WO2022068595A1

WO2022068595A1 - Warehouse management method and apparatus, device, medium, and warehousing system

Info

Publication number: WO2022068595A1
Application number: PCT/CN2021/118614
Authority: WO
Inventors: 赵虎; 艾鑫
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2020-09-30
Filing date: 2021-09-15
Publication date: 2022-04-07
Also published as: CN112239040A; CN113859838B; CN113859838A; CN113859839A; CN113859839B; CN112239040B

Abstract

A warehouse management method and apparatus, a device, a medium, and a warehousing system. The warehouse management method comprises: a scheduling server issues ex-warehouse and in-warehouse tasks, and a single-fork warehousing robot implements in-warehouse, ex-warehouse, and warehouse management of containers. The cost of the whole warehousing system can be reduced, the space ratio of a middle roadway of the warehousing system is greatly reduced, and the storage efficiency is effectively improved.

Description

Warehouse management method, device, equipment, medium and storage system

This disclosure claims the priority of the Chinese patent application filed on September 30, 2020 with the application number 202011066457.4 and titled "Method, Apparatus, Equipment, Media and Storage System for Warehousing Management", the entire contents of which are approved by Reference is incorporated in this application.

technical field

The embodiments of the present disclosure relate to the technical field of intelligent storage, and in particular, to a storage management method, device, device, medium, and storage system.

Background technique

In the field of smart warehousing, warehousing robots are an important part of smart warehousing. Smart warehousing relies on robots to complete instructions and perform warehousing services, such as warehousing, warehousing, and order delivery. At present, most warehouse robots include multiple baskets, which can pick up multiple boxes at the same time, complete the boxes required for the order or put them back in the corresponding positions.

However, the storage robot with multiple back baskets is larger in size, requires more moving space, requires higher area of the warehouse, and at the same time, the cost of a single storage robot is also higher. The fork storage robot has only one fork and no back basket. The cost of a single storage robot is much lower than that of the traditional multi-back storage robot, and it requires less space, so that the warehouse can store more goods in the same area, while reducing the cost of storage. The cost of the entire storage system can effectively improve storage efficiency. However, a single-fork warehousing robot can handle at most one container at the same time, and the existing methods of warehousing and warehousing cannot be applied to a single-fork warehousing robot. How to use a single-fork warehousing robot to realize warehousing and delivery? The key to improving storage efficiency with single-fork storage robots.

SUMMARY OF THE INVENTION

Embodiments of the present disclosure provide a method, device, equipment, medium and storage system for storage management, which are used to implement storage in and out of storage using a single-fork storage robot, so as to reduce the cost of the entire storage system and effectively improve storage efficiency.

In a first aspect, an embodiment of the present disclosure provides a method for warehouse management, which is applied to a warehouse robot in a warehouse system, where the warehouse robot has a single handling device, and includes: in response to an operation instruction for a first container, if the first The target location of a cargo box is located on the inner shelf of the double-deep rack, and there is a second cargo box on the corresponding position of the outer shelf, after the second cargo box is removed, execute the execution on the first cargo box. corresponding operation.

In a second aspect, an embodiment of the present disclosure provides a warehouse management method, which is applied to a scheduling server of a warehouse system, including: determining a target location of a first cargo box to be operated; sending an operation on the first cargo box to a warehouse robot instruction to control the storage robot when the target location is located on the inner shelf of the double-deep shelf, and there is a second cargo box on the corresponding position of the outer shelf, after the second cargo box is removed, the The first container performs a corresponding operation, wherein the warehouse robot has a single handling device.

In a third aspect, an embodiment of the present disclosure provides a storage management device, which is applied to a storage robot in a storage system, where the storage robot has a single handling device, including:

The management module is used to respond to the operation instruction for the first cargo box, if the target storage position of the first cargo box is located on the inner shelf of the double-deep rack, and there is a second cargo box on the corresponding position of the outer shelf, Then, after the second cargo box is removed, a corresponding operation is performed on the first cargo box.

In a fourth aspect, an embodiment of the present disclosure provides a warehouse management device, which is applied to a scheduling server of a warehouse system, including:

The location management module is used to determine the target location of the first container to be operated;

The task issuing module is used to send an operation instruction for the first cargo box to the storage robot, so as to control the storage robot to be located on the inner shelf of the double-deep shelf at the target location, and there are corresponding positions on the outer shelf. In the case of the second cargo box, after the second cargo box is removed, a corresponding operation is performed on the first cargo box, wherein the storage robot has a single handling device.

In a fifth aspect, an embodiment of the present disclosure provides a warehouse robot, including: a processor, a memory, and a computer program stored on the memory and executable on the processor; wherein the processor runs the A computer program implements the method described in the first aspect above.

In a sixth aspect, an embodiment of the present disclosure provides a scheduling server, including: a processor, a memory, and a computer program stored on the memory and executable on the processor; wherein the processor runs the A computer program implements the method described in the second aspect above.

In a seventh aspect, an embodiment of the present disclosure provides a storage system, including: the scheduling server described in the sixth aspect and the storage robot described in the fifth aspect.

In an eighth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method described in any one of the foregoing aspects is implemented.

The method, device, equipment, medium and storage system for storage management provided by the embodiments of the present disclosure realize the method of using single-fork storage robot for storage, storage and storage, which can reduce the cost of the entire storage system and make storage The space ratio of the middle lane of the system is greatly reduced, which effectively improves the storage efficiency.

Description of drawings

1 is a schematic diagram of a single-fork storage robot provided by an embodiment of the present disclosure;

2 is a schematic diagram of a double deep position provided by an embodiment of the present disclosure;

3 is a flowchart of a method for warehouse management provided in Embodiment 1 of the present disclosure;

FIG. 4 is a flowchart of a storage method provided in Embodiment 2 of the present disclosure;

5 is a flowchart of the storage method provided in Embodiment 3 of the present disclosure;

FIG. 6 is a flowchart of a method for outbound storage provided by Embodiment 4 of the present disclosure;

FIG. 7 is a flowchart of a method for outbound storage provided by Embodiment 5 of the present disclosure;

8 is a flowchart of a library management method provided in Embodiment 6 of the present disclosure;

FIG. 9 is a schematic structural diagram of an apparatus for warehouse management provided in Embodiment 8 of the present disclosure;

10 is a schematic structural diagram of a warehouse management device provided in Embodiment 9 of the present disclosure;

11 is a schematic structural diagram of a storage robot according to Embodiment 13 of the present disclosure;

FIG. 12 is a schematic structural diagram of a scheduling server according to Embodiment 14 of the present disclosure.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as recited in the appended claims.

First, the terms involved in the embodiments of the present disclosure are explained:

Static location: The physical space occupied by each location is fixed and will not change.

Workstation: The location where order processing or case storage is made.

Warehousing: The box where the goods are located passes through the operation table and is placed in the corresponding warehouse by the warehouse robot.

Outbound: The warehouse robot takes the required boxes from the warehouse.

Warehouse management: Arrange the positions of boxes in the warehouse locations in the warehouse for easy access.

Single-fork storage robot: The storage robot has only one fork and no basket, so it cannot take multiple boxes at the same time.

Single-depth: Each shelf stores a row of boxes.

Double deep position: Each shelf stores two rows of boxes. When taking the boxes on the inner shelf (inner row), the corresponding position of the outer shelf (outer row) must be empty.

Free storage location: When there is no box in a slot on the shelf, the slot is defined as a free storage location, and the storage robot can place the transported boxes in this storage location.

In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. In the description of the following embodiments, the meaning of "plurality" is two or more, unless otherwise expressly and specifically defined.

The embodiments of the present disclosure are particularly applicable to an intelligent storage system using a storage robot with a single handling device. Intelligent warehousing systems include warehousing robots, scheduling systems, warehouses, etc. Wherein, the handling device refers to a device used for picking up goods from a storage location or placing goods into a storage location, such as a fork and the like. For example, a warehouse robot with a single handling device may be a single-fork warehouse robot as shown in FIG. 1 .

In addition, the types of shelves in this embodiment include single-deep positions and double-deep positions. The schematic diagram of the double-deep position is shown in Figure 2. Each layer of the double-deep rack has two rows of boxes. The double-deep rack includes two parts: the inner rack and the outer rack. Among them, the outer row of boxes is located on the outer rack. Shelves (shelf 1 as shown in Figure 2), the inner row of boxes is located on the inner shelf (shelf 2 as shown in Figure 2), a target position on the double-deep shelf does not specifically refer to the internal shelf Or a certain location on the external shelf, both the internal shelf and the external shelf corresponding to the target location have a location, only when the corresponding location of the external shelf (shelf 1) is empty, can the corresponding location of the internal shelf (shelf 2) be placed Take out the cargo box that has been set, or put the cargo box into the corresponding position of the internal shelf (shelf 2). If the container is located at the corresponding position of the external shelf (shelf 1), the container at the corresponding position of the external shelf (shelf 1) must be removed before the container at the corresponding position of the internal shelf (shelf 2) can be moved out or to the internal shelf (shelf 1). 2) Put it into the cargo box at the corresponding position.

