WO2023061459A1 - 仓储系统及其控制方法 - Google Patents

仓储系统及其控制方法 Download PDF

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Publication number
WO2023061459A1
WO2023061459A1 PCT/CN2022/125217 CN2022125217W WO2023061459A1 WO 2023061459 A1 WO2023061459 A1 WO 2023061459A1 CN 2022125217 W CN2022125217 W CN 2022125217W WO 2023061459 A1 WO2023061459 A1 WO 2023061459A1
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WO
WIPO (PCT)
Prior art keywords
container
area
handling equipment
goods
shelf
Prior art date
Application number
PCT/CN2022/125217
Other languages
English (en)
French (fr)
Inventor
汪旭
王梦迪
马瑛蓬
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202122497033.XU external-priority patent/CN216188200U/zh
Priority claimed from CN202111249466.1A external-priority patent/CN115973656A/zh
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Priority to KR1020247001098A priority Critical patent/KR20240018657A/ko
Priority to EP22880395.3A priority patent/EP4342825A1/en
Priority to AU2022367623A priority patent/AU2022367623A1/en
Publication of WO2023061459A1 publication Critical patent/WO2023061459A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers

Definitions

  • the invention relates to the technical field of warehousing and logistics, in particular to a warehousing system and a control method thereof.
  • the warehousing system includes at least shelves, automatic handling equipment and picking stations; among them, the shelves are temporarily stored in the rack storage area of the warehouse, and the picking stations are set in the goods picking area of the warehouse.
  • the picking station When the picking station receives the order information, it calls the automatic handling equipment to move the shelf storing the target goods in the order information from the shelf storage area to the picking station, and then controls the container handling equipment to move the target container on the shelf to the picking station. at the work station.
  • the picking station when the picking station receives each order information, it will call the automatic handling equipment to move the shelf with the target container to the picking station.
  • the automatic handling equipment needs to be on call to move the shelf at any time.
  • the present disclosure provides a storage system and a control method thereof.
  • the present disclosure provides a storage system, and the storage system of the present disclosure includes:
  • a workstation area comprising at least one picking station
  • a shelf docking area configured for docking a shelf
  • a multifunctional area comprising at least one storage location configured to store containers transferred from the picking station or the shelf;
  • Container handling equipment configured to transfer containers between workstation areas, shelf docking areas, multi-purpose areas.
  • the multifunctional area is located above, below or beside the picking station.
  • the storage location is configured to store containers, and the demand frequency of goods in the container exceeds a demand frequency threshold within a preset time period.
  • the storage location of the multifunctional area is configured to store containers, and the goods in the containers are associated with designated goods.
  • the multifunctional area is configured to store containers, the goods in which have been picked, and the container handling equipment is not idle for transshipment.
  • the multifunctional area is configured to store containers, the goods of which have been picked, and the racks storing the containers have not yet reached the rack docking area.
  • the multi-functional area is configured to store containers in which goods have been picked and hit in an order to be picked.
  • the container handling facility is also configured to perform tally operations.
  • the demand frequency of the goods in the first container is higher than that of the goods in the second container, and compared with the first container, the number of times the second container is on the shelf When the location is more convenient to pick and place;
  • the container handling equipment section is configured to move the second container from the shelf to the multi-purpose area for temporary storage, transfer the first container from the current location to the original location of the second container, and transferring the second container from the multi-functional area to the original location of the first container.
  • the container handling equipment is configured to transfer the container from the current shelf to a new shelf configured to be dedicated to storing goods whose demand frequency exceeds a demand frequency threshold within a predetermined period of time. container.
  • the container handling device is configured for returning empty containers to a shelf for storing empty containers or to the multifunctional area.
  • the multifunctional area includes a plurality of storage bits, and the plurality of storage bits are arranged at intervals along the height direction, along the horizontal direction, or mixed at intervals in the height direction and the horizontal direction.
  • the storage system further includes automatic handling equipment configured to move the racks into or out of the rack docking area.
  • the storage system includes a plurality of picking stations arranged at intervals along the horizontal direction.
  • the picking station includes a first support frame and a first guide mechanism arranged on the first support frame, the first guide mechanism is configured to assist the container handling equipment to take Put the container.
  • the storage position includes a second support frame and a second guide mechanism arranged on the second support frame, the second guide mechanism is configured to assist the container handling equipment to take and place container.
  • the container handling equipment includes a door frame and a loading and unloading assembly, the loading and unloading assembly is arranged on the door frame, and the loading and unloading assembly is configured to be able to move along the X-axis direction and Y-axis direction; or,
  • the loading and unloading assembly is configured to be able to move along the Z-axis direction and the Y-axis direction relative to the portal frame; or,
  • the loading and unloading assembly is configured to move relative to the gantry along the X-axis direction, the Y-axis direction, and the Z-axis direction;
  • the direction of the vertical distance between the picking station and the shelf is marked as the Y-axis direction
  • the direction perpendicular to the Y-axis in the horizontal plane is marked as the X-axis direction
  • the direction perpendicular to the horizontal plane is marked as the Z-axis direction.
  • the loading and unloading assembly is configured to move in the X-axis direction, the Y-axis direction, and the Z-axis direction relative to the door frame, and the container handling equipment further includes:
  • the movable column is arranged on the gantry and is configured to be controlled by an X-axis drive mechanism to move in the X-axis direction relative to the gantry;
  • the loading and unloading assembly is arranged on the movable column, and is configured to be controlled by a Z-axis driving mechanism to move relative to the movable column along the Z-axis direction.
  • the loading and unloading assembly includes:
  • the base is arranged on the movable column
  • a loading and unloading assembly is arranged on the base, and is configured to be controlled by a Y-axis drive mechanism to move relative to the base along the Y-axis direction.
  • said container handling equipment further comprises:
  • the X-axis guide mechanism is arranged on the door frame and is configured to guide the movable column to move in the X-axis direction relative to the door frame; and/or,
  • the Z-axis guiding mechanism is arranged on the movable column, and is configured to guide the movement of the loading and unloading assembly relative to the movable column along the Z-axis direction.
  • the multifunctional area is configured to store empty containers
  • the container handling facility is configured to transfer empty containers of the multifunctional area when full cases are put on shelves or the external supply of containers is insufficient. to the picking station.
  • the present disclosure provides a storage system control method, the storage system is the storage system according to any one of the above embodiments, and the control method includes the following steps:
  • the container handling equipment transfers the target containers satisfying the preset attributes between the workstation area, the shelf docking area, and the multifunctional area.
  • the container handling equipment transferring the containers satisfying the preset attributes between the workstation area, the shelf docking area and the multi-functional area includes the following steps:
  • the container handling equipment transfers the container from the shelf in the shelf parking area to the multi-functional area;
  • the container handling equipment transfers the container from the multifunctional area to the picking station when an instruction to pick the item is received.
  • the container handling equipment transferring the containers satisfying the preset attributes between the workstation area, the shelf docking area and the multi-functional area includes the following steps:
  • the container handling equipment transfers the first container from the shelf to the multi-functional area for temporary storage;
  • the container handling equipment When receiving an instruction to pick the designated goods, the container handling equipment transfers the first container from the multi-functional area to the picking station;
  • the container handling equipment transfers the second container storing the specified goods from the shelf in the shelf stop area to the picking station.
  • the container handling equipment transferring the containers satisfying the preset attributes between the workstation area, the shelf docking area and the multi-functional area includes the following steps:
  • the container is stored in the multifunctional area.
  • the container handling equipment transferring the containers satisfying the preset attributes between the workstation area, the shelf docking area and the multi-functional area includes the following steps:
  • the container handling device stores the container in the multi-functional area.
  • the container handling equipment transferring the containers satisfying the preset attributes between the workstation area, the shelf docking area and the multi-functional area includes the following steps:
  • the container handling equipment When the container handling equipment is idle, the container handling equipment performs tally operations.
  • the method for performing a tallying operation by the container handling equipment includes the following steps:
  • the container handling equipment first moves the second container from the shelf to the multi-functional area for temporary storage;
  • the container handling equipment transfers the first container from its current location to the original location of the second container
  • the container handling facility transfers the second container from the multi-purpose area to the original location of the first container.
  • the method for performing a tallying operation by the container handling equipment includes the following steps:
  • the container handling equipment transfers the container from the current shelf to a new shelf, and the new shelf is specially used for storing goods Containers whose demand frequency exceeds the demand frequency threshold within a preset time period.
  • the method for performing a tallying operation by the container handling equipment includes the following steps:
  • the container handling equipment transfers the container from the multi-functional area to a new shelf, and the new shelf is specially used for Containers for storing goods whose demand frequency exceeds the demand frequency threshold within a preset period of time.
  • the container handling equipment transferring the containers satisfying the preset attributes between the workstation area, the shelf docking area and the multi-functional area includes the following steps:
  • the container handling equipment transfers the empty containers in the multi-functional area to the picking station superior.
  • the container handling equipment transferring the containers satisfying the preset attributes between the workstation area, the shelf docking area and the multi-functional area includes the following steps:
  • the container handling device transfers the empty container from the picking station to a new rack configured specifically for storing the empty container.
  • the container handling equipment transferring the containers satisfying the preset attributes between the workstation area, the shelf docking area and the multi-functional area includes the following steps:
  • the container handling equipment transfers the container from the picking station to the multi-functional area for temporary storage;
  • the container handling equipment After receiving an instruction to pick the to-be-picked order that hits the goods, the container handling equipment transfers the container from the multi-functional area to the picking station.
  • the warehousing system further includes an automatic handling device configured to move the rack into or out of the rack docking area
  • the control method further includes the following steps:
  • the container handling equipment transfers the container from the shelf to the multi-functional area for temporary storage;
  • the container handling equipment When receiving an instruction to pick the designated goods, the container handling equipment transfers the one container from the multi-functional area to the picking station;
  • the container handling equipment to transfer the other container from the rack in the rack docking area to the picking station above, the other container is used to contain the specified goods.
  • the warehousing system of the present disclosure can pre-buffer containers that meet the preset conditions in the multi-functional area based on information such as the frequency of demand for the target goods on the order, and when receiving a picking order related to the preset conditions, there is no need to call for automatic handling
  • the container handling equipment only needs to transfer the corresponding containers from the multi-function area to the picking station.
  • the workload of small automatic handling equipment is located above the picking station, and the container handling equipment can quickly transfer the container, which can greatly improve the picking efficiency.
  • Fig. 1 is a three-dimensional structural schematic diagram of a specific embodiment of a storage system provided by the present invention
  • Figures 2 to 4 are the front view, side view and top view of the storage system shown in Figure 1, respectively;
  • FIG. 5 to FIG. 10 are control flow diagrams of several embodiments of the storage system control method of the present invention, respectively.
  • Picking station 10 the first support, 11 the first left vertical board, 12 the first right vertical board, 13 the first roller;
  • Shelf docking area 20 shelves;
  • Multi-function area 30 second bracket, 31 second left vertical board, 32 second right vertical board, 33 second roller;
  • Container loading and unloading equipment 40 base, 41 left column, 42 right column, 43 beam, 44 movable column, 45 loading and unloading components, 450 base, 451 loading and unloading parts.
  • the existing warehousing system calls the automatic handling equipment, and the automatic handling equipment transfers the shelf from the shelf storage area to the picking station.
  • the shelf stores the container containing the goods in the order.
  • the container handling equipment transports the container from the shelf to the picking station for picking. After the staff picks, the container handling equipment puts the container back on the shelf again, and finally the automatic handling equipment transfers the shelf from the shelf docking area to the shelf storage area.
  • the existing storage system needs to call the corresponding shelf when receiving each picking order, and there is a problem that the workload of the automatic handling equipment is relatively large. In particular, the number of cache positions in the current picking workstation is small.
  • the picker performs picking operations at the workstation, if encountering explosive products, best-selling products, gifts and other SKUs with high out-of-stock frequency, the shelves need to be moved frequently, and the current picking workstation is vacant. Large space, low space utilization.
  • the present invention provides a storage system, which includes a workstation area, a shelf docking area, a multifunctional area, and container handling equipment.
  • the workstation area includes picking stations; the shelf docking area is configured to dock shelves; the multifunctional area includes at least one storage location configured to store containers transferred from picking stations or shelves; container loading and unloading
  • the equipment is configured to transfer containers between workstation areas, shelf docking areas, and multi-purpose areas.
  • the shelves in the storage system of the present invention do not only include shelves in the traditional sense, but also include pallets, material storage racks or other devices capable of storing goods.
  • the shelves can be moved between different areas of the warehouse by automatic handling equipment or other movable equipment, that is to say, the shelves are constructed as movable carriers that can move between different areas of the warehouse.
  • the automatic handling equipment used for handling shelves in the present invention is not an automatic handling equipment for handling traditional shelves, but any equipment capable of handling shelves.
  • the containers in the present invention include cargo boxes, pallets, pallets, pallet temporary storage racks, etc.
  • the cargo boxes include storage boxes and other boxes that can be used to store different types of goods, and also include shoe boxes, etc.
  • Special boxes for goods, and from the material dimension, the boxes can be cartons, plastic boxes, iron boxes, etc.
  • the warehousing system can pre-buffer containers that meet preset conditions in the multi-functional area based on information such as the frequency of demand for goods within a preset period of time.
  • information such as the frequency of demand for goods within a preset period of time.
  • the storage system includes a workstation area, a shelf parking area, a multi-functional area, and container handling equipment.
  • a workstation area a shelf parking area
  • a multi-functional area a multi-functional area
  • container handling equipment a container handling equipment
  • the work station area includes at least one picking station, which is configured to place containers, so that workers or picking robots can pick goods that meet the order requirements from the containers, and then put the goods into the automatic handling equipment or conveyor belt.
  • the picking station includes a first supporting frame and a first guiding mechanism arranged on the first supporting frame, and the first guiding mechanism is configured to assist the container handling equipment to pick and place the container.
  • the first support frame includes a first bracket 10, a first left vertical plate 11, and a first right vertical plate 12; wherein, the first left vertical plate 11 and the first right vertical plate 12 are sequentially parallel and spaced Set on the first bracket 10.
  • the function of the first bracket 10 is to lift the first left side vertical board 11 and the first right side vertical board 12 to a certain height from the ground, so that the staff or the picking robot can pick up the goods
  • the first guiding mechanism includes a plurality of first rollers 13 , and the plurality of first rollers 13 are sequentially arranged in parallel and at intervals in a rotatable manner between the first left vertical board 11 and the first right vertical board 12 .
  • the container handling equipment puts the container on the picking station, if the staff or the picking robot think that the current position of the container is inconvenient to carry out the picking operation, they can take advantage of the rolling characteristics of the first guiding mechanism to move the container from the current position with less force. The location is pushed to a convenient location for operation.
  • the shelf parking area is set relatively close to the picking station, and at least two shelves 20 can be placed in the shelf parking area, so that the storage system can quickly pick more types or quantities of goods per unit time.
  • the storage system of the present application includes multiple picking stations, and the multiple picking stations are arranged at intervals along the horizontal direction.
  • a plurality of picking stations are sequentially arranged at intervals along the X-axis direction.
  • the storage system can be used by multiple workers or picking robots to pick at the same time, and those skilled in the art can infinitely expand its scope of application according to the application scenarios.
  • multiple picking stations of the present application may also be arranged at intervals along the Z-axis direction, so that different heights are formed between each picking station and the ground, so as to be picked by workers of different heights. Thereby improving the picking comfort of the staff, and then improving the picking efficiency of the staff.
  • the multiple picking stations of the present application may also be arranged at intervals along the Y-axis in the horizontal plane, so that multiple workers can pick face to face.
