the first goods shelf and corresponding to the second target temporary storage position;

and controlling the conveying equipment to move from the driving area corresponding to the second corresponding position to the driving area corresponding to the second target temporary storage position across the roadway.

14. The warehouse entry control method of any one of claims 2 to 13, wherein the aisle at the bottom of the rack is a low-level aisle or a high-level aisle, wherein the low-level aisle allows the handling equipment to pass low-level lift cargo; the elevated channel allows the high-level lifting goods of the carrying equipment to pass through.

15. The method for controlling access to a warehouse as claimed in any one of claims 1 to 13, wherein,

the first target temporary storage position and the target warehouse entry goods position are positioned on the same goods shelf or adjacent goods shelves;

the second target temporary storage position and the target delivery goods position are located on the same goods shelf or adjacent goods shelves.

16. The access control method according to any one of claims 1 to 13, wherein the handling device is an automated guided vehicle, and the first access device or the second access device is an access mechanism suspended on a shelf and moving on a side of the shelf, or a robot having a lifting mechanism and an access mechanism that walks on the ground.

17. An in-out garage control device comprising:

a first control module configured to control the handling device to handle and store the warehouse-in goods along the warehouse-in path of the belt goods to a first target temporary storage position at the bottom of the first goods shelf;

a second control module configured to control a first access device to move the warehouse entry cargo from the first target temporary location to a target warehouse entry cargo location;

a third control module configured to control the second access device to move the shipment from the target shipment location to a second target temporary location at the bottom of the second shelf;

A fourth control module configured to control the handling apparatus to move along an adjustment path from a travel area corresponding to the first target temporary storage position to a travel area corresponding to the second target temporary storage position;

and a fifth control module configured to control the handling apparatus to handle the shipment from the second target temporary storage location along a tape shipment path, wherein the tape shipment path is in a direction different from the tape shipment path.

18. An in-out garage control device comprising:

a processor; and

a memory coupled to the processor for storing instructions that, when executed by the processor, cause the processor to perform the method of access control of any one of claims 1 to 13.

19. An in-out warehouse control system, comprising:

the warehouse entry and exit control device as claimed in claim 17 or 18;

the conveying equipment is configured to convey and store the warehouse-in goods to a first target temporary storage position, move from a driving area corresponding to the first target temporary storage position to a driving area corresponding to a second target temporary storage position, and convey the warehouse-out goods from the second target temporary storage position;

And the access equipment is configured to move the warehouse-in goods from the first target temporary storage position to a target warehouse-in goods position or move the warehouse-out goods from a target warehouse-out goods position to the second target temporary storage position.

20. A computer-readable storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the steps of the access control method according to any one of claims 1 to 13.