The storage management method, device, equipment, medium and storage system provided by the embodiments of the present disclosure aim to complete the tasks of loading and unloading containers through a single-fork storage robot, which can reduce the cost of the entire storage system and effectively improve storage efficiency.

In the embodiment of the present disclosure, the popularity of the goods can be characterized by indicators such as the shipment rate of the goods, the inventory quantity, and the like. The higher the popularity of the goods, the greater the probability of the goods being shipped. The heat of the container can be characterized by the heat of the goods in the container. The higher the heat of the container, the greater the probability of the container being shipped. The heat of the shelf can be obtained by combining the heat of all the boxes on the shelf.

The technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above-mentioned technical problems will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present disclosure will be described below with reference to the accompanying drawings.

FIG. 3 is a flowchart of a method for warehouse management provided in Embodiment 1 of the present disclosure. As shown in FIG. 3 , the specific steps of the method are as follows:

Step S1, the scheduling server determines the target location of the first container to be operated.

When the first cargo box containing the goods needs to be put into the warehouse, the dispatch server allocates a target storage location for the first cargo box according to information such as the type and heat of the goods in the first cargo box.

Among them, the target storage location can be located on a single-deep shelf, or can be located on a double-deep shelf.

If an order is sent to the dispatch server and needs to be out of the warehouse, the dispatch server determines the first cargo box in which the goods in the current order are located according to the cargo identifier in the current order, and the first cargo box is the cargo box to be taken out. The dispatch server can further query the target location where the first container is located.

Step S2, the scheduling server sends an operation instruction for the first cargo box to the storage robot.

After determining the target location of the first cargo box to be put in/out of the warehouse, the scheduling server sends a storage-in/out-order instruction for the first cargo box to the storage robot.

Step S3, in response to the operation instruction for the first cargo box, if the target location of the first cargo box is located on the inner shelf of the double-deep rack, and there is a second cargo box on the corresponding position of the outer shelf, then the second After the container is removed, a corresponding operation is performed on the first container.

Among them, the warehouse robot has a single handling device. This embodiment exemplarily illustrates the warehouse delivery method by taking the warehouse robot as a single-fork warehouse robot as an example.

When in/out, the single-fork storage robot can only carry one container.

When receiving an inbound/outbound order for the first container, if the target location is located on the inner shelf of the double-deep shelf, and there is a second container in the corresponding position of the outer shelf, then the first After the second container is removed, the inbound/outbound operation of the first container can be performed.

In this step, after the second container at the corresponding position is removed, the warehousing robot performs corresponding warehousing/outgoing operations on the first container.

In the embodiment of the present disclosure, when the first cargo box is put into/out of the warehouse, after the dispatch server determines the target storage location of the first cargo box, by sending the corresponding operation instruction to the storage robot, the dispatch fork storage robot is located at the target storage location. When there is a second cargo box on the inner shelf of the double-deep rack and the corresponding position of the outer shelf has a second cargo box, after the second cargo box at the corresponding position is removed, the corresponding storage/delivery operation is performed on the first cargo box , so that the single-fork warehousing robot can carry out the storage/delivery of containers, which can reduce the cost of the entire storage system, greatly reduce the space ratio of the middle lane of the storage system, and effectively improve the storage efficiency.

FIG. 4 is a flow chart of the storage method provided by the second embodiment of the present disclosure. As shown in FIG. 4 , the specific steps of the method are as follows:

Step S101 , when the first cargo box needs to be put into storage, the dispatch server allocates a target storage location for the first cargo box.

Step S102 , the scheduling server sends a warehousing instruction to the warehousing robot for placing the first container into the target location.

After the target storage location is allocated for the first cargo box to be put into storage, the scheduling server sends the storage robot a storage entry instruction for placing the first cargo box in the target storage location.

Step S103, in response to the warehousing instruction for placing the first cargo box into the target storage location, if the target storage location is located on the inner shelf of the double-deep shelf, and there is a second cargo box on the corresponding position of the outer shelf, the storage robot After the second container at the corresponding position is removed, the first container is put into the target location.

Among them, the warehouse robot has a single handling device. This embodiment exemplarily illustrates the storage method by taking the storage robot as a single-fork storage robot as an example.

When warehousing, the single-fork warehousing robot can only carry one container, move the container to the shelf where it should be placed, and place it on the target location on the shelf.

When receiving the warehousing instruction to put the first container into the target location, if the target location is located on the inner shelf of the double-deep shelf, and there is a second container on the corresponding position of the outer shelf, then the After the second container is removed, the first container can be placed in the target location.

In this step, after the second container at the corresponding position is removed, the storage robot places the first container into the target storage location.

In the embodiment of the present disclosure, when the container is put into storage, after the dispatching server allocates a target storage location for the first container to be put into storage, the dispatching single-fork storage robot sends a storage instruction to the storage robot to locate the double fork in the target storage location. When there is a second cargo box on the inner shelf of the deep shelf and the corresponding position of the outer shelf, after the second cargo box at the corresponding position is removed, the first cargo box is put into the target storage location, so as to realize a single cargo Fork warehousing robots carry out container storage, which can reduce the cost of the entire warehousing system, greatly reduce the space ratio of the middle aisle of the warehousing system, and effectively improve the storage efficiency.

FIG. 5 is a flowchart of the storage method provided by Embodiment 3 of the present disclosure. On the basis of the above-mentioned first embodiment, in this embodiment, during storage, if the target storage location is located on a single-deep shelf or an external shelf of a double-deep shelf, and the target storage location is free, the first goods The box is placed into the target location. If the target storage location is located on the inner shelf of the double-deep rack, and the corresponding position of the outer shelf and the target storage location are both free, put the first container into the target storage location. As shown in Figure 5, the specific steps of the method are as follows:

Step S201 , when the first cargo box needs to be put into storage, the dispatch server allocates a target storage location for the first cargo box.

In this embodiment, in order to improve the warehousing efficiency of the single-fork warehousing robot, when the dispatching server allocates the target storage location to the cargo box, it can select the first cargo box according to the heat of the first cargo box and/or the aging requirement of the current order. Allocate the target location.

In an optional implementation manner, according to the heat of the first cargo box, if the heat of the first cargo box is greater than the fourth heat threshold, priority will be given to finding a free storage space on the external shelf, and when there is no free storage space on the external shelf. If the heat of the first cargo box is lower than the fourth heat threshold, the priority will be to find the free space on the internal shelf, and when there is no free space on the internal shelf, it will look for the free space on the external shelf. bit; assign the found free bin to the first case.

The fourth heat threshold may be configured and adjusted according to an actual application scenario, which is not specifically limited in this embodiment.

In this embodiment, the containers with higher heat are preferentially stored in the free space on the external shelf, and only when there is no free space on the external shelf, the container is put into the storage in the free space on the internal shelf. Containers with low heat are first put into storage to the free storage space on the internal shelf. When there is no free storage space on the internal shelf, the container is put into the storage to the free storage space on the external shelf. Since the container with high heat has a higher probability of being taken out, this can improve the efficiency of container storage and delivery.

In another optional implementation manner, according to the remaining completion time of the current order, if the remaining completion time of the current order is less than the first aging threshold, the first cargo box is allocated with a distance from the operating table within the second preset range. Free storage location; if the remaining completion time of the current order is greater than or equal to the first aging threshold, a free storage location whose distance from the operating table is beyond the second preset range is allocated to the first cargo box.

In this embodiment, the containers with higher aging requirements are put into storage on the shelves closer to the operating table; the containers with lower aging requirements are put into storage on the shelves farther from the operating table, which can improve the aging time. The storage efficiency of the container with higher requirements. In addition, when the warehouse is out of the warehouse, because the container with higher aging requirements is closer to the operating table, the efficiency of the container out of the warehouse can also be improved.

Optionally, if the remaining completion time of the current order is less than the first aging threshold, the first cargo box can be allocated a free storage space that is within the second preset range from any operating table. The delivery of the first container from the warehouse to the nearest console can improve the delivery efficiency of the container to a certain extent.

Optionally, if the remaining completion time of the current order is less than the first aging threshold, a first dedicated console can be allocated for the first cargo box, and the dedicated console is used to process the warehousing corresponding to the order whose remaining completion time is less than the first aging threshold. Task: Allocate the first cargo box with a free storage space within a second preset range from the first dedicated operating table. In this way, a special operating table can be allocated to a cargo box with high time-limitation requirements, and a free storage location near the special operating table can be allocated to the cargo box, which can further improve the warehousing efficiency of the cargo box. When the container is out of the warehouse, the container is out of the warehouse to the special operation table assigned to it, which can further improve the out-of-warehouse efficiency of the container.

The first aging threshold and the second preset range can both be configured and adjusted according to actual application scenarios, which are not specifically limited in this embodiment.

In another optional implementation manner, according to the heat of the first cargo box, if the heat of the first cargo box is greater than the fifth heat temperature threshold, a distance between the first cargo box and the operating table within the third preset range is allocated to the first cargo box. Free storage space; if the heat of the second cargo box is less than the fifth heat threshold, allocate a free storage space for the first cargo box whose distance from the operating table is beyond the third preset range.