  • the multifunctional area of the present application includes a plurality of storage positions, and each storage position includes a second support frame and a second guide mechanism arranged on the second support frame, and the second guide mechanism is Constructed to assist container handling equipment in picking and placing containers.
  • the second support frame includes a second bracket 30, a second left vertical plate 31, and a second right vertical plate 32; wherein, the second left vertical plate 31 and the second right vertical plate 32 are sequentially parallel and spaced Set on the second bracket 30 .
  • the second guiding mechanism includes a plurality of second rollers 33 ; wherein the second rollers 33 are sequentially arranged in parallel and at intervals in a rotatable manner between the second left vertical board 31 and the second right vertical board 32 .
  • the storage position is fixed on the fixed wall of the warehouse through the second bracket 30 or on the picking station through the auxiliary bracket, as long as the multi-functional area is located above the picking station to make full use of the idle space above the picking station in the warehouse That's it.
  • the multifunctional area of the present application is set under the picking station, and the second bracket 30 is fixed on the floor of the warehouse by fasteners such as chemical bolts.
  • the multifunctional area of the present application is set next to the picking station, that is to say, the multifunctional area is set close to the picking station.
  • the second bracket 30 may be fixed on the ground of the warehouse by fasteners such as chemical bolts.
  • Each storage location in this embodiment can be used to store at least one container.
  • the above-mentioned structure is only an implementation form of the storage bit, and the storage bit can also adopt other structures, as long as the storage container can be realized.
  • the multi-functional area includes a plurality of storage locations, some of which are arranged at intervals along the height direction, and another part of the storage locations are arranged at intervals in the same horizontal plane. That is to say, in this embodiment, multiple storages are arranged in a mixed interval in the height direction and the horizontal direction.
  • the multiple storage bits of the present application are only arranged at intervals along the height direction, or are arranged at intervals only in the same horizontal plane.
  • the container handling equipment includes a door frame and a loading and unloading assembly that moves relative to the door frame along the X-axis, Y-axis and Z-axis of the space coordinate system, wherein the picking station and the shelf
  • the direction of the vertical distance between them is marked as the Y-axis direction
  • the direction perpendicular to the Y-axis in the horizontal plane is marked as the X-axis direction
  • the direction perpendicular to the horizontal plane is marked as the Z-axis direction.
  • the plane where the X-axis and the Y-axis are located is a horizontal plane
  • the Z-axis is located in a vertical plane.
  • the door frame includes a base 40, a left column 41, a right column 42 and a crossbeam 43; wherein, the base 40 is fixedly arranged in the working plane where the workstation area and the shelf parking area are located, and the left column 41 and the right column 42 are connected to each other.
  • the beam 43 is arranged parallel to the base 40 and is fixedly connected by the left column 41 and the right column 42 . That is to say, these four components are connected in sequence to form a square portal frame structure.
  • the container handling equipment includes a movable column 44, which is located between the left column 41 and the right column 42 and can move relative to the base 40 and the beam 43 along the extension direction of the base 40 and the cross beam 43, that is, the X-axis direction, for loading and unloading.
  • the assembly 45 is arranged on the movable column 44, and the loading and unloading assembly is controlled by the Z-axis drive mechanism to move along the extension direction of the movable column 44, so as to adjust the displacement of the loading and unloading assembly 45 relative to the shelf in the Z-axis direction.
  • the loading and unloading assembly 45 includes a base 450 and a loading and unloading part 451 that is controlled by a Y-axis drive mechanism to move along the Y-axis direction relative to the base 450.
  • the base 450 is arranged on the movable column 44 and moves along the Z-axis relative to the movable column 44. direction movement.
  • the Y-axis driving mechanism can be an air cylinder, the cylinder body of which is fixed on the base 450, and the piston rod is provided with a loading and unloading part 451, and the piston rod can be driven by controlling the gas flow in the cylinder body of the cylinder.
  • the container handling equipment determines the specific position of the container on the shelf 20 (the spatial coordinate position of the container), which contains the goods included in the order. Control the loading and unloading assembly 45 to move relative to the gantry along the X-axis and Y-axis to maintain alignment with the target container, and then control the loading and unloading component 451 on the loading and unloading assembly 45 to move along the Y-axis relative to its base 450 to grab the target container.
  • the loading and unloading part 451 in this embodiment is a suction cup, which communicates with the vacuum generating device.
  • the vacuum generating device When the vacuum generating device is activated, the suction cup will generate an adsorption force, and the suction container will return to the base.
  • the loading and unloading assembly of the present application includes a push-pull loading and unloading assembly, a claw loading and unloading assembly, a fork loading and unloading assembly, a mechanical arm, and the like.
  • the X-axis driving mechanism of the container handling equipment of the present application may include an X-axis driving motor and an X-axis ball screw nut transmission mechanism, and the ball screw of the X-axis ball screw nut transmission mechanism may be The way of rotation is connected on the base 40 or the crossbeam 43, and the nut block threaded with it is fixedly connected on the movable column 44, and the X-axis driving motor is used to drive the ball screw to rotate relative to the base 40 or the crossbeam 43, and the nut block is The movable column 44 can be driven to move along the X-axis, so as to adjust the movement of the loading and unloading assembly 45 relative to the door frame along the X-axis.
  • the X-axis driving mechanism of the container handling equipment of the present application may include an X-axis driving motor and an X-axis rack and pinion transmission mechanism, and the gears of the X-axis rack and pinion transmission mechanism are rotatably connected On the movable column 44, the toothed rack meshed with it is fixedly connected to the base 40 or the beam 43 and extends along the X-axis direction.
  • the X-axis drive motor is used for the gear to rotate relative to the movable column 44, and the gear can drive the movable column 44 along the The extension direction of the rack moves to adjust the movement of the loading and unloading assembly 45 relative to the door frame along the X-axis direction.
  • the container handling equipment of the present application also includes an X-axis guiding mechanism configured to guide the movable column 44 to move relative to the door frame along the X-axis direction, so as to ensure the stable movement of the container handling equipment sex.
  • the X-axis guiding mechanism includes an X-axis linear guide rail
  • the X-axis linear guide rail includes a linear track extending along the X-axis and arranged on the base 40 or the beam 43 of the gantry, and a slider slidingly connected to the linear track
  • the movable column 44 is arranged on the slider, and the movable column 44 slides in the X-axis direction along the linear track along with the slider.
  • the Z-axis driving mechanism of the container handling equipment of the present application may include a Z-axis driving motor and a Z-axis ball screw nut transmission mechanism, and the ball screw of the Z-axis ball screw nut transmission mechanism may be The way of rotation is connected to the movable column 44, and the nut block threaded with it is fixedly connected to the base 450 of the loading and unloading assembly 45.
  • the Z-axis drive motor is used to drive the Z-axis ball screw to rotate relative to the movable column 44.
  • the nut block That is to drive the loading and unloading assembly 45 to move along the Z axis, so as to adjust the movement of the loading and unloading assembly 45 relative to the door frame along the Z axis.
  • the Z-axis driving mechanism of the container handling equipment of the present application may include a Z-axis driving motor and a Z-axis rack and pinion transmission mechanism, and the gears of the Z-axis rack and pinion transmission mechanism are connected in a rotatable manner
  • the rack meshed with it is fixedly connected to the movable column 44 and extends along the Z-axis direction.
  • the Z-axis drive motor is used for the gear to rotate relative to the movable column 44, and the gear can drive the loading and unloading assembly. 45 moves along the extending direction of the rack to adjust the movement of the loading and unloading assembly 45 relative to the door frame along the Z axis.
  • the container handling equipment further includes a Z-axis guiding mechanism configured to guide the movement of the loading and unloading assembly 45 relative to the movable column 44 along the Z-axis direction, so as to ensure the movement stability of the container handling equipment.
  • the Z-axis guiding mechanism includes a Z-axis linear guide rail
  • the Z-axis linear guide rail includes a linear track extending along the Z axis and arranged on the movable column 44, and a slider slidingly connected to the linear track.
  • the base of the loading and unloading assembly 45 The seat 450 is disposed on the slider, and the base 450 of the loading and unloading assembly 45 slides along the linear track along the Z axis along with the slider.
  • the storage system further includes automatic handling equipment, and the automatic handling equipment is configured to transport the racks to the rack docking area.
  • Containers are stored on the shelves, and goods are contained in the containers.
  • the automatic handling equipment in this application includes backpack-type, jack-up, traction and fork-type automatic handling equipment.
  • the container handling equipment of the present application includes a door frame and a loading and unloading assembly along the X axis and the Y axis of the space coordinate system relative to the door frame.
  • the loading and unloading assembly moves in the direction of the X axis to select the target container, and then moves in the direction of the Y axis to grab the target container.
  • the container handling equipment of the present application includes a door frame and a loading and unloading assembly along the Z axis and the Y axis of the space coordinate system relative to the door frame.
  • the loading and unloading assembly moves in the direction of the Z axis to select the target container, and then moves in the direction of the Y axis to grab the target container.
  • the storage position of the multifunctional area of the present application is configured to store containers, and the demand frequency of goods in the container exceeds a demand frequency threshold within a preset time period.
  • the demand frequency within the preset time period refers to the number of picking orders containing the goods within the preset time period, that is, the goods are included in both picking orders within the preset time period, then it means that within the preset time period In the period, the demand frequency of this goods is twice.
  • the demand frequency threshold refers to a preset standard value for judging the demand frequency of the goods.
  • the standard value can be a specific value or a range of values.
  • the demand frequency threshold depends on factors such as the weight and origin of the goods.
  • the preset time period may be a preset specific value or range of values such as several hours in a single day, a single day, a week, a month, a quarter, or a year.
  • the storage system is set according to the actual application scenario, or the staff is set based on the actual picking workload.
  • the storage positions in the multi-functional area are configured to store containers for goods whose demand frequency is greater than a demand frequency threshold within a preset period of time.
  • the demand frequency of the goods When the demand frequency of the goods is equal to or within the demand frequency threshold within the preset time period, it means that the demand frequency of the goods is within a normal level.
  • the demand frequency of the product within the preset time period is greater than the demand frequency threshold, it means that the product is a hot item or best-selling product; otherwise, when the actual demand frequency of the product within the preset time period is less than the demand frequency threshold, it means that The goods are slow-moving goods.
  • the warehousing system finds that the goods stored in the container are explosive or best-selling products according to the demand frequency within the preset time period, that is, the actual demand frequency of the goods within the preset time period is greater than the demand frequency threshold. Pick up the container from the shelf in the docking area, and transfer the container to the multi-purpose area for temporary storage.
  • the container handling equipment When receiving an instruction (order) for picking the goods in the container, the container handling equipment transfers the container from the multi-function area to the picking station in the workstation area for picking by workers or picking robots.
  • the container handling equipment After the picking is completed, if there are goods left in the container, the container handling equipment will transfer the container back to the multi-functional area for temporary storage; otherwise, the container will be directly returned to the free container storage area.
  • the picking system can identify materials that are not currently needed but will be hit after a period of time.
  • the system can pull more goods than the materials required by the existing sowing wall, that is, there are materials in the shelf that are currently required in the sowing wall, and if there are still materials that will be used after a period of time.
  • the container loading and unloading equipment can take the pre-hit material from the shelf and temporarily put it in the multi-functional area.
  • the container loading and unloading equipment will directly take the material or the container containing the material from the multi-functional area and send it to Picking at the picking position can speed up the order completion and effectively reduce the number of times the automatic handling equipment moves the shelves.
  • hot products can be directly stored in the multi-functional area when they are put into the warehouse, or they can be transported from the storage area when a certain hot product is selected and placed directly in the multi-functional area after picking.
  • the multifunctional area is configured to store containers, and the second container is used to accommodate goods whose demand frequency in the next day is greater than a daily demand frequency threshold.
  • the daily demand frequency threshold refers to a specific value or a range of values for the preset frequency of goods demand in a single day.
  • the daily demand frequency threshold depends on factors such as the type of goods and the season. For example, the daily demand frequency of ice cream in summer is greater than that in winter.
  • the warehousing system When the warehousing system predicts that the actual daily demand frequency of the goods in the next day will be greater than the daily demand frequency threshold based on the reservation order or the actual daily demand frequency of the goods in the current day, the warehousing system will call the automatic handling equipment to store the containers containing the goods.
  • the rack is transported to the rack docking area, and the container handling equipment transfers the container from the rack to the multi-functional area for temporary storage.
  • the container handling equipment transfers the container from the multi-functional area to the picking station for picking by workers or picking robots. After picking, the container handling equipment returns the container with remaining goods to the multi-purpose area, or returns the empty container directly to the free container storage area.
  • the storage locations of the multi-functional area of the present application are configured for containers storing items associated with designated cargo.
  • the items associated with the designated goods may be gifts of the designated goods, and the gifts refer to free gifts when purchasing the designated goods.
  • the item associated with the specified item may also be an item with a preferential price when the same order is placed with the specified item.
  • the storage system calls the automatic handling equipment to move the shelves with gifts to the shelf parking area, and the container handling equipment transfers the containers with gifts from the shelves in the shelf parking area to the multi-functional area for temporary storage.
  • the warehousing system receives an order for picking the specified goods associated with the gift, the warehousing system calls the automatic handling equipment to move the shelf containing the specified goods to the shelf docking area, and the container handling equipment will move the container containing the specified goods from the shelf docking area
  • the shelves are transferred to the picking stations in the workstation area, and then or before this step, the container handling equipment transfers the containers containing gifts from the multi-function area to the picking stations for picking by workers or picking robots.
  • the container handling equipment After the picking is completed, if there are designated goods left in the container, the container handling equipment will put the container containing the designated goods back on the shelf, or put the empty container directly back to the free container storage area; if there are gifts left in the container, the container Return the handling equipment containers to the multipurpose area or return empty containers to the free container storage area.
  • the gifts can be directly stored in the multi-function area when they are put into the warehouse, or they can be transported from the storage area when a certain popular product is selected and placed directly in the multi-function area after the selection is completed.
  • the storage of the multifunctional area of the present application is configured to store containers, the goods in which have been picked and the container handling equipment is not idle for transshipment.
  • the worker or picking robot when a worker or a picking robot has finished picking according to a picking order, but the container handling equipment is working and there is no idle transfer of the picked container, the worker or picking robot will transport the container to the multi-functional area for temporary storage, and wait for the container to After the loading and unloading equipment is free, the container is then transferred to the shelf to avoid the accumulation of picked containers on the picking station and affect the picking of subsequent picking orders, and to keep the picking work orderly and smooth.
  • the multi-functional area of the present application is configured to store containers, the goods in the container have been picked and the shelf storing the container has not yet reached the shelf docking area.
  • each container in the storage system will be stored on a designated shelf.
  • an order is picked by a worker or a picking robot, usually the container needs to be placed back on a designated shelf.
  • the staff, picking robot or container loading equipment when the shelf storing the picked container has not yet reached the shelf docking area, the staff, picking robot or container loading equipment temporarily stores the container in the multi-functional area, and waits for the shelf of the container to be in place. Finally, the container loading equipment transfers the container to the shelf, so as to avoid the accumulation of the picked containers on the picking station and affect the picking of subsequent picking orders, and keep the picking work orderly and smooth.
  • the storage position of the multi-functional area of the present application is configured to store containers, the goods in the container have been picked and hit the goods in the order to be picked.
  • the warehousing system will regularly assign picking orders to each picking station, that is to say, each picking station is assigned multiple picking orders, and these picking orders are allocated according to the allocation time. Line up in order to be picked. The goods in the picking order currently picked at the picking station can also appear in the picking orders in the subsequent queue. Since the goods in multiple picking orders are stored in the container, the storage system needs to call the automatic handling equipment multiple times.