In this embodiment, the containers with higher heat are put into storage on the shelves closer to the operating table; the containers with lower heat are put into storage on the shelves farther from the operating table, which can increase the heat. warehousing efficiency of the container. In addition, when the container is out of the warehouse, because the container with high heat has a higher probability of being taken out, placing the container with high heat in the warehouse position closer to the operating table can also improve the efficiency of container out-of-warehousing.

Optionally, if the heat of the first cargo box is greater than the fifth heat threshold, a free storage space within a third preset range from any operating table may be allocated to the first cargo box, and when leaving the warehouse, the The delivery of the first container from the warehouse to the nearest console can improve the delivery efficiency of the container to a certain extent.

Optionally, if the heat of the first cargo box is greater than the fifth heat threshold, a second dedicated console may be allocated to the first cargo box, and the second dedicated console is used to handle the incoming of cargo boxes whose heat is greater than the fifth thermal threshold. Warehouse task: Allocate a free warehouse location for the first cargo box that is within a third preset range from the second dedicated operating table. In this way, a dedicated operation table can be allocated to the container with high heat, and the empty storage space near the dedicated operation table can be allocated to the container, which can further improve the storage efficiency of the container. When leaving the warehouse, since the container with high heat has a higher probability of being taken out, the container is sent out to the dedicated console assigned to it, which can further improve the efficiency of the container leaving the warehouse.

The fifth heat threshold and the third preset range may be configured and adjusted according to actual application scenarios, which are not specifically limited in this embodiment.

In another optional embodiment, according to the remaining completion time of the current order, if the remaining completion time of the current order is less than the second aging threshold, the free storage space on the external shelf is preferentially searched, and when there is no free storage space on the external shelf If the remaining completion time of the current order is greater than or equal to the second aging threshold, the priority will be to find the free space on the internal shelf, and when there is no free space on the internal shelf, look for the free space on the external shelf. Free location; assign the found free location to the first case.

The second aging threshold may be configured and adjusted according to an actual application scenario, which is not specifically limited in this embodiment.

In this embodiment, the containers with higher aging requirements are preferentially put into storage to the free storage positions of the external shelves, and only when there is no free storage space on the external shelves, the containers are put into storage to the free storage positions of the internal shelves. . Containers with lower aging requirements are first put into storage to the free storage space on the internal shelf. When there is no free storage space on the internal shelf, the container is put into the storage to the free storage space on the external shelf. This can improve the efficiency of loading and unloading containers with high time-limitation requirements.

The present embodiment provides an allocation strategy during warehousing, which can reasonably allocate a target location to the first container according to the heat and aging requirements of the first container to be warehousing, which can improve the efficiency of warehousing and warehousing. efficiency, so as to improve the storage and storage efficiency of the storage system.

Step S202 , the scheduling server sends a warehousing instruction to the warehousing robot to put the first container into the target location.

Step S203, the storage robot receives a storage instruction for placing the first container into the target storage location.

After receiving the warehousing instruction to put the first container into the target location, the warehousing robot performs the warehousing task according to the type of the shelf where the target location is located and the actual situation.

Step S204, if the target storage location is located on the inner shelf of the double-deep shelf, and there is a second cargo box on the corresponding position of the external shelf, the storage robot will remove the first cargo box after the second cargo box on the corresponding position is removed. The box is placed into the target location.

In an optional embodiment, if the target storage location is located on the inner shelf of the double-deep shelf, and there is a second container on the corresponding position of the outer shelf, the storage robot automatically searches for a free storage location on the double-deep shelf. ;Move the second container out to the free location, then put the first container into the target location. In this way, the single-fork storage robot can independently complete the storage of the first container.

Optionally, the warehousing robot may include a vision device, which can automatically acquire image information of each storage location, and identify whether the storage location is free, so as to automatically find an idle storage location.

Further, after the second cargo box is moved out to the free storage location, the warehousing robot reports the current storage location of the second cargo box to the dispatching server, so that the dispatching server updates the position of the second cargo box to ensure that the dispatching server can accurately The actual storage location of the second cargo box is known on the ground and in the field.

Optionally, when the warehousing robot automatically finds a free space on the double-deep shelf, it can search for the free space closest to the target space, so that the second cargo box can be moved to other free space nearby, which can improve the first time. The warehousing efficiency of a container.

Optionally, when the warehousing robot automatically finds a free space on the double-deep shelf, it can search for a free space on the external shelf first according to the heat of the second container, if the heat of the second container is high; The heat of the second cargo box is low, and the priority is to find a free storage space on the internal shelf.

Specifically, according to the heat of the second container, if the heat of the second container is greater than the first heat threshold, the warehousing robot will preferentially search for a free space on the external shelf, and search for an internal shelf when there is no free space on the external shelf. If the heat of the second container is less than the first heat threshold, it will give priority to finding the free space on the internal shelf, and when there is no free space on the internal shelf, look for the free space on the external shelf. The first heat threshold may be configured and adjusted according to an actual application scenario, which is not specifically limited in this embodiment.

In this embodiment, if the heat of the second container is relatively high, the second container will be preferentially moved to the free space on the external shelf, and the second container will only be moved to the free space when there is no free space on the external shelf. On a free space on the internal shelf. If the temperature of the second cargo box is low, the second cargo box will be moved to the free storage position of the internal shelf first, and only when there is no free storage position on the internal shelf, the second cargo box will be moved to the free storage position of the external shelf. superior. Since the container with high heat has a higher probability of being taken out, this can improve the efficiency of the subsequent warehousing and warehousing of the second container.

In another optional implementation manner, when it is determined that the target storage location is located on the inner shelf of the double-deep shelf, and there is a second container at the corresponding position of the outer shelf, the scheduling server can directly schedule the two storage robots to execute For the warehousing task of the first cargo box, one storage robot moves the second cargo box at the corresponding position out, and another storage robot puts the first cargo box into the target warehouse after the second cargo box at the corresponding position is removed. bit.

In addition, after the warehousing robot removes the second cargo box at the corresponding position, it can wait for another warehousing robot to put the first cargo box into the target storage location, and then put the second cargo box back to the original position, thereby completing the Cooperate with another warehouse robot to complete the storage of the first container.

In another optional embodiment, if it is determined that the target storage location is located on the inner shelf of the double-deep shelf, and there is a second cargo box at the corresponding position of the outer shelf, the scheduling server can search for the double-deep shelf. and send the location information of the free location to the warehousing robot, so that the warehousing robot can find the free location according to the location information, and move the second container out to the free location.

Further, the scheduling server may search for a free storage location closest to the target storage location. Alternatively, the scheduling server can also, according to the heat of the second cargo box, if the heat of the second cargo box is greater than the first heat threshold, firstly search for a free space on the external shelf, and search for an internal shelf when there is no free space on the external shelf. If the heat of the second container is less than the first heat threshold, it will give priority to finding the free space on the internal shelf, and when there is no free space on the internal shelf, look for the free space on the external shelf.

In this embodiment, the specific implementation manner of the scheduling server searching for a free storage space for the second container can be implemented by any of the above-mentioned methods for the storage robot to search for a free storage space for the second container, which will not be repeated in this embodiment.

In another optional implementation manner, when it is determined that the target storage location is located on the inner shelf of the double-deep shelf, and there is a second cargo box on the corresponding position of the outer shelf, it can send a cooperation request to the scheduling server, After the scheduling server receives the collaboration request, it schedules another warehousing robot to assist the current warehousing robot to vacate the corresponding position of the external shelf.

In this embodiment, the warehousing robot waits for another warehousing robot to remove the second cargo box at the corresponding position of the external shelf, and after the corresponding position of the external shelf is vacated, the first cargo box is put into the target storage location.

Step S205 , if the target storage location is located on the outer shelf of the double-deep rack or the single-deep rack, and the target storage location is free, the storage robot places the first cargo box into the target storage location.

In this embodiment, if the target storage location is located on the outer shelf of the double-deep shelf, and the target storage location is free, the storage robot places the first cargo box into the target storage location.

When receiving the warehousing instruction to put the first cargo box into the target storage location, if the target storage location is located on the outer shelf of the double-deep rack and the target storage location is free, the storage robot can directly put the first cargo box into the storage location. target location.

In this embodiment, if the rack type where the target storage location is located is a single-deep location, the target storage location cannot be occupied. If the target location is free, the warehousing robot can directly put the first container into the target location.

If other containers occupy the target location, the dispatch server needs to re-arrange a new location for the first container, and update the dispatch system in time.

Step S206 , if the target storage location is located on the inner shelf of the double-deep rack, and the corresponding position of the outer shelf and the target storage location are both free, the storage robot places the first cargo box into the target storage location.

When receiving the warehousing instruction to put the first container into the target location, if the target location is located on the inner shelf of the double-deep rack, and the corresponding position of the outer shelf and the target location are both free, the storage robot can directly Place the first case into the target location.

In an optional implementation manner, the warehousing instruction is further used to instruct the warehousing robot to transport the first cargo box to the target storage location from the dedicated operation table allocated for the first cargo box. The warehousing robot transports the first cargo box from the special operation table to the target location.

Step S207 , if the target storage location is occupied, the storage robot sends exception information to the dispatch server, so that the dispatch server can reallocate the target storage location for the first container.