  • the picking after the picking is completed, it is confirmed whether the picked goods are hit in the subsequent queued orders to be picked. If the goods are hit, the staff, picking robots or container loading equipment will first The container is temporarily stored in the multi-functional area. After the subsequent picking order for the goods arrives, the container is directly transported from the multi-functional area. There is no need to call the automatic handling equipment multiple times to move the shelf storing the container, which can reduce the number of calls to the automatic handling equipment. Improve picking efficiency.
  • the container handling apparatus of the present application is configured to perform tally operations.
  • the storage system calls the automatic handling equipment to move the shelves to the shelf docking area. Based on the types of goods stored on the shelves and the demand frequency of various goods in previous orders within a preset time period, the storage system is allocated differently. The position of the container on the shelf, such as moving the container of the goods with high demand frequency to the outside of the container of goods with low frequency, so as to shorten the picking time and improve the picking efficiency.
  • the container handling equipment section is configured to move the second container from the shelf to the multi-purpose area for temporary storage, transfer the first container from the current location to the original location of the second container, and transfer the second container Transfer from the multifunctional area to the original location of the first container.
  • the warehousing system judges the demand frequency of the goods on the shelf within the preset time period based on previous orders. If the container of the goods with higher demand frequency is located inside the container of the goods with lower demand frequency, the container handling equipment will first The containers of goods with low demand frequency are transferred from the shelf to the multi-functional area for temporary storage; secondly, the containers of goods with high demand frequency are transferred from the shelf to the multi-functional area for temporary storage; thirdly, the containers of goods with low demand frequency Return from the multipurpose area to the shelf; finally, return the container of the more frequently requested item from the multipurpose area to the shelf outside the container of the less frequently requested item for easy grabbing.
  • the container handling equipment allocates the containers of goods with higher demand frequency on the shelf to the lower shelves on the shelf, and allocates the containers of goods with lower demand frequency to the upper shelf positions of the goods.
  • the warehousing system calls the automatic handling equipment to move the shelf to the shelf docking area, and predicts the demand frequency level of various goods on the shelf based on previous orders. Based on this, the container handling equipment first transfers the containers of goods with low demand frequency on the lower shelves of the shelf to the multi-functional area for temporary storage; secondly, the containers of goods with higher demand frequency on the high-level shelves of the shelf Turn to the lower shelf position; again, put the container of the goods with low demand frequency temporarily stored in the multi-functional area back to the high-level shelf position on the shelf, and repeat the operation until all the goods with high demand frequency on the shelf are gone. Located under containers for less frequently requested goods for easy access.
  • the container handling equipment is configured to transfer the container from the current shelf to a new shelf, and the new shelf is specially used to store the goods in the preset The container whose demand frequency in the time period exceeds the demand frequency threshold.
  • the demand frequency of the goods within the preset time period is equal to the demand frequency threshold, it means that the demand frequency of the goods is within a normal level.
  • the demand frequency of the product within the preset time period is greater than the demand frequency threshold, it means that the product is a hot item or best-selling product; otherwise, when the actual demand frequency of the product within the preset time period is less than the demand frequency threshold, it means that The goods are slow-moving goods.
  • the warehousing system finds that the goods stored in the container are explosive or best-selling products according to the demand frequency within the preset time period, that is, the actual demand frequency of the goods within the preset time period is greater than the demand frequency threshold. At this time, the container handling equipment of the warehousing system starts from grab the container from the shelf and transfer the container to a new shelf.
  • the containers of goods with high demand frequency within a preset period of time are collectively stored on a new shelf, and the shelf is docked at the shelf stop.
  • the shelf of the container is directly transferred to the picking station, and there is no need for the automatic handling equipment to carry the corresponding shelf of each goods repeatedly, which reduces the number of handling times of the automatic handling equipment and improves the efficiency. Picking efficiency.
  • the container handling equipment After the picking is completed, if there are goods left in the first container, the container handling equipment will transfer the first container back to the multi-functional area for temporary storage, otherwise, directly put the first container back into the free container storage area.
  • the container handling device of the present application is configured for returning empty containers to the multifunctional area.
  • Empty containers are transferred from the container storage area to the multi-functional area by the container handling equipment, or the storage system calls the automatic handling equipment to transfer the racks with empty containers to the shelf docking area, and then the container handling equipment transfers them from the rack to the multi-functional area Temporary storage.
  • the container handling equipment transfers the empty container from the multi-functional area to the picking station, so that the staff or the picking robot can pick the goods into the empty container Inside.
  • the full container shelf means that the container needs to be filled with goods and stored as a whole.
  • the container handling device of the present application is configured for returning empty containers to a rack for storing empty containers.
  • the container handling equipment puts the empty container back on the rack used to store the empty container, which can be docked in the rack docking area.
  • the container handling equipment When the warehousing system receives an instruction to put a full box on the shelf or an alarm that the function of the external container is insufficient, the container handling equipment will transfer the empty container from the shelf storing the empty container to the picking station for the staff or the picking robot to pick the goods to inside an empty container.
  • the present invention also provides a control method for a storage system, the storage system is specifically the storage system described above, and the control method for the storage system includes the following main steps:
  • the container handling equipment will transfer the containers meeting the preset attributes between the workstation area, the shelf docking area, and the multi-function area.
  • control method of the storage system includes the following steps:
  • the demand frequency within the preset time period refers to the number of picking orders containing the goods within the preset time period, that is, the goods are included in both picking orders within the preset time period, then it means that within the preset time period In the period, the demand frequency of this goods is twice.
  • the preset time period may be a preset specific value or range of values such as several hours in a single day, a single day, a week, a month, a quarter, or a year.
  • the storage system is set according to the actual application scenario, or the staff is set based on the actual picking workload.
  • the container handling equipment transfers the container from the multifunctional area to the picking station when an instruction to pick the item is received.
  • the demand frequency of the goods within the preset time period is equal to the demand frequency threshold, it means that the demand frequency of the goods is within a normal level.
  • the demand frequency of the product within the preset time period is greater than the demand frequency threshold, it means that the product is a hot item or best-selling product; otherwise, when the actual demand frequency of the product within the preset time period is less than the demand frequency threshold, it means that The goods are slow-moving goods.
  • the warehousing system finds that the goods stored in the container are explosive or best-selling products according to the demand frequency within the preset time period, that is, the actual demand frequency of the goods within the preset time period is greater than the demand frequency threshold. Pick up the container from the shelf in the docking area, and transfer the container to the multi-purpose area for temporary storage.
  • the container handling equipment transfers the container from the multi-functional area to a picking station in the workstation area for picking by workers or picking robots.
  • the picking personnel can also directly transfer the container from the multi-functional area to the picking station in the workstation area without using container handling equipment.
  • the picking system can identify materials that are not currently needed but will be hit after a period of time.
  • the system can pull more goods than the materials required by the existing sowing wall, that is, there are materials in the shelf that are currently required in the sowing wall, and if there are still materials that will be used after a period of time.
  • the container loading and unloading equipment can take the pre-hit material from the shelf and temporarily put it in the multi-functional area.
  • the container loading and unloading equipment will directly take the material or the container containing the material from the multi-functional area and send it to Picking at the picking position can speed up the order completion and effectively reduce the number of times the automatic handling equipment moves the shelves.
  • hot products can be directly stored in the multi-functional area when they are put into the warehouse, or they can be transported from the storage area when a certain hot product is selected and placed directly in the multi-functional area after picking.
  • control method of the storage system includes the following steps:
  • the daily demand frequency threshold refers to a specific value or a range of values for the preset frequency of goods demand in a single day.
  • the daily demand frequency threshold depends on factors such as the type of goods and the season. For example, the daily demand frequency of ice cream in summer is greater than that in winter.
  • the warehousing system after the warehousing system receives the reservation order for the next day, it compares the relationship between the daily demand frequency and the daily demand frequency threshold of the target goods on the reservation order for the next day, and the target goods are placed in the container ; When the daily demand frequency of the target goods on the reservation order for the next day is greater than the daily demand frequency threshold, the storage system calls the automatic handling equipment to move the shelf storing the container to the shelf docking area, and the container handling equipment removes the container from the shelf in the rack docking area. The container is transferred to the multi-purpose area for temporary storage.
  • the storage system calls the automatic handling equipment to move the shelf storing the container to the shelf parking area, and the container handling equipment transfers the container from the shelf in the shelf parking area to the multi-functional area for temporary storage.
  • the storage system For example: for fruits, vegetables and other goods whose demand frequency is affected by the season, when the storage system obtains that the daily demand frequency of chicken heart fruit on October 10 in late autumn far exceeds the preset daily demand frequency threshold for the goods. Based on this, the storage system predicts that the daily demand frequency of chicken hearts for the next day will also exceed its daily demand frequency threshold.
  • the warehousing system calls the automatic handling equipment to move the shelf storing the fruit to the shelf parking area, and the container handling equipment transfers the container from the shelf in the shelf parking area to the multi-functional area for temporary storage.
  • the target cargo chicken heart fruit is stored in the container.
  • control method of the storage system includes the following steps:
  • the items associated with the designated goods may be gifts of the designated goods, and the gifts refer to free gifts when purchasing the designated goods.
  • the item associated with the specified item may also be an item with a preferential price when the same order is placed with the specified item.
  • control method further includes calling an automatic transport device to transport the rack storing the first container to the rack docking area.
  • the container handling equipment transfers the first container from the multi-functional area to the picking station for picking by workers or picking robots.
  • step S703 the storage system calls the automatic handling equipment to transport the shelf storing the specified goods to the shelf parking area, and the container handling equipment moves the second container containing the specified goods on the shelf from the shelf parking area The shelves are transferred to the picking stations in the workstation area.
  • the container handling equipment puts the first container that still has items related to the designated goods back to the multi-functional area for temporary storage, or directly puts the empty first container back into the free container storage area, and puts the remaining The second container of the specified goods is put back on the shelf or the empty second container is directly put back into the free container storage area.
  • the items associated with the specified goods can be directly stored in the multi-function area when they are put into the warehouse, or they can be transported from the storage area when a certain hot-selling product is picked and placed directly in the multi-function area after picking. .
  • control method of the storage system includes the following steps:
  • the container handling equipment When the container handling equipment is idle, the container handling equipment performs tally operations.
  • the storage system calls the automatic handling equipment to move the shelves to the shelf docking area. Based on the types of goods stored on the shelves and the demand frequency of various goods in previous orders, the storage system allocates the positions of different containers on the shelves. For example, the container containing goods with high demand frequency is moved to the outside of the container containing goods with low demand frequency, so as to shorten the picking time and improve the picking efficiency.
  • the warehousing system judges the demand frequency of the goods on the shelf based on previous orders. If the container of the goods with high demand frequency is located inside the container of goods with low demand frequency, the container handling equipment first removes the container of goods with low demand frequency from the shelf. Transfer to the multi-function area for temporary storage; secondly, transfer the containers of goods with high demand frequency from the shelf to the multi-function area for temporary storage; thirdly, put the containers of goods with low demand frequency back on the shelf from the multi-function area, and finally put the Containers of tall goods are returned from the multi-purpose area to the shelf and positioned outside containers of less frequently requested goods for easy grabbing.
  • the container handling equipment allocates the containers of goods with high demand frequency on the shelf to the lower shelves on the shelf, and allocates the containers of goods with low demand frequency to the upper shelf positions of the goods.
  • the warehousing system calls the automatic handling equipment to move the shelf to the shelf docking area, and predicts the demand frequency level of various goods on the shelf based on previous orders. Based on this, the container handling equipment first transfers the containers of goods with low demand frequency on the lower shelf of the shelf to the multi-functional area for temporary storage; secondly, the container of goods with high demand frequency on the high shelf of the shelf is transferred to On the aforementioned low-level shelf; again, put the temporary container in the multi-functional area back to the high-level shelf on the shelf, and repeat the operation until all the goods with high demand frequency on the shelf are located below the goods with low demand frequency. For easy access.
  • control method of the storage system includes the following steps:
  • the multipurpose area stores empty containers.
  • the empty containers can be pre-stored on the shelves, and the storage system calls the automatic handling equipment to move the shelves to the shelf docking area, and then the container handling equipment transfers the empty containers from the shelves to the multi-functional area for temporary storage.
  • the container handling equipment transfers the empty container from the multi-function area to the picking station for the staff or picking robot to pick the goods into the empty container Inside.
  • the full container shelf means that the container needs to be filled with goods and then sold as a whole.
  • control method of the storage system includes the following steps:
  • the container handling equipment will transfer the container from the picking station to the multi-functional area for temporary storage;
  • the container handling equipment After receiving an instruction to pick the to-be-picked order of the hit goods, the container handling equipment transfers the container from the multi-functional area to the picking station.
  • the demand frequency of the goods to be picked corresponding to the above container does not reach the demand frequency threshold, but because there is a subsequent order picking demand, in order to avoid back and forth handling, the container is directly stored in the multi-functional area to improve the overall operating efficiency. It can be understood that if the demand frequency of the picked goods is not higher than the demand frequency threshold, the container handling equipment will directly transfer the container of the goods from the picking station to the original position of the original shelf or other free positions. If you need to adjust the storage position of the container on the original shelf or change the storage shelf, you can choose to temporarily store it in the multi-functional area according to your needs, and then place it to the corresponding new storage position through the container handling equipment. Or directly into a new storage location via container handling equipment.
  • the storage system of the present disclosure includes a workstation area, a shelf docking area, a multi-purpose area, and container handling equipment.
  • the workstation area includes picking stations
  • the shelf docking area is configured to dock the shelves
  • the multi-functional area is located above the picking stations, and is configured to store containers transferred from the picking stations or shelves
  • the equipment is configured to transfer containers between workstation areas, shelf docking areas, and multi-purpose areas.
  • the shelves in the storage system of the present invention do not only include shelves in the traditional sense, but also include pallets, material storage racks or other forms of devices that can store goods. Mobile equipment moves between different areas of the warehouse.
  • the automatic handling equipment for handling shelves in the present invention is not an automatic handling equipment for handling traditional shelves, but a robot capable of handling goods-carrying devices such as shelves, pallets, or material storage racks.
  • the warehousing system can pre-buffer the containers that meet the preset conditions in the multi-functional area based on the shipment volume of the target goods on the order.
  • the container handling equipment When receiving a picking order related to the preset conditions, there is no need to call the automatic handling equipment to To move the shelves with corresponding containers, the container handling equipment only needs to transfer the corresponding containers from the multi-functional area to the picking station, and after the picking is completed, the container handling equipment can put the container back to the multi-functional area, which can reduce the automatic The workload of moving equipment. And because the multi-functional area is located above the picking station, the container handling equipment can quickly transfer the container, which can greatly improve the picking efficiency.
  • the storage system includes a workstation area, a shelf parking area, a multi-functional area, and container handling equipment.
  • a workstation area a shelf parking area
  • a multi-functional area a multi-functional area
  • container handling equipment a container handling equipment
  • the work station area includes a picking station, which is configured to place a container, so that a human or a picking robot can pick out goods that meet the order requirements from the container, and then put the goods into automatic handling equipment or convey bring.
  • the picking station includes a first supporting frame and a first guiding mechanism arranged on the first supporting frame, and the first guiding mechanism is configured to assist the container handling equipment to pick and place the container.
  • the first support frame includes a first bracket 10, a first left vertical plate 11, a first right vertical plate 12 and a first middle vertical plate 13; wherein, the first left vertical plate 11, the first right vertical plate The vertical plate 12 and the first intermediate vertical plate 13 are successively arranged in parallel and at intervals on the first bracket 10 .
  • the first guide mechanism includes a plurality of first rollers 14, a part of the first rollers 14 are arranged in a rotatable manner on the first left vertical plate 11 and the first middle vertical plate 13 in parallel and spaced successively, and the first rollers 14 of the other part are The rollers 14 are sequentially arranged in parallel and at intervals in a rotatable manner between the first right vertical plate 12 and the first middle vertical plate 13 .
  • the function of the first bracket 10 is to place the first left side vertical plate 11, the first right side vertical plate 12, and the first middle vertical plate 13 at a certain height from the ground, so as to facilitate staff or picking robots to pick goods.
  • the container handling equipment puts the container on the picking station, if the staff or the picking robot think that the current position of the container is inconvenient to carry out the picking operation, they can take advantage of the rolling characteristics of the first guiding mechanism to move the container from the current position with less force. The location is pushed to a convenient location for operation.
  • the shelf parking area is set relatively close to the picking station, and at least two shelves 20 can be placed in the shelf parking area, so that the storage system can quickly pick more types or quantities of goods per unit time.
  • the multifunctional area includes a plurality of storage positions, and each storage position includes a second support frame and a second guide mechanism disposed on the second support frame, and the second guide mechanism is configured to assist the container handling equipment to pick and place the container.
  • the second support frame includes a second bracket 30, a second left vertical plate 31, and a second right vertical plate 32; wherein, the second left vertical plate 31 and the second right vertical plate 32 are sequentially parallel and spaced Set on the second bracket 30 .
  • the second guiding mechanism includes a plurality of second rollers 33 ; wherein the second rollers 33 are sequentially arranged in parallel and at intervals in a rotatable manner between the second left vertical board 31 and the second right vertical board 32 .
  • the storage position is fixed on the fixed wall of the warehouse through the second bracket 30 or on the picking station through the auxiliary bracket, as long as the multi-functional area is located above the picking station to make full use of the idle space above the picking station in the warehouse That's it.
  • Each storage location in this embodiment can be used to store no less than one container transported by the container handling equipment.
  • the above-mentioned structure is only a realization form of the storage location, and the storage location can also adopt other structures, as long as the container can be stored, and each storage location can be set to place only one container.
  • the multifunctional area includes a plurality of storage locations, some of which are arranged at intervals along the height direction, and another part of the storage locations are arranged at intervals in the same horizontal plane. It can be understood that the specific number of storage positions depends on the size of the space above the picking station, and those skilled in the art can choose an appropriate number and arrangement based on actual conditions.
  • the multiple storage bits are only arranged at intervals along the height direction, or only arranged at intervals in the same horizontal plane.
  • the container handling equipment includes a door frame and a loading and unloading assembly that moves along the X-axis, Y-axis and Z-axis of the space coordinate system relative to the door frame, wherein the direction of the vertical distance between the picking station and the shelf is recorded as the Y-axis direction,
  • the direction perpendicular to the Y-axis in the horizontal plane is referred to as the X-axis direction
  • the direction perpendicular to the horizontal plane is referred to as the Z-axis direction.
  • the plane where the X-axis and the Y-axis are located is a horizontal plane
  • the Z-axis is located in a vertical plane. It should be noted that, in order to facilitate understanding of the relative positional relationship of the X axis, the Y axis, and the Z axis, please refer to FIGS. 2 to 4 .
  • the door frame includes a base 40, a left column 41, a right column 42 and a crossbeam 43; wherein, the base 40 is fixedly arranged in the working plane where the workstation area and the shelf parking area are located, and the left column 41 and the right column 42 are connected to each other.
  • the beam 43 is arranged parallel to the base 40 and is fixedly connected by the left column 41 and the right column 42 . That is to say, these four components are connected in sequence to form a square portal frame structure.
  • the container handling equipment includes a movable column 44, which is located between the left column 41 and the right column 42 and can move relative to the base 40 and the beam 43 along the extension direction of the base 40 and the cross beam 43, that is, the X-axis direction, for loading and unloading.
  • the assembly 45 is arranged on the movable column 44, and the loading and unloading assembly is controlled by the Z-axis drive mechanism to move along the extension direction of the movable column 44, so as to adjust the displacement of the loading and unloading assembly 45 relative to the shelf in the Z-axis direction.
  • the loading and unloading assembly 45 includes a base 450 and a loading and unloading part 451 that is controlled by a Y-axis drive mechanism to move along the Y-axis direction relative to the base 450.
  • the base 450 is arranged on the movable column 44 and moves along the Z-axis relative to the movable column 44. direction movement.
  • the Y-axis driving mechanism can be an air cylinder, the cylinder body of which is fixed on the base 450, and the piston rod is provided with a loading and unloading part 451, and the piston rod can be driven by controlling the gas flow in the cylinder body of the cylinder.
  • the container handling equipment determines the specific position of the target container containing the goods contained in the order on the shelf 20 (the spatial coordinate position of the container), and controls the loading and unloading assembly 45 relative to The door frame moves along the X axis and the Y axis until it is substantially aligned with the target container, and then controls the loading and unloading component 451 on the loading and unloading assembly 45 to move relative to its base 450 along the Y axis to grab the target container.
  • the loading and unloading part 451 in this embodiment is a suction cup, which communicates with the vacuum generating device.
  • the vacuum generating device When the vacuum generating device is activated, the suction cup will generate an adsorption force, and the suction container will return to the base.
  • the X-axis driving mechanism of the container handling equipment may include an X-axis driving motor and an X-axis ball screw nut transmission mechanism, and the ball screw of the X-axis ball screw nut transmission mechanism is rotatably connected On the base 40 or the beam 43, the nut block threaded with it is fixedly connected to the movable column 44, the X-axis drive motor is used to drive the ball screw to rotate relative to the base 40 or the beam 43, and the nut block can drive the movable column 44 moves along the X-axis to adjust the movement of the loading and unloading assembly 45 relative to the door frame along the X-axis.
  • the X-axis driving mechanism of the container handling equipment may include an X-axis driving motor and an X-axis rack and pinion transmission mechanism, and the gear of the X-axis rack and pinion transmission mechanism is rotatably connected to the movable column 44 , the rack meshed with it is fixedly connected to the base 40 or the beam 43 and extends along the X-axis direction, the X-axis drive motor is used for the gear to rotate relative to the movable column 44, and the gear can drive the movable column 44 along the extension direction of the rack to adjust the movement of the loading and unloading assembly 45 relative to the door frame along the X-axis.
  • the container handling equipment further includes an X-axis guiding mechanism configured to guide the movable column 44 to move relative to the door frame along the X-axis direction, so as to ensure the movement stability of the container handling equipment.
  • the X-axis guiding mechanism includes an X-axis linear guide rail
  • the X-axis linear guide rail includes a linear track extending along the X-axis and arranged on the base 40 or the beam 43 of the gantry, and a slider slidingly connected to the linear track
  • the movable column 44 is arranged on the slider, and the movable column 44 slides in the X-axis direction along the linear track along with the slider.
  • the Z-axis driving mechanism of the container handling equipment may include a Z-axis driving motor and a Z-axis ball screw nut transmission mechanism, and the ball screw of the Z-axis ball screw nut transmission mechanism is rotatably connected to a movable On the column 44, the nut block threaded with it is fixedly connected to the base 450 of the loading and unloading assembly 45, and the Z-axis drive motor is used to drive the Z-axis ball screw to rotate relative to the movable column 44, and the nut block can drive the loading and unloading assembly 45 Move along the Z axis to adjust the movement of the loading and unloading assembly 45 relative to the door frame along the Z axis.
  • the Z-axis driving mechanism of the container handling equipment may include a Z-axis driving motor and a Z-axis rack and pinion transmission mechanism, and the gear of the Z-axis rack and pinion transmission mechanism is rotatably connected to the loading and unloading assembly 45.
  • the rack meshed with it is fixedly connected to the movable column 44 and extends along the Z-axis direction.
  • the Z-axis drive motor is used for the gear to rotate relative to the movable column 44, and the gear can drive the loading and unloading assembly 45 along the direction of the rack.
  • the movement in the extension direction is used to adjust the movement of the loading and unloading assembly 45 relative to the door frame along the Z axis.
  • the container handling equipment further includes a Z-axis guiding mechanism configured to guide the movement of the loading and unloading assembly 45 relative to the movable column 44 along the Z-axis direction, so as to ensure the movement stability of the container handling equipment.
  • the Z-axis guiding mechanism includes a Z-axis linear guide rail
  • the Z-axis linear guide rail includes a linear track extending along the Z axis and arranged on the movable column 44, and a slider slidingly connected to the linear track.
  • the base of the loading and unloading assembly 45 The seat 450 is disposed on the slider, and the base 450 of the loading and unloading assembly 45 slides along the linear track along the Z axis along with the slider.
  • the storage system further includes automatic handling equipment, and the automatic handling equipment is configured to transport the racks to the rack docking area.
  • Containers are stored on the shelves, and goods are contained in the containers.
  • the multifunctional area is configured to store the first container, and the first container is used to accommodate goods whose first shipment volume is greater than a first shipment volume threshold within a preset time period.
  • the preset time period is greater than one day, that is, the preset time period is one week, one month, one quarter or one year, etc.
  • the first shipment volume threshold refers to the annual shipment volume, quarterly shipment volume, and monthly shipment volume. , weekly shipments, etc. preset a specific value or range of values.
  • the first shipment of the goods When the actual first shipment of the goods is equal to or within the first shipment threshold within the preset time period, it means that the first shipment of the goods is within a normal level. When the actual first shipment of the product within the preset time period is greater than the first shipment threshold, it means that the product is a hit or bestseller; otherwise, when the actual first shipment of the product within the preset time period When the volume of goods is less than the first shipment volume threshold, it means that the goods are slow-moving goods.
  • the warehousing system finds that the goods stored in the first container are explosive or best-selling products based on the shipments within the preset time period, that is, the actual first shipment of the goods within the preset time is greater than the first shipment threshold.
  • the container handling equipment of the storage system grabs the first container from the shelf in the shelf stop area, and transfers the first container to the multi-functional area for temporary storage.
  • the container handling equipment When receiving an instruction (order) for picking the goods in the first container, the container handling equipment transfers the first container from the multi-functional area to the picking station in the workstation area for picking by workers or picking robots.
  • the picking system can identify materials that are not currently needed but will be hit after a period of time.
  • the system can pull more goods than the materials required by the existing sowing wall, that is, there are materials in the shelf that are currently required in the sowing wall, and if there are still materials that will be used after a period of time.
  • the container loading and unloading equipment can take the pre-hit material from the shelf and temporarily put it in the multi-functional area.
  • the container loading and unloading equipment will directly take the material or the container containing the material from the multi-functional area and send it to Picking at the picking position can speed up the order completion and effectively reduce the number of times the automatic handling equipment moves the shelves.
  • hot products can be directly stored in the multi-functional area when they are put into the warehouse, or they can be transported from the storage area when a certain hot product is selected and placed directly in the multi-functional area after picking.
  • the multi-purpose area is configured to store a second container for containing goods whose daily shipment volume for the next day is greater than the daily shipment volume threshold.
  • the daily shipment threshold refers to a specific value or a range of values for the preset daily shipment of goods.
  • the daily shipment threshold depends on factors such as the type of goods and the season. For example, the daily shipment of ice cream in summer is greater than the daily shipment in winter.
  • the warehousing system When the warehousing system predicts that the actual daily shipment volume of the next day will be greater than the daily shipment volume threshold based on the reservation order or the actual daily shipment volume of the goods in the day, the warehousing system will call the automatic handling equipment to store the goods
  • the racks of containers are transported to the rack docking area, and the container handling equipment transfers the containers from the racks to the multi-functional area for temporary storage.
  • the container handling equipment transfers the second container from the multi-functional area to the picking station for picking by workers or picking robots. After picking is complete, the container handling equipment puts the second container with remaining goods back into the multi-purpose area, or puts the empty second container directly back into the free container storage area.
  • the multi-function area is configured to store a third container for containing items associated with the designated cargo.
  • the items associated with the designated goods may be gifts of the designated goods, and the gifts refer to free gifts when purchasing the designated goods.
  • the item associated with the specified item may also be an item with a preferential price when the same order is placed with the specified item.
  • the warehousing system calls the automatic handling equipment to move the shelves with gifts to the shelf parking area, and the container handling equipment transfers the third container with gifts from the shelves in the shelf parking area to the multi-functional area for temporary storage.
  • the warehousing system receives an instruction to pick the specified goods associated with the gift
  • the warehousing system calls the automatic handling equipment to move the shelf containing the specified goods to the shelf docking area, and the container handling equipment will hold the fourth container of the specified goods from the shelf
  • the shelves in the docking area are transferred to the picking station in the workstation area, and then or before this step, the container handling equipment transfers the third container containing the gift from the multi-purpose area to the picking station for picking by workers or picking robots.
  • the container handling equipment After the picking is completed, if there is still the specified goods in the fourth container, the container handling equipment will put the fourth container containing the specified goods back on the shelf, or put the empty fourth container directly back to the empty container storage area; if the third container When there are gifts left in the container, the container handling equipment puts the third container back into the multifunctional area or puts the empty third container back into the free container storage area.
  • the gifts can be directly stored in the multi-function area when they are put into the warehouse, or they can be transported from the storage area when a certain popular product is selected and placed directly in the multi-function area after the selection is completed.
  • the container handling equipment is configured to adjust the position of the different containers on the shelf via the multifunctional area when it is free.
  • the storage system calls the automatic handling equipment to move the shelves to the shelf docking area. Based on the types of goods stored on the shelves and the shipments of various goods in previous orders, the storage system allocates the positions of different containers on the shelves , such as moving the fifth container containing goods with a higher shipment volume to the outside of the sixth container containing goods with a lower shipment volume, so as to shorten the picking time and improve picking efficiency.
  • the warehousing system judges the shipment volume of the goods on the shelf based on previous orders. If the fifth container of the goods with a high shipment volume is located inside the sixth container of the goods with a low shipment volume, the container handling equipment will first ship the goods The sixth container of low-volume goods is transferred from the shelf to the multi-functional area for temporary storage; secondly, the fifth container of high-volume goods is transferred from the shelf to the multi-functional area for temporary storage; thirdly, the low-volume Put the sixth container of goods with high shipments back on the shelf from the multi-function area; finally, put the sixth container of goods with high shipments back on the shelf from the multi-function area and make it outside the fifth container of goods with low shipments for convenience crawl.
  • the container handling equipment allocates the fifth container of goods with high shipment volume on the shelf to the lower shelves on the shelf, and allocates the sixth container of goods with low shipment volume to the upper shelf positions of the goods.
  • the warehousing system calls the automatic handling equipment to move the shelf to the shelf docking area, and predicts the shipment level of various goods on the shelf based on previous orders. Based on this, the container handling equipment first transfers the sixth container of the low-volume goods on the lower shelf or position of the shelf to the multi-functional area for temporary storage; secondly, transfers the high-volume goods on the high-level shelf position Turn the fifth container to the lower shelf position; again, put the sixth container temporarily stored in the multi-functional area back to the upper shelf position on the shelf, and repeat the operation until all the high-volume goods on the shelf are located on the shelf. Underneath low-volume goods for easy access.
  • the system can issue instructions to control the automatic handling equipment to move the containers associated with the next day's order from the storage area to the workstation.
  • the container handling equipment can place the container transfer required for the next day's order in one or more specific racks.
  • the container handling equipment can first pass through the multi-functional area.
  • One or more specific shelves are used to centrally place containers related to the next day's order, and one or more specific shelves can be moved to the vicinity of the workstation area or relatively close to the workstation by the automatic handling equipment after the containers are collected.
  • the storage area can greatly improve the shelf hit rate of the next day.
  • the container handling equipment can automatically complete the tally between the shelves during idle hours: put the containers that need to be out of the warehouse on the next day in a centralized manner.
  • the shelf hit rate of the next day is greatly improved, which can effectively reduce the handling times of automatic handling equipment.