In this embodiment, when receiving a warehousing instruction to put the first cargo box into the target storage location, if the target storage location is occupied, the first cargo box cannot be put into the target storage location, and an exception occurs at this time, and the storage The robot can send exception information to the dispatch server. When receiving the abnormal information, the scheduling server re-allocates a new storage location for the first cargo box, and issues a warehousing instruction to store the first cargo box to the new storage location to the warehousing robot.

In addition, during the warehousing process, when any abnormality occurs and the warehousing task cannot be completed, the warehousing robot can send the corresponding exception information to the scheduling server, and the corresponding exception information includes information such as the cause, result or description of the exception. The scheduling server assigns other robots or the current robot to restore the abnormal state.

In the embodiment of the present disclosure, the single-fork storage robot is used to complete the cargo box warehousing task, which can reduce the cost of the entire storage system and effectively improve the storage efficiency; further, if the second cargo box is relatively hot, the second cargo box is moved preferentially The second cargo box is moved to the free storage position of the internal shelf only when there is no free storage position on the external shelf. If the temperature of the second cargo box is low, the second cargo box will be moved to the free storage position of the internal shelf first, and only when there is no free storage position on the internal shelf, the second cargo box will be moved to the free storage position of the external shelf. superior. Since the container with high heat is more likely to be taken out, this can improve the efficiency of the subsequent warehousing and warehousing of the second container, thereby improving the efficiency of warehousing and warehousing as a whole of the storage system.

FIG. 6 is a flow chart of a method for outbound storage provided by Embodiment 4 of the present disclosure. As shown in FIG. 6 , the specific steps of the method are as follows:

Step S301 , the scheduling server determines, according to the goods identifier in the current order, the first cargo box where the goods to be taken out are located, and the target storage location where the first cargo box is located.

If an order is issued to the dispatch server, the dispatch server determines the first cargo box in which the goods in the current order are located according to the cargo identifier in the current order, and the first cargo box is the cargo box to be taken out. The dispatch server can further query the target location where the first container is located.

In practical applications, there may be multiple containers for storing the goods to be taken out. The scheduling server can select the optimal target container according to the outbound strategy, and obtain the target location where the target container is located.

The outbound policy may be configured according to an actual application scenario, which will not be repeated here in this embodiment.

Step S302 , the scheduling server sends an outbound instruction for the first container on the target location to the warehouse robot.

After determining the target location of the first cargo box to be shipped out, the scheduling server sends the warehouse robot an outbound instruction for the first cargo box on the target location.

Step S303, in response to the out-of-warehouse instruction for the first container on the target location, if the target location is located on the inner shelf of the double-deep shelf, and there is a second container on the corresponding position of the outer shelf, the storage robot will After the second container is removed, the first container is removed from the target location.

When out of the warehouse, the single-fork storage robot can only carry one container, and transport the container from the target storage location to the operation table.

When receiving the outbound instruction for the first container on the target location, if the target location is located on the inner shelf of the double-deep shelf, and there is a second container on the corresponding position of the outer shelf, you need to first After the second container is removed, the first container can be taken out from the target location.

In this step, after the second cargo box at the corresponding position is removed, the storage robot takes out the first cargo box from the target storage position, and can also transport the first cargo box to the corresponding operating table.

In the embodiment of the present disclosure, when the cargo box is out of the warehouse, after the dispatch server determines the first cargo box where the goods to be taken out are located and the target storage location where the first cargo box is located, the dispatching server sends a warehouse out instruction to the storage robot to dispatch the single fork storage. When the target location is located on the inner shelf of the double-deep shelf, and there is a second cargo box at the corresponding position of the outer shelf, the robot takes out the first cargo from the target location after the second cargo box at the corresponding position is removed. It can reduce the cost of the entire storage system, greatly reduce the space ratio of the middle aisle of the storage system, and effectively improve the storage efficiency.

FIG. 7 is a flowchart of a method for delivering a library provided by Embodiment 5 of the present disclosure. On the basis of the fourth embodiment above, in this embodiment, when the warehouse is out, if the target location is located on the outer shelf of the double-deep shelf, or the target location is located on the single-deep shelf, take out from the target location. First cargo box. If the target storage location is located on the outer shelf of the double-deep rack, and the corresponding position of the outer shelf and the target storage location are both free, the first cargo box is taken out from the target storage location. As shown in Figure 7, the specific steps of the method are as follows:

Step S401 , the scheduling server determines, according to the goods identifier in the current order, the first cargo box where the goods to be taken out are located, and the target storage location where the first cargo box is located.

Step S402, the scheduling server sends an outbound instruction for the first container on the target location to the warehouse robot.

Step S403, the storage robot receives the out-of-warehouse instruction for the first container on the target location.

After receiving the outbound instruction for the first container on the target location, the warehousing robot executes the outbound task according to the type of the shelf where the target location is located and the actual situation.

Step S404, if the target storage location is located on the inner shelf of the double-deep shelf, and there is a second cargo box on the corresponding position of the external shelf, the storage robot will take out the first cargo from the target storage location after the second cargo box is removed. box.

In an optional embodiment, if the target storage location is located on the inner shelf of the double-deep rack, and there is a second container on the corresponding position of the outer rack, the storage robot automatically searches for an empty storage space on the double-deep rack. position; move the second tote out to a free location. Then take the first case from the target location. In this way, the single-fork storage robot can independently complete the delivery of the first container.

Optionally, when the warehousing robot automatically finds a free space on the double-deep shelf, it can search for the free space closest to the target space, so that the second cargo box can be moved to other free space nearby, which can improve the first time. The outbound efficiency of a container.

Specifically, according to the heat of the second container, if the heat of the second container is greater than the eighth heat threshold, the warehousing robot will preferentially search for a free space on the external shelf, and search for an internal shelf when there is no free space on the external shelf. If the heat of the second cargo box is less than the eighth heat threshold, priority will be given to finding a free space on the internal shelf, and when there is no free space on the internal shelf, it will search for a free space on the external shelf.

The eighth heat threshold may be configured and adjusted according to an actual application scenario, which is not specifically limited in this embodiment.

In an optional embodiment, if the target storage location is located on the inner shelf of the double-deep shelf, and there is a second cargo box on the corresponding position of the external shelf, the scheduling server can schedule two storage robots to execute the first cargo box. For the warehousing task, one warehousing robot removes the second container at the corresponding position, and another warehousing robot takes out the first container from the target location after the second container at the corresponding position is removed.

In addition, after the warehousing robot removes the second cargo box at the corresponding position, it can wait for another warehousing robot to take out the first cargo box from the target location, and then put the second cargo box back to the original position, thereby completing the Another warehouse robot cooperates to complete the delivery of the first cargo box.

In another optional implementation manner, when it is determined that the target location is located on the inner shelf of the double-deep shelf, and there is a second container on the corresponding position of the outer shelf, the storage robot can send a cooperation request to the scheduling server, After the scheduling server receives the cooperation request, the scheduling server can schedule another warehousing robot to assist the current warehousing robot to vacate the corresponding position of the external shelf.

In this embodiment, the warehousing robot waits for another warehousing robot to remove the second container at the corresponding position of the external shelf, and then takes out the first container from the target storage position after the corresponding position of the external shelf is vacated.

Step S405 , if the target storage location is located on the outer shelf of the double-deep rack, or the target storage location is located on the single-deep rack, take out the first cargo box from the target storage location.

When receiving the outbound instruction for the first container on the target storage location, if the target storage location is located on the outer shelf of the double-deep rack, or the target storage location is located on the single-deep rack, the storage robot can directly send the first container The case is taken from the target location.

Step S406 , if the target storage location is located on the outer shelf of the double-deep rack, and the corresponding position of the outer shelf is free, take out the first cargo box from the target storage location.

When receiving the outbound instruction for the first container on the target location, if the target location is located on the outer shelf of the double-deep shelf, and the corresponding positions of the outer shelves are all free, the storage robot can directly send the first container Take out from the target location.

In addition, after the first cargo box is taken out from the target location, the storage robot also transports the first cargo box to a designated operation table. Wherein, the designated operation console can be designated by the scheduling server and included in the outbound instruction.

In an optional implementation manner, the scheduling server may also allocate a third dedicated console for the first cargo box according to the remaining completion time of the current order, if the remaining completion time of the current order is less than the third aging threshold, and the dedicated operation The station is used to process outbound tasks corresponding to orders whose remaining completion time is less than the third aging threshold.

The out-of-warehouse instruction is also used to instruct the warehouse robot to transport the first cargo box on the target storage location to the third dedicated operation table allocated for the first cargo box. After the warehousing robot takes out the first cargo box from the target storage location, it transports the first cargo box to the third special operation table.

The third aging threshold may be configured and adjusted according to an actual application scenario, which is not specifically limited in this embodiment.

Step S407: If there is no first container in the target location, send exception information to the dispatch server.

In this embodiment, when an outbound instruction for the first container on the target location is received, if there is no first container in the target location, the first container cannot be taken out from the target location. Abnormal, the warehouse robot can send abnormal information to the dispatch server. When receiving the exception information, the scheduling server performs corresponding exception processing.

In addition, during the outbound process, when any abnormality occurs and the outbound task cannot be completed, the warehousing robot can send the corresponding abnormality information to the dispatching server, and the corresponding abnormality information includes information such as the cause, result or description of the abnormality. The scheduling server assigns other robots or the current robot to restore the abnormal state.

In the embodiment of the present disclosure, the single-fork storage robot completes the task of unloading the cargo box, which can reduce the cost of the entire storage system and effectively improve the storage efficiency; further, if the second cargo box is relatively hot, the second cargo box is moved preferentially The second cargo box is moved to the free storage position of the internal shelf only when there is no free storage position on the external shelf. If the temperature of the second cargo box is low, the second cargo box will be moved to the free storage position of the internal shelf first, and only when there is no free storage position on the internal shelf, the second cargo box will be moved to the free storage position of the external shelf. superior. Since the container with high heat is more likely to be taken out, this can improve the efficiency of the subsequent warehousing and warehousing of the second container, thereby improving the efficiency of warehousing and warehousing as a whole of the storage system.

FIG. 8 is a flowchart of a library management method provided in Embodiment 6 of the present disclosure. As shown in FIG. 8 , the specific steps of the method are as follows:

Step S501 , when the storage robot is idle, the scheduling server determines the target rack to be sorted.

When one or more warehousing robots are idle, the scheduling server can schedule the idle warehousing robots to carry out tally tasks, so as to sort out the cargo boxes on the double-deep shelves.

In this embodiment, the purpose of tallying the double-deep racks is to make each corresponding position on the double-deep racks have only one cargo box as much as possible, and only one cargo box in a corresponding position means: if the corresponding position of the external rack has There should be a cargo box at the corresponding position of the cargo box or the internal shelf; that is, the situation where there are cargo boxes on the same corresponding position of the external shelf and the internal shelf is as few as possible.

There are many shelves in the storage system, and not all the shelves need to be sorted frequently. In this embodiment, the dual-deep shelves that are relatively hot or have not been sorted for a long time need to be sorted first.

The scheduling server first selects the target rack to be sorted this time.

Optionally, the scheduling server may determine the number of target shelves to be sorted according to the number of currently idle storage robots.

Step S502, the scheduling server sends a library ordering instruction for the target shelf to the storage robot.

After the scheduling server determines the target shelf to be sorted, it sends a library ordering instruction for the target shelf to the idle storage robot.

There can be multiple target shelves to be sorted, and there can also be multiple idle storage robots. The scheduling server can assign the target shelves to be sorted to each storage robot, and each storage robot can independently or at least two storage robots cooperate to complete it. Assigned library tasks.

Step S503, when there is a third cargo box located on the inner shelf on the target shelf, and a fourth cargo box is located on the corresponding position of the outer shelf, find an idle target position, the target position on the inner shelf of the shelf and the target position on the outer shelf. are free, and send the target position to the warehouse robot.

Find on the target shelf whether there is a container in a corresponding position of the external shelf and the internal shelf on the target shelf. If the third cargo box on the internal shelf is found, and the corresponding position of the external shelf has a fourth container. container, then the third or fourth container needs to be moved to other free storage locations. Then, the warehousing robot needs to find an idle target position, where the inner shelf of the rack where the target position is located and the storage position corresponding to the target position on the outer rack are both free.

In this embodiment, the free target position may be searched on all the shelves of the storage system, or the free target position may be searched on the current target shelf, or the range of the shelves for searching for the free target position may be limited. Make specific restrictions.

In this embodiment, the scheduling server may search for an idle target position, and send the position information of the target position to the warehouse robot. The warehousing robot finds the target location based on the location information.

In another implementation of this embodiment, the storage robot includes a vision device, which can identify whether each storage location is free, and the storage robot can automatically find an idle target storage location.

Optionally, there are usually many shelves in the storage system. It will take a long time to find an idle target position in the entire storage system. In order to improve the efficiency of warehouse management, in an optional implementation of this The target position can be found on the shelves within the first preset range.

The first preset range may be a range centered on the target shelf and relatively close to the target shelf, or may be a range that is relatively close to each operating table, and the first preset range may be configured and adjusted according to actual application scenarios , which is not specifically limited in this embodiment.

Step S504: In response to the library ordering instruction for the target rack in the double-deep position, if there is a third cargo box located on the inner rack on the target rack, and there is a fourth cargo box in the corresponding position of the outer rack, search for an idle target. position, both the inner shelf of the rack where the target position is located and the target position on the outer shelf are free.

Among them, the warehouse robot has a single handling device. This embodiment exemplarily illustrates the warehouse delivery method by taking the warehouse robot as a single-fork warehouse robot as an example. When handling the warehouse, the single-fork storage robot can only carry one cargo box.

In an optional implementation manner, when receiving a library ordering instruction for a double-deep target rack, the storage robot searches for the target position according to the position information of the idle target position sent by the scheduling server, and puts the third goods The container or the fourth container is transported to the target location.

In another optional embodiment, the storage robot includes a vision device, which can identify whether each storage space is free. When receiving the order to organize the target shelf of the double-deep position, the warehousing robot can search on the target shelf on its own to see if there is a container on the target shelf at a corresponding position of the external shelf and the internal shelf. If the third cargo box is located on the inner shelf, and there is a fourth cargo box on the corresponding position of the external shelf, then the third cargo box or the fourth cargo box needs to be moved to another free storage location. Then, the warehousing robot needs to find an idle target position, where the inner shelf of the rack where the target position is located and the storage position corresponding to the target position on the outer rack are both free.

Step S505 , transport the third cargo box or the fourth cargo box to the target position.

Both the inner shelf of the shelf where the target position is located and the storage space corresponding to the target position on the outer shelf are free.

After finding the free target position, the storage robot can move the third cargo box to the corresponding target position of the outer shelf or the inner shelf of the rack where the target position is located, keeping the position of the fourth cargo box unchanged; or can move the fourth cargo box To the corresponding target position of the outer rack or inner rack of the rack where the target position is located, keeping the position of the third cargo box unchanged.

In the embodiment of the present disclosure, when the storage robot is idle, the scheduling server determines the target rack to be sorted, and sends the storage robot a library ordering instruction for the target rack; the storage robot responds to the double-deep target rack. If there is a third container located on the inner shelf on the target shelf, and there is a fourth container on the corresponding position of the outer shelf, search for a free target position, the inner shelf of the shelf where the target position is located, and the library corresponding to the target position on the outer shelf All positions are free; move the third container or the fourth container to the target position, so that there is only one container at each position on the shelf after the warehouse, so as to reduce the obstruction of the container when leaving the warehouse. It can improve the handling efficiency of the cargo box, thereby improving the warehousing and warehousing efficiency of the warehousing system.

On the basis of the sixth embodiment, in the seventh embodiment, a single storage robot can independently complete the tally task of the target rack, or two storage robots can cooperate to complete the tally task of the target rack.

In an optional implementation manner, the scheduling server may allocate at least one target rack to each storage robot; and send a library management instruction corresponding to the at least one target rack to each storage robot. Each warehouse robot independently completes the warehouse corresponding to at least one target shelf.

Further, since the warehousing robot has one handling device, it can only handle one cargo box at a time. If the warehousing robot transports the third cargo box on the inner shelf to the target position, it needs to move the fourth cargo box corresponding to the outer shelf first. , otherwise the third cargo box cannot be taken out. In order to improve the efficiency of warehouse handling, when a single warehouse robot handles warehouses, the warehouse robot can transport the fourth container on the external shelf to the target position.

Optionally, when a single warehousing robot organizes the warehouse, the warehousing robot may transport the fourth container to a target position on an outer shelf of the shelf where the target position is located.

Optionally, according to the heat of the fourth container, if the heat of the fourth container is greater than the second heat threshold, the storage robot may move the fourth container to the target position on the outer shelf of the shelf where the target position is located; If the heat of the container is less than or equal to the second heat threshold, the fourth container is transported to the target position on the inner shelf of the shelf where the target position is located. The second heat threshold may be configured and adjusted according to an actual application scenario, which is not specifically limited in this embodiment.

In this embodiment, when a single robot executes the library management strategy, it organizes the boxes on the shelf, and re-transports the boxes on the shelf to shelf 1 (external shelf) or shelf 2 (internal shelf) according to the heat of the boxes. If the heat is high, it will be transported to shelf 1, and if the heat is relatively low, it will be transported to shelf 2. If there are cargo boxes in both rack 1 and rack 2 in a certain slot of the shelf, if the rack has a free storage position of rack 1, the robot will move the cargo box of rack 1 to the free storage position. There is only one cargo box at each position. If there are too many cargo boxes, consider placing both rack 1 and rack 2 in this position.

In another optional implementation manner, since the storage robot has one handling device and can only carry one container at a time, in order to improve the efficiency of warehouse management, the scheduling server can group the storage robots, and each group includes two storage robots; Assign at least one target rack to each group, and send a library order corresponding to at least one target rack to two storage robots in each group. The two warehouse robots in each group cooperate to complete the warehouse corresponding to at least one target shelf.

Due to the installation of the warehousing method and the warehousing method in the foregoing embodiments, the fourth cargo box on the outer shelf usually has higher heat or higher aging requirements than the third cargo box on the inner shelf. Therefore, when arranging the warehouse, Prioritize moving the third cargo box on the interior shelf.