  • the original solution can only take 1 and put 1 in the automatic tally, and the tally speed is slow. After adding the functional area, you can take more and put more when tallying, which greatly improves the tally efficiency.
  • the storage system is configured to simultaneously use the multi-functional area to perform tallying between shelves during the picking process.
  • the multi-functional area can be used to complete the tally between the shelves, that is, the pre-hit containers are placed in some designated shelves to improve the follow-up.
  • the hit rate of the picked shelves is reduced, and the number of handling by the mobile handling equipment is reduced.
  • the multifunctional area is configured for storing empty containers.
  • Empty containers are transferred from the container storage area to the multi-functional area by the container handling equipment, or the storage system calls the automatic handling equipment to transfer the racks with empty containers to the shelf docking area, and then the container handling equipment transfers them from the rack to the multi-functional area Temporary storage.
  • the container handling equipment transfers the empty container from the multi-functional area to the picking station, so that the staff or the picking robot can pick the goods into the empty container Inside.
  • the full container shelf means that the container needs to be filled with goods and then sold as a whole.
  • the multi-function is configured to open directly into a picking bay.
  • the operator can directly pick out the goods from the multi-functional area to reduce the number of times the automatic handling equipment is transported, and even directly reduce the actions of the container handling equipment to improve the overall efficiency.
  • the multi-function area is configured to be located above the picking station, can also be configured to be located below the picking station, and can also be configured as a movable rack for handling from mobile equipment, which is carried out behind the workstation
  • the effect of the above cache can be.
  • Multifunctional areas are structured as special memory bits.
  • the multi-functional area can place special containers with relatively high heights, such as containers that cannot be placed on shelves.
  • the multifunctional area is constructed to adjust the order of storage.
  • the warehousing system first places all or most of the incoming containers in the multi-functional area, and then places these containers in the multi-functional area according to the order of the containers in the incoming order, and finally uses the container handling equipment to place them on the designated shelf target storage position to reduce the number of times containers are transported by automatic handling equipment and improve storage efficiency.
  • the multifunctional area is configured to be used as a sorting adjustment for putaway boxes.
  • the storage system first places all or most of the put-on-shelf containers in the multi-function area, and then places these containers in the multi-function area according to the order of the containers in the put-on-shelf order, and finally uses the container handling equipment to place them in the target storage position of the designated shelf In order to reduce the number of times the automatic handling equipment carries the container and improve the efficiency of the shelf.
  • the present invention also provides a control method for a storage system, the storage system is specifically the storage system described above, and the control method for the storage system includes the following main steps:
  • the container handling equipment will transfer the containers meeting the preset attributes between the workstation area, the shelf docking area, and the multi-function area.
  • control method of the storage system includes the following steps:
  • the preset time period is one week, one month, one quarter or one year, etc.
  • the first shipment volume threshold refers to the preset time period based on annual shipment volume, quarterly shipment volume, monthly shipment volume, weekly shipment volume, etc. A specific value or range of values for .
  • the first shipment of the goods When the actual first shipment of the goods is equal to or within the first shipment threshold within the preset time period, it means that the first shipment of the goods is within a normal level. When the actual first shipment of the product within the preset time period is greater than the first shipment threshold, it means that the product is a hit or bestseller; otherwise, when the actual first shipment of the product within the preset time period When the volume of goods is less than the first shipment volume threshold, it means that the goods are slow-moving goods.
  • the warehousing system finds that the goods stored in the first container are explosive or best-selling products according to the first shipment volume within the preset time period, that is, the actual first shipment volume of the goods within the preset time period is greater than the first shipment volume threshold , the container handling equipment of the storage system grabs the first container from the shelf in the shelf docking area, and transfers the first container to the multi-functional area for temporary storage.
  • the container handling equipment transfers the first container from the multi-functional area to a picking station in the workstation area for picking by workers or picking robots.
  • the picking personnel can also directly transfer the first container from the multi-functional area to the picking station in the workstation area without using container handling equipment.
  • the picking system can identify materials that are not currently needed but will be hit after a period of time.
  • the system can pull more goods than the materials required by the existing sowing wall, that is, there are materials in the shelf that are currently required in the sowing wall, and if there are still materials that will be used after a period of time.
  • the container loading and unloading equipment can take the pre-hit material from the shelf and temporarily put it in the multi-functional area.
  • the container loading and unloading equipment will directly take the material or the container containing the material from the multi-functional area and send it to Picking at the picking position can speed up the order completion and effectively reduce the number of times the automatic handling equipment moves the shelves.
  • hot products can be directly stored in the multi-functional area when they are put into the warehouse, or they can be transported from the storage area when a certain hot product is selected and placed directly in the multi-functional area after picking.
  • control method of the storage system includes the following steps:
  • the daily shipment threshold refers to a specific value or a range of values for the preset daily shipment of goods.
  • the daily shipment threshold depends on factors such as the type of goods and the season. For example, the daily shipment of ice cream in summer is greater than the daily shipment in winter.
  • the warehousing system after the warehousing system receives the reservation order for the next day, it compares the relationship between the daily shipment volume of the target goods on the reservation order for the next day and the daily shipment volume threshold, and the target goods are placed in In the second container; when the daily shipment volume of the target goods on the reservation order for the next day is greater than the daily shipment volume threshold, the storage system will call the automatic handling equipment to transport the shelf storing the second container to the shelf docking area, and the container handling equipment will move from the shelf The second container is transferred to the multi-functional area for temporary storage on the shelves in the docking area.
  • the storage system calls the automatic handling equipment to move the shelf storing the second container to the shelf parking area, and the container handling equipment transfers the second container from the shelf in the shelf parking area to the multi-functional area for temporary storage.
  • the warehousing system For example: for fruits, vegetables and other goods whose shipments are affected by seasons, when the warehousing system obtains that the daily shipment of chicken hearts on October 10 in late autumn far exceeds the preset daily shipment threshold for the goods. Based on this, the warehousing system predicts that the daily shipment of chicken hearts the next day will also exceed its daily shipment threshold.
  • the storage system calls the automatic handling equipment to move the shelf storing the second container to the shelf parking area, and the container handling equipment transfers the second container from the shelf in the shelf parking area to the multi-functional area for temporary storage.