Optionally, in the above step S304, the storage robot may wait for another storage robot to temporarily take out the fourth container, and then transport the third container to the target position.

Further, the storage robot can transport the third cargo box to a target position on an outer shelf of the shelf where the target position is located. In this way, it is possible to improve the efficiency when the third container is out of the warehouse.

Further, according to the heat of the third container, if the heat of the third container is greater than the third heat threshold, the storage robot can move the third container to the target position on the outer shelf of the shelf where the target position is located; If the heat of the container is less than or equal to the third heat threshold, the third container is transported to the target position on the inner shelf of the shelf where the target position is located. In this way, the overall distribution of the containers in the storage system can be maintained according to the heat and aging requirements of each container, and the overall outbound and inbound efficiency of the storage system can be improved.

In an optional implementation of this embodiment, the scheduling server may determine the target rack to be sorted according to the heat of the double-deep rack and/or the unsorted time.

Optionally, the scheduling server may determine a double-deep shelf with a heat greater than a sixth heat threshold as a target shelf. Optionally, the scheduling server may determine a double-deep rack whose unsorted duration is longer than a preset duration as the target rack. Optionally, the scheduling server may determine a double-deep rack whose heat is greater than the seventh heat threshold and whose unsorted duration is greater than a preset duration as the target rack.

Optionally, the scheduling server may sort each double-deep rack in descending order of popularity, and determine the top N double-deep racks as target racks, where N is a positive integer. The sixth heat threshold, the preset duration and the value of N can all be configured and adjusted according to actual application scenarios, which are not specifically limited in this embodiment.

In addition, according to the heat of the double-deep racks and/or the unsorted time, the specific storage strategy of the target shelf to be sorted is determined, which can be configured and adjusted according to the actual application scenario, which is not specifically limited in this embodiment.

In this embodiment, when the warehousing robot is idle, the warehousing robot is allocated to carry out the warehouse management strategy to improve the handling efficiency of the boxes. The rate measurement strategy is as follows: when the warehousing robot is idle, the dispatch center will assign the robot to The robots form a group and clean one shelf in a centralized manner. Each time the warehouse is selected, the dispatch center will select the shelf with high heat and the shelf that has not been cleaned for a long time to clear the warehouse. When a group of warehousing robots clears a shelf, the warehousing robot rearranges the position of the box. The placement strategy is that if there are boxes in a certain position on shelf 1 (external shelf) and shelf 2 (internal shelf), the warehousing robot moves the shelf. 2 boxes, and put them in other empty positions on the shelf. If there is at least one box in each position on the shelf, stop sorting.

In this embodiment, when any abnormality occurs during the process of sorting out the warehouse, the warehouse robot may send corresponding abnormality information to the scheduling server, and the corresponding abnormality information includes information such as the cause, result, or description of the abnormality. The scheduling server assigns other robots or the current robot to restore the abnormal state.

The embodiments of the present disclosure can effectively reduce the blocking of cargo boxes by scheduling the storage robots to sort out the racks with high heat and the racks that have not been cleaned for a long time when the storage robot is idle, which can improve the handling efficiency of the cargo boxes, thereby improving the storage system. The efficiency of warehousing and warehousing; further, when a single warehousing robot organizes the warehouse, the warehousing robot transports the fourth container on the external shelf to the free position on the external shelf; when two warehousing robots cooperate to organize the warehouse, they can also move the internal warehouse The third cargo box on the shelf is moved to the free position, which can improve the efficiency of the warehouse.

FIG. 9 is a schematic structural diagram of an apparatus for warehouse management according to Embodiment 8 of the present disclosure. The warehouse management device provided by the embodiment of the present disclosure can execute the processing flow provided by the warehouse management method embodiment. The storage management device is applied to a storage robot of a storage system, and the storage robot has a single handling device. As shown in FIG. 9 , the warehouse management device 10 includes: a management module 11 .

Specifically, the management module 11 is used to respond to the operation instruction for the first cargo box, if the target storage location of the first cargo box is located on the inner shelf of the double-deep shelf, and there is a second cargo box on the corresponding position of the outer shelf , then after the second container is removed, the corresponding operation is performed on the first container.

In an optional implementation manner, the operation instruction includes at least: a storage-in instruction and a storage-out instruction.

In an optional implementation manner, the management module 11 is further configured to: move the second container out to a free storage location on the double-deep shelf, and report the current storage location of the second container to the dispatch server.

In an optional embodiment, the management module 11 is further configured to: wait for another storage robot to remove the second container on the corresponding position of the external shelf.

In an optional implementation manner, the management module 11 is further configured to: if the target warehouse is located on a single-deep shelf or on an external shelf of a double-deep shelf, perform a corresponding operation on the first cargo box; If the position is located on the inner shelf of the double-deep shelf, and the corresponding position of the outer shelf and the target storage position are both free, the corresponding operation is performed on the first cargo box.

In an optional implementation manner, the management module 11 is further configured to: if the operation instruction is a storage-in instruction and the target storage space is occupied, send the first exception information to the dispatching server, so that the dispatching server is the first The box is reassigned to the target location; if the operation instruction is a stock-out instruction and there is no first container in the target location, the second exception information is sent to the dispatch server.

In an optional implementation manner, the management module 11 is further configured to: if the operation instruction is a storage-in instruction, move the first cargo box from the dedicated operation table to the target storage location; if the operation instruction is a storage-out instruction, then After the first cargo box is taken out from the target location, the first cargo box is transported to the third dedicated operation table.

In an optional implementation manner, the management module 11 is further configured to: in response to a stock-arranging instruction for a target rack with a double-deep position, if there is a third container located on the inner rack on the target rack, and the If there is a fourth cargo box in the corresponding position, look for a free target position. Both the inner shelf of the shelf where the target position is located and the storage position corresponding to the target position on the external shelf are free; move the third or fourth cargo box to the target position .

In an optional implementation manner, the management module 11 is further configured to: move the fourth cargo box to a target position on the outer shelf of the rack where the target position is located; or, according to the heat of the fourth cargo box, if the fourth cargo box is If the heat of the fourth container is greater than the second heat threshold, the fourth container will be transported to the target position on the outer shelf of the shelf where the target position is located; if the heat of the fourth container is less than or equal to the second heat threshold, the fourth container will be transported to The target position on the inner shelf of the shelf where the target position is located.

In an optional implementation manner, the management module 11 is further configured to: wait for another warehouse robot to temporarily take out the fourth container, and then transport the third container to the target position.

In an optional implementation manner, the management module 11 is further configured to: transport the third cargo box to a target position on the outer shelf of the shelf where the target position is located; or, according to the heat of the third cargo box, if the third cargo box is If the heat of the third container is greater than the third heat threshold, the third container will be transported to the target position on the outer shelf of the shelf where the target position is located; if the heat of the third container is less than or equal to the third heat threshold, the third container will be transported to The target position on the inner shelf of the shelf where the target position is located.

The apparatus provided by the embodiment of the present disclosure may be specifically used to execute the processing flow performed by the warehouse robot in any of the above method embodiments, and the specific functions will not be repeated here.

In this embodiment, the warehouse robot has a single handling device.

In the embodiment of the present disclosure, the scheduling server issues the tasks of outbound and inbound, and the single-fork warehousing robot realizes the inbound, outbound and warehouse storage of containers, which can reduce the cost of the entire storage system and make the space in the middle lane of the storage system free. The proportion is greatly reduced, and the storage efficiency is effectively improved.

FIG. 10 is a schematic structural diagram of an apparatus for warehouse management provided by Embodiment 9 of the present disclosure. The warehouse management device provided by the embodiment of the present disclosure can execute the processing flow provided by the warehouse management method embodiment. The warehouse management device is applied to a dispatch server of a warehouse system. As shown in FIG. 10 , the warehouse management device 20 includes: a storage location management module 21 and a task issuing module 22 .

The location management module 21 is used to determine the target location of the first container to be operated.

The task issuing module 22 is used to send an operation instruction for the first cargo box to the storage robot, so as to control the storage robot to be located on the inner shelf of the double-deep rack in the target storage position, and there is a second cargo box on the corresponding position of the outer shelf When the second container is removed, a corresponding operation is performed on the first container, wherein the warehouse robot has a single handling device.

In an optional implementation manner, the storage location management module 21 is further configured to: if it is determined that the target storage location is located on the inner shelf of the double-deep shelf, and there is a second container on the corresponding position of the outer shelf, then search for the double-deep shelf. For the free storage space on the deep shelf, the position information of the free storage position is sent to the storage robot, so that the storage robot can move the second cargo box out to the free storage position according to the position information.

In an optional implementation manner, the storage location management module 21 is further configured to: find a free storage location closest to the target storage location; or, according to the heat of the second container, if the heat of the second container is greater than that of the first container If the heat threshold is set, the free space on the external shelf will be searched first. When there is no free space on the external shelf, the free space on the internal shelf will be searched; if the heat of the second container is less than the first heat threshold, the internal shelf will be searched first. When there is no free space on the internal shelf, look for a free space on the external shelf.