  • the target goods chicken hearts are stored in the second container fruit.
  • the container handling equipment transfers the second container from the multi-functional area to the picking station in the workstation area for picking by workers or picking robots.
  • control method of the storage system includes the following steps:
  • the items associated with the designated goods may be gifts of the designated goods, and the gifts refer to free gifts when purchasing the designated goods.
  • the item associated with the specified item may also be an item with a preferential price when the same order is placed with the specified item.
  • control method further includes calling an automatic transport device to transport the rack storing the third container to the rack docking area.
  • the container handling equipment transfers the third container from the multi-functional area to the picking station for picking by workers or picking robots.
  • step S1003 the storage system calls the automatic handling equipment to transport the shelf storing the specified goods to the shelf parking area, and the container handling equipment removes the fifth container containing the specified goods on the shelf from the shelf parking area The shelves are transferred to the picking stations in the workstation area.
  • the container handling equipment will return the third container that still has items related to the specified goods back to the multi-functional area for temporary storage, or directly put the empty third container back into the free container storage area, and put the remaining Put the fourth container of the specified goods back on the shelf or directly put the empty fourth container back into the free container storage area.
  • the items associated with the specified goods can be directly stored in the multi-function area when they are put into the warehouse, or they can be transported from the storage area when a certain hot-selling product is picked and placed directly in the multi-function area after picking. .
  • control method of the storage system includes the following steps:
  • the container handling equipment When the container handling equipment is free, the container handling equipment arranges the position of different containers on the shelf through the multifunctional area.
  • the storage system calls the automatic handling equipment to move the shelves to the shelf docking area. Based on the types of goods stored on the shelves and the shipments of various goods in previous orders, the storage system allocates the positions of different containers on the shelves , such as moving the fifth container containing goods with a higher shipment volume to the outside of the sixth container containing goods with a lower shipment volume, so as to shorten the picking time and improve picking efficiency.
  • the warehousing system judges the shipment volume of the goods on the shelf based on previous orders. If the fifth container of the goods with a high shipment volume is located inside the sixth container of the goods with a low shipment volume, the container handling equipment will first ship the goods The sixth container of low-volume goods is transferred from the shelf to the multi-functional area for temporary storage; secondly, the fifth container of high-volume goods is transferred from the shelf to the multi-functional area for temporary storage; thirdly, the low-volume put the sixth container from the multi-function area back to the shelf, and finally put the fifth container of goods with high shipments back on the shelf from the multi-function area and make it outside the sixth container of goods with low shipments for easy picking Pick.
  • the container handling equipment allocates the fifth container of goods with high shipment volume on the shelf to the lower shelves on the shelf, and allocates the sixth container of goods with low shipment volume to the upper shelf positions of the goods.
  • the warehousing system calls the automatic handling equipment to move the shelves to the shelf docking area, and predicts the shipment level of various goods on the shelf based on previous orders. Based on this, the container handling equipment first puts the shelves on the lower shelves The sixth container of the low-volume goods is transferred to the multi-functional area for temporary storage; secondly, the fifth container of the high-volume goods on the high-level price of the shelf is transferred to the aforementioned low-level shelf; again, Put the sixth container temporarily stored in the multi-functional area back to the high-level shelf position on the shelf, and repeat the operation until all the goods with high shipment volume on the shelf are located below the goods with low shipment volume, so as to facilitate picking and placing.
  • control method of the storage system includes the following steps:
  • the multipurpose area stores empty containers.
  • the empty containers can be pre-stored on the shelves, and the storage system calls the automatic handling equipment to move the shelves to the shelf docking area, and then the container handling equipment transfers the empty containers from the shelves to the multi-functional area for temporary storage.
  • the container handling equipment transfers the empty container from the multi-function area to the picking station for the staff or picking robot to pick the goods into the empty container Inside.
  • the full container shelf means that the container needs to be filled with goods and then sold as a whole.

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Abstract

本公开提供的一种仓储系统及其控制方法，本公开的该仓储系统可以基于订单上目标货物的需求频次等信息预先将满足预设条件的容器缓存在多功能区，当收到与该预设条件相关的拣选订单时，无需再呼叫自动搬运设备去搬运存放有相应容器的货架，容器装卸设备只需从多功能区将相应的容器转运至拣选工位，待拣选完成后容器装卸设备将该容器放回多功能区即可，如此可减小自动搬运设备的工作量。

Description

仓储系统及其控制方法
本公开要求于2021年10月15日提交中国专利局、申请号为202111204450.9、发明名称为“仓储系统及其控制方法”，于2021年10月26日提交中国专利局、申请号为202111249466.1、发明名称为“仓储系统及其控制方法”，于2021年10月15日提交中国专利局、申请号为202122497033.X、实用新型名称为“仓储系统”以及于2021年10月26日提交中国专利局、申请号为202122589108.7、实用新型名称为“仓储系统”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本发明涉及仓储物流技术领域，特别涉及一种仓储系统及其控制方法。
背景技术
随着电子商务的日益发展，仓储物流中自动搬运货物技术也日趋成熟。
目前仓储系统中至少包括货架、自动搬运设备和拣选工位；其中，货架被暂存在仓库的料架存储区域，拣选工位设置在仓库内货物拣选区域。
当拣选工位收到订单信息后，呼叫自动搬运设备将存储有订单信息内目标货物的货架由货架存储区域搬运至拣选工位处，再控制容器装卸设备将货架具上的目标容器搬运至拣选工位上。
由此可知，拣选工位收到每次订单信息时都会呼叫自动搬运设备将存放有目标容器的货架搬运到拣选工位处，自动搬运设备需要随时待命随时搬运货架。
有鉴于此，如何减少自动搬运设备的搬运次数，是本领域工作人员需要解决的技术问题。
发明内容
为了解决现有技术中存在的问题，本公开提供了一种仓储系统及其控制方法。
第一方面本公开提供了一种仓储系统，本公开的仓储系统包括：
工作站区，所述工作站区包括至少一个拣选工位；
货架停靠区，所述货架停靠区被配置为用于停靠货架；
多功能区，所述多功能区包括至少一个存储位，所述存储位被构造为用于存放从所述拣选工位或所述货架上转运的容器；
容器装卸设备，所述容器装卸设备被构造为在工作站区、货架停靠区、多功能区之间转运容器。
在一个实施例中，所述多功能区位于所述拣选工位的上方、下方或者旁边。
在一个实施例中，所述存储位被构造为用于存放容器，所述容器内货物在预设时间段内的需求频次超过需求频次阈值。
在一个实施例中，所述多功能区的存储位被构造为用于存放容器，所述容器内货物与指定货物关联。
在一个实施例中，所述多功能区被构造为用于存放容器，所述容器内货物已拣选完成，且所述容器装卸设备没有空闲转运所述容器。
在一个实施例中，所述多功能区被构造为用于存放容器，所述容器的货物已拣选完成，且存放所述容器的货架尚未到达所述货架停靠区。
在一个实施例中，所述多功能区被构造为用于存放容器，所述容器内货物已完成拣选且在待拣选订单命中了所述货物。
在一个实施例中，所述容器装卸设备还被构造为进行理货操作。
在一个实施例中，在预设时间段内，当第一容器内货物的需求频次高于第二容器内货物时，且与所述第一容器相比，所述第二容器在货架上的位置更便于取放时；
所述容器装卸设备部被构造为将所述第二容器从所述货架移动至所述多功能区暂存，将所述第一容器由当前位置转运至所述第二容器原来的位置，并且将所述第二容器从所述多功能区转运至所述第一容器原来的位置。
在一个实施例中，当容器内货物在预设时间段内的需求频次超过需求频次阈值时；
所述容器装卸设备被构造为将所述容器从当前的货架转运至新的货架上，所述新的货架被配置成为专门用于存放货物在预设时间段内的需求频次超过需求频次阈值的容器。
在一个实施例中，所述容器装卸设备被构造为用于将空的容器放回用于存放空容器的货架上或所述多功能区。
在一个实施例中，所述多功能区包括多个存储位，多个所述存储位沿高度方向间隔排列、沿水平方向间隔排列，或者在高度方向和水平方向混合间隔排列。
在一个实施例中，所述仓储系统还包括自动搬运设备，所述自动搬运设备被配置为搬运所述货架进入或者离开所述货架停靠区。
在一个实施例中，所述仓储系统包括多个所述拣选工位，多个所述拣选工位沿水平方向间隔排列。
在一个实施例中，所述拣选工位包括第一支撑架以及设置在所述第一支撑架上的第一引导机构，所述第一引导机构被构造为用于辅助所述容器装卸设备取放容器。
在一个实施例中，所述存储位包括第二支撑架以及设置在所述第二支撑架上的第二引导机构，所述第二引导机构被构造为用于辅助所述容器装卸设备取放容器。
在一个实施例中，所述容器装卸设备包括门架和装卸组件，所述装卸组件设置在所述门架上，并且所述装卸组件被构造成可相对于所述门架沿X轴方向和Y轴方向；或者，
所述装卸组件被构造成可相对于所述门架沿Z轴方向和Y轴方向；或者，
所述装卸组件被构造成可相对于所述门架沿X轴方向、Y轴方向、Z轴方向运动；
以所述拣选工位和所述货架之间的垂直距离方向记为Y轴方向，以在水平面中垂直于Y轴的方向记为X轴方向，以垂直于水平面的方向记为Z轴方向。
在一个实施例中，所述装卸组件被构造成可相对于所述门架沿X轴方向、Y轴方向、Z轴方向运动,所述容器装卸设备还包括:
活动立柱，所述活动立柱设置在所述门架上并且被构造成受控于X轴驱动机构相对于所述门架沿X轴方向运动；
所述装卸组件设置在所述活动立柱上，并且被构造成受控于Z轴驱动机构相对于所述活动立柱沿Z轴方向运动。
在一个实施例中，所述装卸组件包括：
基座，所述基座设置在所述活动立柱上；
装卸组件，所述装卸组件设置在所述基座上，并且被构造成受控于Y轴驱动机构相对于所述基座沿Y轴方向运动。
在一个实施例中，所述容器装卸设备还包括：
X轴导向机构，设置在所述门架上，并且被构造成用于引导所述活动立柱相对于所述门架沿X轴方向运动；和/或，
Z轴导向机构，设置在所述活动立柱上，并且被构造成用于引导所述装卸组件相对于所述活动立柱沿Z轴方向运动。
在一个实施例中，所述多功能区被构造为用于存放空的容器，所述容器装卸设备被构造为当整箱上架或者容器外部供应不足时将所述多功能区的空的容器转运至所述拣选工位上。
第二方面，本公开提供了一种仓储系统的控制方法，所述仓储系统为如上任一项实施例所述的仓储系统，所述控制方法包括如下步骤：
基于预设属性，所述容器装卸设备将满足预设属性的目标容器在工作站区、货架停靠区、多功能区之间转运。
在一个实施例中，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
当容器内货物在预设时间段内需求频次超过需求频次阈值时，所述容器装卸设备将所述容器从所述货架停靠区的货架转运至所述多功能区；
当收到拣选所述货物的指令时，所述容器装卸设备将所述容器从所述多功能区转运至所述拣选工位。
在一个实施例中，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
当第一容器内容纳有与指定货物相关联的物品时，所述容器装卸设备将所述第一容器从所述货架上转运至所述多功能区暂存；
当收到拣选所述指定货物的指令时，所述容器装卸设备将所述第一容器从所述多功能区转运至所述拣选工位上；
所述容器装卸设备将存放有指定货物的第二容器从所述货架停靠区的货架上转运到所述拣选工位上。
在一个实施例中，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
当拣选完成容器内货物，且所述容器装卸设备没有空闲转运所述容器时，将所述容器存放在所述多功能区。
在一个实施例中，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
当拣选完成，且用于放置所述容器的货架尚未到达所述货架停靠区时，所述容器装卸设备将所述容器存放在所述多功能区。
在一个实施例中，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
当所述容器装卸设备空闲时，所述容器装卸设备进行理货操作。
在一个实施例中，所述容器装卸设备进行理货操作的方法包括如下步骤：