In an optional implementation manner, the storage location management module 21 is further configured to: if it is determined that the target storage location is located on the inner shelf of the double-deep shelf, and there is a second container on the corresponding position of the outer shelf, schedule two A storage robot performs the warehousing task of the first cargo box. One of the storage robots removes the second cargo box at the corresponding position, and the other storage robot removes the second cargo box at the corresponding position. Perform the corresponding operation.

In an optional embodiment, the location management module 21 is further configured to: when the first cargo box needs to be put into storage, according to the heat of the first cargo box and/or the aging requirement of the current order, for the first cargo box Box allocation destination location.

In an optional implementation manner, the warehouse location management module 21 is further configured to: determine the first cargo box where the goods to be taken out are located and the target warehouse location where the first cargo box is located according to the cargo identifier in the current order.

In an optional implementation manner, the storage location management module 21 is further configured to: according to the heat of the first container, if the heat of the first container is greater than the fourth heat threshold, firstly search for a free storage space on the external shelf , when there is no free storage space on the external shelf, look for the free storage space on the internal shelf; if the heat of the second cargo box is less than the fourth heat threshold, the priority is to find the free storage space on the internal shelf. When there is no free storage space on the internal shelf When searching for a free space on the external shelf; assign the found free space to the first case.

In an optional implementation manner, the location management module 21 is further configured to: according to the remaining completion time of the current order, if the remaining completion time of the current order is less than the first aging threshold, assign and operate the first container A free storage location with a distance within the second preset range; if the remaining completion time of the current order is greater than or equal to the first aging threshold, a free storage location with a distance from the operation table outside the second preset range is allocated to the first container .

In an optional implementation manner, the location management module 21 is further configured to: if the remaining completion time of the current order is less than the first aging threshold, allocate a first dedicated console for the first cargo box, and the dedicated console is used for processing A warehousing task corresponding to an order whose remaining completion time is less than the first aging threshold; assigning a free storage location to the first cargo box with a distance from the first dedicated console within a second preset range.

In an optional implementation manner, the storage location management module 21 is further configured to: according to the heat of the first container, if the heat of the first container is greater than the fifth heat threshold, assign and operate the console for the first container The free storage space with the distance within the third preset range; if the heat of the second container is less than the fifth heat threshold, the first container is allocated a free storage space with a distance from the console outside the third preset range.

In an optional embodiment, the storage location management module 21 is further configured to: if the heat of the first container is greater than the fifth heat threshold, assign a second dedicated console to the first container, and the second dedicated console is used for In order to process the storage task of the container whose heat is greater than the fifth heat threshold; assign the first container to a free storage space with a distance from the second dedicated console within a third preset range.

In an optional implementation manner, the storage location management module 21 is further configured to: according to the remaining completion time of the current order, if the remaining completion time of the current order is less than the second aging threshold, prioritize searching for a free storage location on the external shelf , when there is no free space on the external shelf, look for the free space on the internal shelf; if the remaining completion time of the current order is greater than or equal to the second aging threshold, the free space on the internal shelf will be searched first. When there is no free space on the internal shelf When a free space is found, look for a free space on the external shelf; assign the found free space to the first cargo box.

In an optional implementation manner, the location management module 21 is further configured to: according to the remaining completion time of the current order, if the remaining completion time of the current order is less than the third aging threshold, assign a third special-purpose container to the first container An operation console, a dedicated console is used to process outbound tasks corresponding to orders whose remaining completion time is less than the third aging threshold.

In an optional implementation manner, the storage location management module 21 is further configured to: when the storage robot is idle, determine the target rack to be sorted; send the storage robot an instruction for sorting the target rack; When the third cargo box on the internal shelf and the fourth cargo box on the corresponding position of the external shelf, search for a free target position, the internal shelf and the target position on the external shelf of the shelf where the target position is located are free, and send the target position To the warehouse robot to carry the third or fourth box to the target location.

In an optional implementation manner, the storage location management module 21 is further configured to: assign at least one target rack to each storage robot; and send a storage management instruction corresponding to the at least one target rack to each storage robot.

In an optional implementation manner, the storage location management module 21 is further used for: grouping storage robots, each group including two storage robots; assigning at least one target rack to each group, and assigning at least one target rack to two storage robots in each group The robot sends a library order corresponding to at least one target shelf.

In an optional implementation manner, the storage location management module 21 is further configured to: determine the target shelf according to the heat and/or the unsorted time of each double-deep shelf.

In an optional implementation manner, the storage location management module 21 is further configured to: determine a double-deep shelf whose heat is greater than the sixth heat threshold as a target shelf; or, determine each double-deep shelf in descending order of heat Sort the top N double-deep shelves as the target shelf, where N is a positive integer; or, determine the double-deep shelves whose unsorted time is longer than the preset time as the target shelf; The double-deep racks that are greater than the seventh heat threshold and whose unsorted duration is greater than the preset duration are determined as target racks.

In an optional implementation manner, the storage location management module 21 is further configured to search for the target location on the shelves within the first preset range.

The apparatus provided in the embodiment of the present disclosure may be specifically configured to execute the processing flow executed by the scheduling server in any of the above method embodiments, and the specific functions will not be described again here.

FIG. 11 is a schematic structural diagram of a storage robot according to Embodiment 10 of the present disclosure. As shown in FIG. 11 , the warehouse robot 100 includes: a processor 1001 , a memory 1002 , and a computer program stored in the memory 1002 and executed on the processor 1001 . Wherein, when the processor 1001 runs the computer program, the method process executed by the warehouse robot in any of the above method embodiments is implemented.

In this embodiment, the warehouse robot has a single handling device.

FIG. 12 is a schematic structural diagram of a scheduling server according to Embodiment 11 of the present disclosure. As shown in FIG. 12 , the scheduling server 110 includes: a processor 1101 , a memory 1102 , and a computer program stored in the memory 1102 and executed on the processor 1101 . Wherein, when the processor 1101 runs a computer program, the method process executed by the scheduling server in any of the above method embodiments is implemented.

An embodiment of the present disclosure further provides a storage system, including the scheduling server in the eleventh embodiment and the storage robot in the tenth embodiment.

In addition, an embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the execution of the storage robot or the scheduling server in any of the foregoing method embodiments is implemented. method flow.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of the above functional modules is used for illustration. The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the apparatus described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common general knowledge or techniques in the technical field not disclosed by this disclosure . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

A method for warehouse management, characterized in that it is applied to a warehouse robot of a warehouse system, wherein the warehouse robot has a single handling device, comprising:

In response to the operation instruction for the first cargo box, if the target location of the first cargo box is located on the inner shelf of the double-deep shelf, and there is a second cargo box on the corresponding position of the external After the second cargo box is removed, a corresponding operation is performed on the first cargo box.
The method according to claim 1, wherein the operation instructions at least include: a storage-in instruction and a storage-out instruction.
The method of claim 1, further comprising:

Move the second cargo box out to the free storage position on the double-deep shelf,

The current location of the second container is reported to the dispatch server.
The method of claim 1, further comprising:

Waiting for another warehouse robot to remove the second box on the corresponding position of the outer shelf.
The method of claim 1, further comprising:

If the target storage location is located on a single-deep rack or an outer rack of a double-deep rack, perform a corresponding operation on the first cargo box;

If the target storage location is located on the inner shelf of the double-deep rack, and the corresponding position of the outer shelf and the target storage location are both free, the corresponding operation is performed on the first cargo box.
The method according to any one of claims 1-5, characterized in that, further comprising:

If the operation instruction is a warehousing instruction and the target location is occupied, sending first exception information to the dispatch server, so that the dispatch server can reallocate the target location for the first container;

If the operation instruction is an out-of-warehouse instruction and there is no first container in the target location, second exception information is sent to the dispatch server.
The method according to any one of claims 1-5, wherein the operation instruction further comprises a dedicated operation console allocated to the first cargo box, and performing corresponding operations on the first cargo box, including :

If the operation instruction is a storage instruction, transport the first cargo box from the dedicated operation table to the target storage location;

If the operation instruction is an out-of-stock instruction, after taking out the first container from the target location, the first container is transported to the dedicated operation table.
The method of claim 1, further comprising:

In response to the library management instruction for the target rack with double depth, if there is a third cargo box located on the inner rack on the target rack, and there is a fourth cargo box in the corresponding position of the outer rack, find a free target position , both the internal shelf of the shelf where the target position is located and the storage position corresponding to the target position on the external shelf are free;

The third or fourth cargo box is transported to the target location.
The method of claim 8, wherein moving the third cargo box or the fourth cargo box to the target location comprises:

transporting the fourth container to the target position on the outer shelf of the shelf where the target position is located;

or,

According to the heat of the fourth container, if the heat of the fourth container is greater than the second heat threshold, transport the fourth container to the target position on the outer shelf of the shelf where the target position is located; If the heat of the fourth container is less than or equal to the second heat threshold, the fourth container is transported to the target position on the inner shelf of the shelf where the target position is located.
The method of claim 8, wherein moving the third cargo box or the fourth cargo box to the target location comprises:

After waiting for another storage robot to temporarily take out the fourth cargo box, the third cargo box is transported to the target position.
The method of claim 10, wherein moving the third cargo box to the target location comprises:

transporting the third cargo box to the target position on the outer shelf of the shelf where the target position is located;

or,

According to the heat of the third cargo box, if the heat of the third cargo box is greater than a third heat threshold, moving the third cargo box to the target position on the outer shelf of the shelf where the target position is located;