在预设时间段内，当第一容器内货物的需求频次大于第二容器内货物时，且与所述第一容器相 比，所述第二容器在货架上的位置更便于取放时，所述容器装卸设备将所述第二容器先从所述货架移动至所述多功能区暂存；
所述容器装卸设备将所述第一容器由当前位置转运至所述第二容器原来所在的位置；
所述容器装卸设备将所述第二容器从所述多功能区转运至所述第一容器原来的位置。
在一个实施例中，所述容器装卸设备进行理货操作的方法包括如下步骤：
在预设时间段内，当容器内货物的需求频次超过需求频次阈值时，所述容器装卸设备将所述容器从当前的货架转运至新的货架上，所述新的货架专门用于存放货物在预设时间段内的需求频次超过需求频次阈值的容器。
在一个实施例中，所述容器装卸设备进行理货操作的方法包括如下步骤：
在预设时间段内，当容器内货物的需求频次超过预设度阈值时，所述容器装卸设备将所述容器从所述多功能区转运至新的货架上，所述新的货架专门用于存放货物在预设时间段内的需求频次超过需求频次阈值的容器。
在一个实施例中，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
当所述多功能区存放空的容器，且收到整箱上架的指令或者外部容器供应不足的警报时，所述容器装卸设备将所述多功能区的空的容器转运至所述拣选工位上。
在一个实施例中，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
当拣选完成后容器为空时，所述容器装卸设备将所述空的容器从拣选工位转运到新的货架上，所述新的货架被配置为专门用于存放空的容器。
在一个实施例中，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
当容器内货物拣选完成后，判断待拣选订单是否命中了所述货物；
若所述待拣选订单命中了所述货物时，容器装卸设备将所述容器从所述拣选工位转运至所述多功能区暂存；
收到拣选命中所述货物的所述待拣选订单的指令后，所述容器装卸设备将所述容器从所述多功能区转运至所述拣选工位。
在一个实施例中，所述仓储系统还包括自动搬运设备，所述自动搬运设备被配置为搬运所述货架进入或者离开所述货架停靠区，所述控制方法还包括如下步骤：
当一个容器内容纳有与指定货物相关联的物品时，所述容器装卸设备将所述一个容器从所述货架上转运至所述多功能区暂存；
当收到拣选所述指定货物的指令时，所述容器装卸设备将所述一个容器从所述多功能区转运至所述拣选工位上；
呼叫所述自动搬运设备将存放有另一个容器的货架搬运至所述货架停靠区，并且所述容器装卸设备将所述另一个容器从所述货架停靠区的货架上转运到所述拣选工位上，所述另一个容器用于容纳所述指定货物。
本公开的该仓储系统可以基于订单上目标货物的需求频次等信息预先将满足预设条件的容器缓存在多功能区，当收到与该预设条件相关的拣选订单时，无需再呼叫自动搬运设备去搬运存放有相应容器的货架，容器装卸设备只需从多功能区将相应的容器转运至拣选工位，待拣选完成后容器装卸设备将该容器放回多功能区即可，如此可减小自动搬运设备的工作量。此外，在一个实施例中多功能区位于拣选工位上方，容器装卸设备可以快速转运容器，能极大提高拣选效率。
为使本公开的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，此处的附图被并入说明书中并构成本说明书中的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1是本发明所提供的仓储系统一具体实施例的立体结构示意图；
图2至图4分别是图1所示仓储系统的主视图、侧视图和俯视图；
图5至图10分别是本发明的仓储系统的控制方法的几种实施例的控制流程示意图。
图1和图4中各组件名称和附图标记之间的一一对应关系如下：
拣选工位：10第一支架、11第一左侧立板、12第一右侧立板、13第一滚筒；
货架停靠区：20货架；
多功能区：30第二支架、31第二左侧立板、32第二右侧立板、33第二滚筒；
容器装卸设备：40底座、41左侧立柱、42右侧立柱、43横梁、44活动立柱、45装卸组件、450基座、451装卸部件。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本公开实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围，而是仅仅表示本公开的选定实施例。基于本公开的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
另外，本公开实施例中的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。
在本文中提及的“多个或者若干个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
目前，现有的仓储系统收到订单时，呼叫自动搬运设备，自动搬运设备将货架由货架存储区转运至拣选工位处，该货架存放有包含该订单中货物的容器。容器装卸设备将该容器从货架搬运至拣选工位拣选，工作人员拣选完成后容器装卸设备再次将该容器放回货架上，最后自动搬运设备将货架从货架停靠区转运回货架存储区。
由此可见，现有的仓储系统在收到每个拣选订单时都需要呼叫对应的货架，存在自动搬运设备工作量比较大的问题。尤其是，当前拣选工作站缓存位数量较少，拣选人员在工作站进行拣选操作时，如遇爆品、畅销品、赠品等出库频次较高的SKU，需要频繁的搬运货架，且当前拣选工作站空置空间较大，空间利用率低。
为此，本发明提供了一种仓储系统，该仓储系统包括工作站区、货架停靠区、多功能区和容器装卸设备。其中，工作站区包括拣选工位；货架停靠区被配置为用于停靠货架；多功能区包括至少一个存储位，存储位被构造为用于存放从拣选工位或货架上转运的容器；容器装卸设备被构造为在工作站区、货架停靠区、多功能区之间转运容器。
需要说明的是，本发明的仓储系统中的货架并不仅仅包括传统意义上的货架，其还包括托盘、物料存放架或其他形式的能存放货物的装置。货架可以通过自动搬运设备或其他可移动的设备在仓库的不同区域之间移动，也就是说，货架被构造为可以在仓库的不同区域之间移动的可移动载具。
相应地，本发明中用于搬运货架的自动搬运设备也并非搬运传统货架的自动搬运设备，而是能搬运货架的任何设备。
另外，本发明中的容器包括货箱、托盘、托板、托盘暂存架等，其中，货箱包括收纳箱等可以用来收纳不同种类货物的箱体，也包括鞋盒等用于容纳特定货物的专用箱体，且从材质维度来说，货箱可以为纸箱、塑料箱和铁箱等。
该仓储系统可以基于预设时间段内对货物的需求频次等信息预先将满足预设条件的容器缓存在多功能区，当收到与该预设条件相关的拣选订单时，无需再呼叫自动搬运设备去搬运存放有相应容器的货架，容器装卸设备只需从多功能区将相应的容器转运至拣选工位，待拣选完成后容器装卸设备将该容器放回多功能区即可，如此可减小自动搬运设备的工作量。
为了便于更好地理解，下面结合图1至图10，以具体实施例为例详细说明该仓储系统的具体结构及其工作原理。需要说明的是，为了表述清楚，下文中用序数词“第一”、“第二”等来区分容器，可以理解这些序数词并不限定本发明的保护范围。
仓储系统的实施例一
参见图1，本实施例中，仓储系统包括工作站区、货架停靠区、多功能区和容器装卸设备。为了便于更好的理解仓储系统的具体结构，请一并参见图2至图4。
其中，工作站区包括至少一个拣选工位，该拣选工位被构造成用于放置容器，以便工作人员或拣选机器人从该容器内拣选出符合订单要求的货物，然后将该货物放入自动搬运设备或输送带上。
拣选工位包括第一支撑架以及设置在第一支撑架上的第一引导机构，第一引导机构被构造为用于辅助容器装卸设备取放容器。
详细地，第一支撑架包括第一支架10、第一左侧立板11、第一右侧立板12；其中，第一左侧立板11、第一右侧立板12依次平行且间隔设置在第一支架10上。第一支架10的作用是将第一左侧立板11和第一右侧立板12支抬起距离地面一定的高度，以方便工作人员或拣选机器人拣选货物
第一引导机构包括多个第一滚筒13，多个第一滚筒13依次平行且间隔的以可转动的方式设置在第一左侧立板11和第一右侧立板12之间。
当容器装卸设备将容器放置在拣选工位后，工作人员或拣选机器人认为容器所在当前位置不便于实施拣选操作时，他们可以借助第一引导机构的滚动特性，用较小的力将容器从当前位置推送到便于操作的位置。
货架停靠区设置在比较靠近拣选工位的位置，并且该货架停靠区可以摆放至少两个货架20，以便仓储系统可以在单位时间内快速拣选更多种类或数量的货物。
继续参见图1，本实施例中，本申请的仓储系统包括多个拣选工位，多个拣选工位沿水平方向依次间隔设置。
更为具体地，多个拣选工位沿X轴方向依次间隔设置。如此设置，仓储系统可以供多个工作人员或拣选机器人同时进行拣选，本领域技术人员可以根据应用场景无限拓展其适用范围。
根据本申请的另一些实施例，本申请的多个拣选工位也可以沿Z轴方向依次间隔设置，使各个拣选工位与地面之间形成不同的高度，以便供不同身高的工作人员拣选，从而提高工作人员的拣选舒适度，继而提高工作人员的拣选效率。
根据本申请的另一些实施例，本申请的多个拣选工位也可以在水平面内沿Y轴依次间隔设置，以供多个工作人员面对面进行拣选。
继续参见图1，本实施例中，本申请的多功能区包括多个存储位，每个存储位包括第二支撑架以及设置在第二支撑架上的第二引导机构，第二引导机构被构造为用于辅助容器装卸设备取放容器。
详细地，第二支撑架包括第二支架30、第二左侧立板31、第二右侧立板32；其中，第二左侧立板31和第二右侧立板32依次平行且间隔设置在第二支架30上。
第二引导机构包括多个第二滚筒33；其中，第二滚筒33依次平行且间隔的以可转动的方式设置在第二左侧立板31和第二右侧立板32之间。
存储位通过第二支架30固定在仓库的固定墙面上或者是通过辅助支架固定在拣选工位上，只要保证多功能区位于拣选工位上方，以充分利用仓库内拣选工位上方的闲置空间即可。
根据本申请的另一些实施例，本申请的多功能区设置在拣选工位的下方，第二支架30通过化学螺栓等紧固件固定在仓库的地面上即可。
根据本申请的另一些实施例，本申请的多功能区设置在拣选工位的旁边，也就是说多功能区临近拣选工位设置。同样，第二支架30通过化学螺栓等紧固件固定在仓库的地面上即可。
本实施方式中的每个存储位可以用于存放至少一个容器。另外需要说明的是上述结构形式只是存储位的一种实现形式，存储位还可以采用其他结构，只要可以实现存放容器即可。
为了提高多功能区存放能力，继续参见图1，本实施例中，多功能区包括多个存储位，一部分存储位沿高度方向依次间隔排列，另一部分存储位在同一水平面内依次间隔排列。也就是说，本实施例中，多个存储为在高度方向和水平方向混合间隔排列。
可以理解，存储位的具体数量取决于拣选工位上方的空间大小，本领域工作人员可以基于实际情况选择适宜的数量和排布方式即可。
当然，根据本申请的另一些实施例，本申请的多个存储位仅沿高度方向依次间隔排列，或者是仅在同一水平面内依次间隔排列。
结合图1至图4，本实施例中，容器装卸设备包括门架以及以相对于门架沿空间坐标系的X轴、Y轴和Z轴运动的装卸组件，其中，以拣选工位和货架之间的垂直距离方向记为Y轴方向，以在水平面中垂直于Y轴的方向记为X轴方向，以垂直于水平面的方向记为Z轴方向。也可以理解为X轴和Y轴所在平面为水平面，Z轴位于竖直平面内。需要说明的是，为了便于理解X轴、Y轴和Z轴等相对位置关系，请参见图2至图4。
详细地，门架包括底座40、左侧立柱41、右侧立柱42和横梁43；其中，底座40固定设置在工作站区和货架停靠区所在工作面内，左侧立柱41和右侧立柱42相互平行，横梁43与底座40平行设置且由左侧立柱41和右侧立柱42固定连接。也就是说，这四个部件依次连接形成方形门架结构。
容器装卸设备包括活动立柱44，该活动立柱44位于左侧立柱41和右侧立柱42之间并且可沿底座40和横梁43的延伸方向，即X轴方向相对于底座40和横梁43运动，装卸组件45设置在活动立柱44上，并且装卸组件受控于Z轴驱动机构沿活动立柱44的延伸方向运动，以便调整装卸组件45相对于货架在Z轴方向上的位移。
此外，装卸组件45包括基座450和受控于Y轴驱动机构相对于基座450沿Y轴方向运动的装卸部件451，基座450设置在活动立柱44上并且相对于活动立柱44沿Z轴方向运动。
在一些实施例中，Y轴驱动机构可以为气缸，气缸的缸体固定设置在基座450上，其活塞杆上设置有装卸部件451，控制气缸的缸体内气体的流向即可驱动活塞杆带动装卸部件451相对于缸体沿Y轴方向往复运动。
当仓储系统收到拣选订单时，根据仓储系统的数据库记录，容器装卸设备确定货架20上容器的具体位置(容器的空间坐标位置)，该容器容纳有该订单包含的货物。控制装卸组件45相对于门架沿X轴和Y轴运动至与目标容器基本保持对准，然后控制装卸组件45上的装卸部件451相对于其基座450沿Y轴运动至抓取目标容器。
[根据细则91更正 28.10.2022]　
更为详细的，本实施例中装卸部件451为吸盘，其与真空发生装置连通，当启动真空发生装置时，吸盘会产生吸附力，吸附容器后再返回至基座上。
[根据细则91更正 28.10.2022]　

采用这种结构的装卸组件时，货架20上的相邻两个容器之间无需预留供常用的叉臂伸入的空间，可以在货架20上紧密的排布容器，可以充分利用货架20的空间来摆放容器。
根据本申请的另一些实施例，本申请的装卸组件包括推拉装卸组件、钩爪装卸组件、叉式装卸组件和机械手臂等。
根据本申请的另一些实施例，本申请的容器装卸设备的X轴驱动机构可以包括X轴驱动电机和X轴滚珠丝杠螺母传动机构，X轴滚珠丝杠螺母传动机构的滚珠丝杠以可转动的方式连接在底座40上或者横梁43上，与之螺纹连接的螺母块固定连接在活动立柱44上，X轴驱动电机用于驱动滚珠丝杠相对于底座40或横梁43转动，螺母块即可带动活动立柱44沿X轴运动，以调整装卸组件45相对于门架沿X轴方向的运动。
根据本申请的另一些实施例，本申请的容器装卸设备的X轴驱动机构可以包括X轴驱动电机和X轴齿轮齿条传动机构，X轴齿轮齿条传动机构的齿轮以可转动的方式连接在活动立柱44上，与之啮合的齿条固定连接在底座40或横梁43上并且沿X轴方向延伸，X轴驱动电机用于齿轮相对于活动立柱44转动，齿轮即可带动活动立柱44沿齿条的延伸方向运动，以调整装卸组件45相对于门架沿X轴方向的运动。
进一步地，本实施例中，本申请的容器装卸设备还包括X轴导向机构，X轴导向机构被配置成引导活动立柱44相对于门架沿X轴方向运动，以保证容器装卸设备的运动稳定性。
详细地，X轴导向机构包括X轴直线导轨，X轴直线导轨包括沿X轴延伸且设置在门架的底座40或横梁43上的直线轨道，以及滑动连接在该直线轨道上的滑块，活动立柱44设置在滑块上，活动立柱44随着该滑块沿着该直线轨道在X轴方向上滑动。
根据本申请的另一些实施例，本申请的容器装卸设备的Z轴驱动机构可以包括Z轴驱动电机和Z轴滚珠丝杠螺母传动机构，Z轴滚珠丝杠螺母传动机构的滚珠丝杠以可转动的方式连接在活动立柱44上，与之螺纹连接的螺母块固定连接在装卸组件45的基座450上，Z轴驱动电机用于驱动Z轴滚珠丝杠相对于活动立柱44转动，螺母块即可带动装卸组件45沿Z轴运动，以调整装卸组件45相对于门架沿Z轴方向的运动。
根据本申请的另一些实施例，本申请的容器装卸设备的Z轴驱动机构可以包括Z轴驱动电机和Z轴齿轮齿条传动机构，Z轴齿轮齿条传动机构的齿轮以可转动的方式连接在装卸组件45的基座450上，与之啮合的齿条固定连接在活动立柱44上并且沿Z轴方向延伸，Z轴驱动电机用于齿轮相对于活动立柱44转动，齿轮即可带动装卸组件45沿齿条的延伸方向运动，以调整装卸组件45相对于门架沿Z轴方向的运动。
同样，本实施例中，容器装卸设备还包括Z轴导向机构，Z轴导向机构被配置成引导装卸组件45相对于活动立柱44沿Z轴方向运动，以保证容器装卸设备的运动稳定性。
详细地，Z轴导向机构包括Z轴直线导轨，Z轴直线导轨包括沿Z轴延伸且设置在活动立柱44上的直线轨道，以及滑动连接在该直线轨道上的滑块，装卸组件45的基座450设置在滑块上，装卸组件45的基座450随着该滑块沿着该直线轨道在Z轴方向上滑动。
进一步地，本实施例中，仓储系统还包括自动搬运设备，自动搬运设备被构造为用于将货架搬运至货架停靠区。货架上存放有容器，容器内容纳有货物。
需要说明的是，本申请的自动搬运设备包括背负式、顶升式、牵引、叉式自动搬运设备。
根据本申请的一个实施例，本申请的容器装卸设备包括门架以及以相对于门架沿空间坐标系的X轴和Y轴的装卸组件。
该装卸组件在X轴方向上运动以选取目标容器，然后沿Y轴方向运动抓取该目标容器。
需要说明的是，装卸组件相对于门架在X轴和Y轴方向的运动机构请参见前述三轴运动的实施例。
根据本申请的一个实施例，本申请的容器装卸设备包括门架以及以相对于门架沿空间坐标系的Z轴和Y轴的装卸组件。
该装卸组件在Z轴方向上运动以选取目标容器，然后沿Y轴方向运动抓取该目标容器。
需要说明的是，装卸组件相对于门架在Z轴和Y轴方向的运动机构请参见前述三轴运动的实施例。
根据本申请的一些实施例，本申请的多功能区的存储位被构造为用于存放容器，该容器内货物在预设时间段内的需求频次超过需求频次阈值。
其中，预设时间内的需求频次是指预设时间段内包含该货物的拣选订单的次数，即在预设时间段内两个拣选订单中均包含有该货物，则说明在该预设时间段内，该货物的需求频次为两次。
需求频次阈值是指预设的用于判断该货物的需求频次高低的标准值，该标准值可以为一个具体数值，也可以为一个数值范围。需求频次阈值取决于货物的重量、产地等因素。
预设时间段可以为单日内的几个小时、单日、一周、一个月、一个季度或一年等预设的一个具体数值或数值范围。仓储系统根据实际应用场景设定，或者是工作人员基于实际拣选工作量设定。
为了便于更好地理解，下面结合两个应用场景详细说明上述仓储系统的工作原理。
应用场景一
多功能区的存储位被构造为用于存放容器，该容器用于容纳预设时间段内需求频次大于需求频次阈值的货物。
当预设时间段内该货物的需求频次等于或位于需求频次阈值时，则说明该货物的需求频次处于正常水平内。当预设时间段内该货物的需求频次大于需求频次阈值时，则说明该货物属于爆款或畅销品；反之，当预设时间段内该货物的实际需求频次小于需求频次阈值时，则说明该货物属于滞销品。
仓储系统根据预设时间段内的需求频次发现容器内存放的货物属于爆款或畅销品，即预设时间内该货物的实际需求频次大于需求频次阈值，此时仓储系统的容器装卸设备从货架停靠区的货架上抓取该容器，并且将该容器转运至多功能区暂存。
当收到拣选该容器内货物的指令(订单)时，容器装卸设备将该容器从多功能区转运到工作站区的拣选工位上，以供工作人员或拣选机器人拣选。
拣选完成后，如果该容器内还剩有货物，容器装卸设备将该容器转运放回多功能区暂存，否则直接将该容器放回空闲容器存放区。
详细地，拣选系统可识别目前暂时不需要但一段时间后会命中的物料。设立多功能区后，系统可拉取比现有播种墙所需物料更多的货物，即货架中有现在播种墙中所需的物料，同时如果还有一段时间后会被用到的物料，容器装卸设备可将预命中的物料从货架上取下，暂时放入多功能区，等待需要此物料时，直接由容器装卸设备将该物料或者容纳有该物料的容器从多功能区取出，送至拣选位进行拣选，可加快订单完成速度，有效减少自动搬运设备搬运货架的次数。
另外，需要说明的是，爆款商品可以在入库时直接存在多功能区，也可以在拣选到某个爆款产品时从仓储区搬运出来拣选完成后就直接放在多功能区。
应用场景二
多功能区被构造为用于存放容器，该第二容器用于容纳次日的需求频次大于日需求频次阈值的货物。
需要说明的是，日需求频次阈值是指预设的单日内货物需求频次的一个具体数值或一个数值范围。日需求频次阈值取决于货物种类、季节等因素，比如雪糕的夏季的日需求频次大于冬季的日需求频次。
仓储系统根据预约订单或当日内货物的实际日需求频次预判出该货物次日的实际日需求频次会大于其日需求频次阈值时，仓储系统呼叫自动搬运设备将存储有容纳该货物的容器的货架搬运到货架停靠区，容器装卸设备从货架上将该容器转运到多功能区暂存。
当次日仓储系统收到拣选该容器内货物的指令时，容器装卸设备从多功能区将该容器转运至拣选工位，以供工作人员或拣选机器人拣选。拣选完成后，容器装卸设备将还剩有货物的该容器放回多功能区，或者将空的该容器直接放回空闲容器存放区。
根据本申请的一些实施例，本申请的多功能区的存储位被构造为用于容器，该容器存放与指定货物关联的物品。
其中，与指定货物关联的物品可以是该指定货物的赠品，赠品是指购买指定货物时免费赠送的物品。当然与指定货物相关联的物品也可以是与指定物品在一个相同订单下单时价格上会有优惠的商品。
仓储系统呼叫自动搬运设备将存放有赠品的货架搬运至货架停靠区，容器装卸设备将存放有赠品的容器从货架停靠区的货架转运至多功能区暂存。当仓储系统收到与赠品关联的拣选指定货物的指令时，仓储系统呼叫自动搬运设备将存放有该指定货物的货架搬运至货架停靠区，容器装卸设备将容纳该指定货物的容器从货架停靠区的货架转运至工作站区的拣选工位上，然后或在此步骤之前容器装卸设备从多功能区转运容纳赠品的容器至拣选工位上，以供工作人员或拣选机器人拣选。
拣选完成后，如果容器内还剩有指定货物，容器装卸设备将容纳指定货物的容器放回货架上，或者将空的容器直接放回空闲容器存放区；如果容器内还剩有赠品时，容器装卸设备容器放回多功能区或者将空的容器放回空闲容器存放区。