If the heat of the third container is less than or equal to the third heat threshold, the third container is transported to the target position on the inner shelf of the shelf where the target position is located.
A method for warehouse management, characterized in that the scheduling server applied to the warehouse system comprises:

Determine the target location of the first container to be operated;

Send an operation instruction for the first cargo box to the storage robot, so as to control the storage robot when the target storage location is located on the inner shelf of the double-deep shelf, and there is a second cargo box on the corresponding position of the outer shelf, in the After the second container is removed, a corresponding operation is performed on the first container, wherein the storage robot has a single handling device.
The method of claim 12, further comprising:

If it is determined that the target storage location is located on the inner shelf of the double-deep shelf, and there is a second container at the corresponding position of the outer shelf, search for a free storage location on the double-deep shelf, and assign the free storage location to the empty storage location. The location information of the warehousing robot is sent to the warehouse robot, so that the warehouse robot can move the second container out to the free storage location according to the location information.
The method of claim 13, further comprising:

Find the free storage location closest to the target location;

or,

According to the heat of the second cargo box, if the heat of the second cargo box is greater than the first heat threshold, the free storage space on the external shelf is preferentially searched, and the search is performed when there is no free storage space on the external shelf a free storage space on the internal shelf;

If the heat of the second cargo box is lower than the first heat threshold, priority will be given to finding a free space on the internal shelf, and when there is no free space on the internal shelf, a free space on the external shelf will be searched.
The method of claim 12, further comprising:

If it is determined that the target storage location is located on the inner shelf of the double-deep shelf, and there is a second cargo box at the corresponding position of the external shelf, two storage robots are dispatched to perform the warehousing task of the first cargo box, and one of them The storage robot moves out the second container at the corresponding position, and another storage robot performs a corresponding operation on the first container after the second container at the corresponding position is moved out.
The method according to claim 14 or 15, wherein determining the target location of the first cargo box to be operated comprises:

When the first cargo box needs to be put into storage, a target storage location is allocated to the first cargo box according to the heat of the first cargo box and/or the aging requirement of the current order.
The method according to claim 14 or 15, wherein determining the target location of the first cargo box to be operated comprises:

According to the goods identifier in the current order, determine the first cargo box where the goods to be taken out are located, and the target storage location where the first cargo box is located.
The method according to claim 16, wherein allocating a target storage location to the first cargo box according to the heat of the first cargo box and/or the aging requirement of the current order, comprising:

According to the heat of the first cargo box, if the heat of the first cargo box is greater than the fourth heat threshold, the free storage space on the external shelf is preferentially searched, and the search is performed when there is no free storage space on the external shelf a free storage space on the internal shelf;

If the heat of the second cargo box is less than the fourth heat threshold, priority will be given to finding a free space on the internal shelf, and when there is no free space on the internal shelf, a free space on the external shelf will be searched;

The found free bin is allocated to the first tote.
The method according to claim 16, wherein allocating a target storage location to the first cargo box according to the heat of the first cargo box and/or the aging requirement of the current order, comprising:

According to the remaining completion time of the current order, if the remaining completion time of the current order is less than the first aging threshold, assigning the first container a free storage space with a distance from the operating table within a second preset range;

If the remaining completion time of the current order is greater than or equal to the first aging threshold, assigning the first container a free storage location whose distance from the operating table is beyond the second preset range.
The method according to claim 19, characterized in that if the remaining completion time of the current order is less than a first aging threshold, allocating the first cargo box with the idle distance from the operating table within a second preset range Locations, including:

If the remaining completion time of the current order is less than the first aging threshold, a first dedicated console is allocated to the first cargo box, and the dedicated console is used to process the remaining completion time less than the first aging threshold. The warehousing task corresponding to the order;

Allocating a free storage space within the second preset range from the first dedicated operating table to the first cargo box.
The method according to claim 16, wherein allocating a target storage location to the first cargo box according to the heat of the first cargo box and/or the aging requirement of the current order, comprising:

According to the heat of the first cargo box, if the heat of the first cargo box is greater than a fifth heat threshold, assigning the first cargo box a free storage space with a distance from the console within a third preset range;

If the heat of the second container is less than the fifth heat threshold, assigning the first container a free storage space whose distance from the operating table is beyond the third preset range.
The method according to claim 21, wherein if the heat of the first cargo box is greater than a fifth heat threshold, assigning the first cargo box an idle space with a distance from the operating table within a third preset range Locations, including:

If the heat of the first cargo box is greater than the fifth heat threshold, a second dedicated console is allocated to the first cargo box, and the second dedicated console is used to process cargo boxes with a heat greater than the fifth thermal threshold warehousing tasks;

Allocating a free storage location to the first cargo box with a distance from the second dedicated operation table within the third preset range.
The method according to claim 16, wherein allocating a target storage location to the first cargo box according to the heat of the first cargo box and/or the aging requirement of the current order, comprising:

According to the remaining completion time of the current order, if the remaining completion time of the current order is less than the second aging threshold, the free storage space on the external shelf is preferentially searched, and the search is performed when there is no free storage space on the external shelf a free storage space on the internal shelf;

If the remaining completion time of the current order is greater than or equal to the second aging threshold, the free storage space on the internal shelf is preferentially searched, and when there is no free storage space on the internal shelf, the free storage space on the external shelf is searched for bit;

The found free bin is allocated to the first tote.
The method according to claim 17, wherein before sending the operation instruction for the first cargo box to the storage robot, the method further comprises:

According to the remaining completion time of the current order, if the remaining completion time of the current order is less than the third aging threshold, a third dedicated console is allocated for the first cargo box, and the dedicated console is used to process the remaining completion A delivery task corresponding to an order whose time is less than the third aging threshold.
The method of claim 12, further comprising:

When the storage robot is idle, determine the target shelf to be sorted;

Sending a library order to the target shelf to the storage robot;

When there is a third cargo box on the inner shelf on the target shelf, and a fourth cargo box on the corresponding position of the outer shelf, find a free target position, the target position is on the inner shelf of the shelf and the outer shelf The target positions on the shelves are all free, and the target positions are sent to the storage robot, so that the storage robot can transport the third cargo box or the fourth cargo box to the target position.
The method according to claim 25, wherein sending a library ordering instruction for the target shelf to the storage robot comprises:

assigning at least one target rack to each of the storage robots;

Send a library order corresponding to at least one target shelf to each of the storage robots.
The method according to claim 25, wherein sending a library ordering instruction for the target shelf to the storage robot comprises:

Grouping the storage robots, each group contains two storage robots;

Assign at least one target rack to each group, and send a library order corresponding to at least one target rack to two storage robots in each group.
The method according to any one of claims 25-27, wherein determining the target shelf to be sorted comprises:

The target shelf is determined according to the heat and/or the unsorted time of each double-deep shelf.
The method according to claim 28, wherein determining the target shelf according to the heat and/or unorganized duration of each double-deep shelf, comprising:

Determine the double-deep shelf with the heat greater than the sixth heat threshold as the target shelf;

or,

Sort each double-deep shelf in descending order of heat, and determine the top N double-deep shelves as the target shelf, where N is a positive integer;

or,

Determine the double-deep racks whose unsorted duration is longer than the preset duration as the target racks;

or,

A double-deep shelf whose heat is greater than the seventh heat threshold and whose unsorted time is greater than the preset time is determined as the target shelf.
The method according to claim 25, wherein searching for an idle target position comprises:

Find the target position on the shelves within the first preset range.
A warehousing management device, characterized in that it is applied to a warehousing robot of a warehousing system, and the warehousing robot has a single handling device, comprising:

The management module is used to respond to the operation instruction for the first cargo box, if the target storage position of the first cargo box is located on the inner shelf of the double-deep rack, and there is a second cargo box on the corresponding position of the outer shelf, Then, after the second cargo box is removed, a corresponding operation is performed on the first cargo box.
A warehousing management device, characterized in that it is applied to a scheduling server of a warehousing system, comprising:

The location management module is used to determine the target location of the first container to be operated;

The task issuing module is used to send an operation instruction for the first cargo box to the storage robot, so as to control the storage robot to be located on the inner shelf of the double-deep shelf at the target location, and there are corresponding positions on the outer shelf. When the second cargo box is used, after the second cargo box is removed, a corresponding operation is performed on the first cargo box, wherein the storage robot has a single handling device.
A warehousing robot, characterized in that it includes:

a processor, a memory, and a computer program stored on the memory and executable on the processor;

Wherein, when the processor runs the computer program, the method according to any one of claims 1 to 11 is implemented.
A scheduling server, characterized in that it includes:

a processor, a memory, and a computer program stored on the memory and executable on the processor;

Wherein, when the processor runs the computer program, the method according to any one of claims 12 to 30 is implemented.
A storage system, characterized by comprising: the dispatch server as claimed in claim 34 and the storage robot as claimed in claim 33.
A computer-readable storage medium, characterized in that, a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1 to 30 is implemented.
A computer program product, characterized in that it comprises a computer program, which implements the steps of the method according to any one of claims 1 to 30 when the computer program is executed by a processor.