另外，需要说明的是，赠品可以在入库时直接存在多功能区，也可以在拣选到某个爆款产品时从仓储区搬运出来拣选完成后就直接放在多功能区。
根据本申请的一个实施例，本申请的多功能区的存储为被构造为用于存放容器，该容器内货物已拣选完成且所述容器装卸设备没有空闲转运该容器。
详细地，当工作人员或拣选机器人根据一个拣选订单拣选完成后，但容器装卸设备正在工作而没有空闲转运拣选完成的容器时，工作人员或拣选机器人将该容器搬运至多功能区暂存，待容器装卸设备空闲后，再将该容器转运至货架上，以避免拣选完成的容器堆积在拣选工位上而影响到后续拣选订单的拣选，保持拣选工作有序顺畅的进行。
根据本申请的一个实施例，本申请的多功能区被构造为用于存放容器，该容器内货物已拣选完 成且存放该容器的货架尚未到达货架停靠区。
详细地，为了便于管理，仓储系统内每个容器都会存放在指定的货架上。当工作人员或拣选机器人根据一个订单拣选完成后，通常情况下，容器需要放回指定的货架上。
然而，在实际拣选工作中自动搬运设备被占用等原因，存放已拣选完成容器的货架尚未到达货架停靠区，造成拣选工位上堆积容器的问题。
基于此，本申请的仓储系统中当存放已拣选完成容器的货架尚未到达货架停靠区时，工作人员、拣选机器人或者容器装载设备先将该容器暂存在多功能区，待该容器的货架就位后，容器装载设备再将该容器转运到货架上，从而可以避免拣选完成的容器堆积在拣选工位上而影响到后续拣选订单的拣选，保持拣选工作有序顺畅的进行。
根据本申请的一个实施例，本申请的多功能区的存储位被构造为用于存放容器，该容器内货物已完成拣选且在待拣选订单命中了该货物。
为了合理安排仓储系统内各个拣选工位的工作量，仓储系统会定期给每个拣选工位分配拣选订单，也就是说，每个拣选工位被分配多个拣选订单，这些拣选订单按照分配时间先后顺序排队等待被拣选。拣选工位上当前拣选的拣选订单中货物也可以出现在后续排队中的拣选订单中，由于该容器中存放有多个拣选订单中出现的货物，仓储系统需要多次呼叫自动搬运设备。
为此，本申请的仓储系统中当拣选完成后，再确认后续排队的待拣选订单中是否命中了该拣选完成的货物，如果该货物被命中，工作人员、拣选机器人或者容器装载设备先将该容器暂存在多功能区，待后续命中该货物的拣选订单达到后直接从多功能区搬运其容器，无需多次呼叫自动搬运设备搬运存放该容器的货架，可以减少对自动搬运设备的呼叫次数，提高拣选效率。
根据本申请的一个实施例，本申请的容器装卸设备被构造为进行理货操作。
为了便于更好地理解，下面结合两个应用场景详细说明上述容器装卸设备的理货原理。
应用场景一
当容器装卸设备空闲时，仓储系统呼叫自动搬运设备将货架搬运至货架停靠区，基于货架上存放的货物种类以及以往订单中各种货物的在预设时间段内的需求频次，仓储系统调配不同容器在货架上的位置，比如将需求频次较高的货物的容器挪动到频次较低的货物的容器外侧，以缩短拣选时间，提高拣选效率。
在预设时间段内，当第一容器内货物的需求频次大于第二容器内货物时，且与第一容器相比，第二容器在货架上的位置更便于取放时；
所述容器装卸设备部被构造为将第二容器从所述货架移动至所述多功能区暂存，将第一容器由当前位置转运至所述第二容器原来的位置，并且将第二容器从所述多功能区转运至所述第一容器原来的位置。
详细地，仓储系统基于以往订单判断出货架上货物的在预设时间段内需求频次的高低，如果需求频次较高的货物的容器位于需求频次较低的货物的容器内侧，容器装卸设备首先将需求频次较低的货物的容器从货架转运到多功能区暂存；其次，将需求频次较高的货物的容器从货架转运到多功能区暂存；再次，将需求频次较低的货物的容器从多功能区放回货架；最后，将需求频次较高的货物的容器从多功能区放回货架并使其位于需求频次较低的货物的容器外侧，以方便抓取。
或者是，容器装卸设备将货架上需求频次较高的货物的容器调配到货架上低层架位，并且将需求频次较低的货物的容器调配到货物上高层架位。
详细地，仓储系统呼叫自动搬运设备将货架搬运到货架停靠区，并且基于以往的订单预判该货架上各种货物的需求频次等级。基于此，容器装卸设备首先将货架的低层货位上的需求频次较低的货物的容器转运到多功能区暂存；其次，将位于货架的高层货位上的需求频次较高的货物的容器转动到低层架位上；再次，将暂存再多功能区的需求频次较低的货物的容器放回到货架上的高层货位，如此反复操作直至货架上所有的需求频次较高的货物都位于需求频次较低的货物的容器下方，以方便取放。
应用场景二
当容器内货物在预设时间段内的需求频次超过需求频次阈值时；容器装卸设备被构造为将容器从当前的货架转运至新的货架上，新的货架专门用于存放货物的在预设时间段内的需求频次超过需求频次阈值的容器。
当预设时间段内该货物的需求频次等于需求频次阈值时，则说明该货物的需求频次处于正常水平内。当预设时间段内该货物的需求频次大于需求频次阈值时，则说明该货物属于爆款或畅销品；反之，当预设时间段内该货物的实际需求频次小于需求频次阈值时，则说明该货物属于滞销品。
仓储系统根据预设时间段内的需求频次发现容器内存放的货物属于爆款或畅销品，即预设时间内该货物的实际需求频次大于需求频次阈值，此时仓储系统的容器装卸设备从当前的货架上抓取该容器，并且将该容器转运至新的货架上。
本申请中将在预设时间段内需求频次较高的货物的容器都集中存放新的货架上，并且将该货架停靠在货架停靠处。当拣选订单中要求拣选任一上述货物时，直接将容器该货架转运到拣选工位 上，无需让自动搬运设备多次往返搬运各个货物对应的货架，减少了自动搬运设备的搬运次数，提高了拣选效率。
拣选完成后，如果第一容器内还剩有货物，容器装卸设备将第一容器转运放回多功能区暂存，否则直接将第一容器放回空闲容器存放区。
根据本申请的一个实施例，本申请的容器装卸设备被构造为用于将空的容器放回多功能区。
空的容器是由容器装卸设备从容器存放区转运至多功能区，或者是仓储系统呼叫自动搬运设备将存放有空的容器的货架转运到货架停靠区，再由容器装卸设备从货架转运至多功能区暂存。
当仓储系统收到整箱上架的指令或者外部容器功能不足的警报时，容器装卸设备从多功能区将空的容器转运至拣选工位，以供工作人员或拣选机器人将货物拣选到空的容器内。
需要说明的是，整箱上架是指需要在容器内装满货物后整体存放。
根据本申请的一个实施例，本申请的容器装卸设备被构造为用于将空的容器放回用于存放空容器的货架。
工作人员或拣选机器人拣选完成后，如果被拣选的容器是空的，容器装卸设备将空的容器放回用于存放空容器的货架上，该货架可以停靠在货架停靠区。
当仓储系统收到整箱上架的指令或者外部容器功能不足的警报时，容器装卸设备从存放空容器的货架上将空的容器转运至拣选工位，以供工作人员或拣选机器人将货物拣选到空的容器内。
本发明还提供一种仓储系统的控制方法，该仓储系统具体为上述的仓储系统，该仓储系统的控制方法包括如下主要步骤：
基于预设属性，容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运。
为了便于更好地理解，下面结合图5至图7，以四个实施例为例详细地说明本发明的控制方法的具体控制逻辑。
控制方法的实施例一
参见图5，本实施例中，仓储系统的控制方法包括如下步骤：
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S501、当容器的货物在预设时间段内需求频次超过需求频次阈值时，容器装卸设备将所述容器从所述货架停靠区的货架转运至多功能区；
其中，预设时间内的需求频次是指预设时间段内包含该货物的拣选订单的次数，即在预设时间段内两个拣选订单中均包含有该货物，则说明在该预设时间段内，该货物的需求频次为两次。
预设时间段可以为单日内的几个小时、单日、一周、一个月、一个季度或一年等预设的一个具体数值或数值范围。仓储系统根据实际应用场景设定，或者是工作人员基于实际拣选工作量设定。
当收到拣选所述货物的指令时，所述容器装卸设备将所述容器从所述多功能区转运至所述拣选工位。
当预设时间段内该货物的需求频次等于需求频次阈值时，则说明该货物的需求频次处于正常水平内。当预设时间段内该货物的需求频次大于需求频次阈值时，则说明该货物属于爆款或畅销品；反之，当预设时间段内该货物的实际需求频次小于需求频次阈值时，则说明该货物属于滞销品。
仓储系统根据预设时间段内的需求频次发现容器内存放的货物属于爆款或畅销品，即预设时间内该货物的实际需求频次大于需求频次阈值，此时仓储系统的容器装卸设备从货架停靠区的货架上抓取该容器，并且将该容器转运至多功能区暂存。
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S502、当收到拣选该容器内货物的指令时，容器装卸设备将该容器从多功能区转运至工作站区的拣选工位，以供工作人员或拣选机器人拣选。
当然，在另一些实施例中，拣选人员也可以直接将该容器从多功能区转运至工作站区的拣选工位，而无需借助容器装卸设备。

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S503、拣选完成后，容器装卸设备将还剩有货物的该容器放回多功能区暂存，或者直接将空的该容器放回空闲容器存放区。
详细地，拣选系统可识别目前暂时不需要但一段时间后会命中的物料。设立多功能区后，系统可拉取比现有播种墙所需物料更多的货物，即货架中有现在播种墙中所需的物料，同时如果还有一段时间后会被用到的物料，容器装卸设备可将预命中的物料从货架上取下，暂时放入多功能区，等待需要此物料时，直接由容器装卸设备将该物料或者容纳有该物料的容器从多功能区取出，送至拣选位进行拣选，可加快订单完成速度，有效减少自动搬运设备搬运货架的次数。
另外，需要说明的是，爆款商品可以在入库时直接存在多功能区，也可以在拣选到某个爆款产品时从仓储区搬运出来拣选完成后就直接放在多功能区。
控制方法的实施例二
参见图6，本实施例中，仓储系统的控制方法包括如下步骤：
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S601、当容器内货物次日的日需求频次大于日需求频次阈值时，容器装卸设备将该容器从货架停靠区的货架转运至多功能区上暂存。
需要说明的是，日需求频次阈值是指预设的单日内货物需求频次的一个具体数值或一个数值 范围。日需求频次阈值取决于货物种类、季节等因素，比如雪糕的夏季日需求频次大于冬季日需求频次。
详细地，在一种实施例中，仓储系统收到次日预约订单后，比较次日预约订单上目标货物的日需求频次和日需求频次阈值之间的大小关系，该目标货物放置在容器中；当次日预约订单上目标货物的日需求频次大于日需求频次阈值时，仓储系统呼叫自动搬运设备将存放该容器的货架搬运到货架停靠区，容器装卸设备从货架停靠区的货架上将该容器转运到多功能区暂存。
在另一种实施例中，仓储系统根据当日内目标货物的实际需求频次预判得出目标货物次日的日需求频次将会大于目标货物的日需求频次阈值时，该目标货物放置在该容器中，仓储系统呼叫自动搬运设备将存放该容器的货架搬运到货架停靠区，容器装卸设备从货架停靠区的货架上将该容器转运到多功能区暂存。
比如：针对水果、蔬菜等需求频次受季节影响的货物，当仓储系统获取到鸡心果在深秋10月10日当日的日需求频次远超针对该货物预设的日需求频次阈值。基于此，仓储系统预判次日鸡心果的日需求频次也会超出其日需求频次阈值。仓储系统呼叫自动搬运设备将存放该的货架搬运到货架停靠区，容器装卸设备从货架停靠区的货架上将该容器转运到多功能区暂存，该容器内存放有目标货物鸡心果。
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S602、当次日仓储系统收到拣选该容器内货物的指令时，容器装卸设备将该容器从多功能区转运至工作站区的拣选工位上，供工作人员或拣选机器人拣选。
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S503、拣选完成后，容器装卸设备将还剩有货物的该容器放回多功能区暂存，或者直接将空的容器放回空闲容器存放区。
控制方法的实施例三
参见图7，本实施例中，仓储系统的控制方法包括如下步骤：
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S701、当货架上的第一容器内容纳与指定货物关联的物品时，容器装卸设备将第一容器从货架停靠区的货架上转运至多功能区暂存。
其中，与指定货物关联的物品可以是该指定货物的赠品，赠品是指购买指定货物时免费赠送的物品。当然与指定货物相关联的物品也可以是与指定物品在一个相同订单下单时价格上会有优惠的商品。
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在步骤S701之前，该控制方法还包括呼叫自动搬运设备将存放第一容器的货架搬运至货架停靠区。
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S702、当仓储系统收到拣选指定货物的指令时，容器装卸设备将第一容器从多功能区转运至拣选工位上，以供工作人员或拣选机器人拣选。
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在步骤S702之前或之后，控制方法还包括步骤S703、仓储系统呼叫自动搬运设备将存放指定货物的货架搬运至货架停靠区，并且容器装卸设备将货架上容纳指定货物的第二容器从货架停靠区的货架上转运至工作站区的拣选工位上。
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S704、拣选完成后，容器装卸设备将还剩有与指定货物关联的物品的第一容器放回多功能区暂存，或者直接将空的第一容器放回空闲容器存放区，并且将剩有指定货物的第二容器放回货架或者直接将空的第二容器放回空闲容器存放区。
另外，需要说明的是，与指定货物关联的物品可以在入库时直接存在多功能区，也可以在拣选到某个爆款产品时从仓储区搬运出来拣选完成后就直接放在多功能区。
控制方法的实施例四
本实施例中，仓储系统的控制方法包括如下步骤：
当容器装卸设备空闲时，容器装卸设备进行理货操作。
当容器装卸设备空闲时，仓储系统呼叫自动搬运设备将货架搬运至货架停靠区，基于货架上存放的货物种类以及以往订单中各种货物的需求频次，仓储系统调配不同容器在货架上的位置，比如将容纳需求频次较高的货物的容器挪动到容纳需求频次较低的货物的容器外侧，以缩短拣选时间，提高拣选效率。
详细地，仓储系统基于以往订单判断出货架上货物的需求频次高低，如果需求频次高的货物的容器位于需求频次低的货物的容器内侧，容器装卸设备首先将需求频次低的货物的容器从货架转运到多功能区暂存；其次，将需求频次高的货物的容器从货架转运到多功能区暂存；再次，将需求频次低的货物的容器从多功能区放回货架，最后将需求频次高的货物的容器从多功能区放回货架并使其位于需求频次低的货物的容器外侧，以方便抓取。
或者是，容器装卸设备将货架上需求频次高的货物的容器调配到货架上低层架位，并且将需求频次低的货物的容器调配到货物上高层架位。
详细地，仓储系统呼叫自动搬运设备将货架搬运到货架停靠区，并且基于以往的订单预判该货架上各种货物的需求频次等级。基于此，容器装卸设备首先将货架的低层架位上的需求频次低的货物的容器转运到多功能区暂存；其次，将位于货架的高层架位上的需求频次高的货物的容器转动到前述的低层架位上；再次，将暂存在多功能区的容器放回到货架上的高层架位，如此反复操作直至货架上所有的需求频次高的货物都位于需求频次低的货物的下方，以方便取放。
控制方法的实施例五
本实施例中，仓储系统的控制方法包括如下步骤：
多功能区存放有空的容器。
需要说明的是，空的容器可以预先存放在货架上，仓储系统呼叫自动搬运设备将该货架搬运至货架停靠区，然后容器装卸设备将空的容器从该货架转运至多功能区暂存。
当仓储系统收到整箱上架的指令或者外部供应容器不足的警报时，容器装卸设备将空的容器从多功能区转运至拣选工位，以供工作人员或拣选机器人将货物拣选到空的容器内。
需要说明的是，整箱上架是指需要在容器内装满货物后整体销售。
控制方法的实施例六
本实施例中，仓储系统的控制方法包括如下步骤：
当容器内货物拣选完成后，判断待拣选订单是否命中了货物；
若待拣选订单命中了货物时，容器装卸设备将容器从拣选工位转运至多功能区暂存；
收到拣选命中货物的所述待拣选订单的指令后，容器装卸设备将所述容器从多功能区转运至拣选工位。
需要说明的是，上述容器中对应的待拣选货物需求频次没有达到需求频次阈值，但因为后续有订单拣选需求，为了避免来回搬运，则直接将该容器存放至多功能区，提升整体作业效率。可以理解的是，如果已经拣选完成的货物的需求频次没有高于需求频次阈值，容器装卸设备将该货物的容器直接从拣选工位转运到原货架的原位置或者其他空闲位置。如果需要调整容器在原货架存放的位置或者改变存放的货架，则可以根据需求选择在多功能区暂存，然后通过容器装卸设备放置到对应的新的存放位置。或者直接通过容器装卸设备直接放置到新存放位置。
仓储系统的实施例二
在本公开的另一个实施例中，本公开的仓储系统包括工作站区、货架停靠区、多功能区和容器装卸设备。其中，工作站区包括拣选工位，货架停靠区被配置成用于停靠货架，多功能区位于拣选工位的上方，且被构造为用于存放从拣选工位或货架上转运的容器，容器装卸设备被构造为在工作站区、货架停靠区、多功能区之间转运容器。
需要说明的是，本发明的仓储系统中的货架并不仅仅包括传统意义上的货架，其还包括托盘、物料存放架或其他形式的能存放货物的装置，该装置可以通过自动搬运设备或其他可移动的设备在仓库的不同区域之间移动。相应地，本发明中用于搬运货架的自动搬运设备也并非搬运传统货架的自动搬运设备，而是能搬运货架、托盘或物料存放架等承载商品的装置的机器人。
该仓储系统可以基于订单上目标货物的出货量等信息预先将满足预设条件的容器缓存在多功能区，当收到与该预设条件相关的拣选订单时，无需再呼叫自动搬运设备去搬运存放有相应容器的货架，容器装卸设备只需从多功能区将相应的容器转运至拣选工位，待拣选完成后容器装卸设备将该容器放回多功能区即可，如此可减小自动搬运设备的工作量。并且由于多功能区位于拣选工位上方，容器装卸设备可以快速转运容器，能极大提高拣选效率。
为了便于更好地理解，下面结合图1至图4，以一个具体实施例为例详细说明该仓储系统的具体结构及其工作原理。需要说明的是，为了表述清楚，下文中用序数词“第一”、“第二”等来区分容器，可以理解这些序数词并不限定本发明的保护范围。
参见图1，本实施例中，仓储系统包括工作站区、货架停靠区、多功能区和容器装卸设备。为了便于更好的理解仓储系统的具体结构，请一并参见图2至图4。
其中，工作站区包括拣选工位，该拣选工位被构造成用于放置容器，以便有人工或拣选机器人从该容器内拣选出符合订单要求的货物，然后将该货物放入自动搬运设备或输送带上。
拣选工位包括第一支撑架以及设置在第一支撑架上的第一引导机构，第一引导机构被构造为用于辅助容器装卸设备取放容器。
详细地，第一支撑架包括第一支架10、第一左侧立板11、第一右侧立板12和第一中间立板13；其中，第一左侧立板11、第一右侧立板12、第一中间立板13依次平行且间隔设置在第一支架10上。
第一引导机构包括多个第一滚筒14，一部分的第一滚筒14依次平行且间隔的以可转动的方式设置在第一左侧立板11和第一中间立板13，另一部分的第一滚筒14依次平行且间隔的以可转动的方式设置在第一右侧立板12和第一中间立板13之间。第一支架10的作用在于将第一左侧立板11、第一右侧立板12、第一中间立板13三者距离地面一定的高度，以方便工作人员或拣选机器人拣选货物。
当容器装卸设备将容器放置在拣选工位后，工作人员或拣选机器人认为容器所在当前位置不便于实施拣选操作时，他们可以借助第一引导机构的滚动特性，用较小的力将容器从当前位置推送到便于操作的位置。
货架停靠区设置在比较靠近拣选工位的位置，并且该货架停靠区可以摆放至少两个货架20，以便仓储系统可以在单位时间内快速拣选更多种类或数量的货物。
多功能区包括多个存储位，每个存储位包括第二支撑架以及设置在第二支撑架上的第二引导机构，第二引导机构被构造为用于辅助容器装卸设备取放容器。
详细地，第二支撑架包括第二支架30、第二左侧立板31、第二右侧立板32；其中，第二左侧立板31和第二右侧立板32依次平行且间隔设置在第二支架30上。
第二引导机构包括多个第二滚筒33；其中，第二滚筒33依次平行且间隔的以可转动的方式设置在第二左侧立板31和第二右侧立板32之间。
存储位通过第二支架30固定在仓库的固定墙面上或者是通过辅助支架固定在拣选工位上，只要保证多功能区位于拣选工位上方，以充分利用仓库内拣选工位上方的闲置空间即可。本实施方式中的每个存储位可以用于存放不少于一个容器装卸设备转运的容器。另外需要说明的是上述结构形式只是存储位的一种实现形式，存储位还可以采用其他结构，只要可以实现将容器进行存放即可，可以将每个存储位设置成只放置一个货箱。
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为了使多功能区存放更多容器，参见图1，本实施例中，多功能区包括多个存储位，一部分存储位沿高度方向依次间隔排列，另一部分存储位在同一水平面内依次间隔排列。可以理解，存储位的具体数量取决于拣选工位上方的空间大小，本领域工作人员可以基于实际情况选择适宜的数量和排布方式即可。
当然，在另一些实施例中，多个存储位仅沿高度方向依次间隔排列，或者是仅在同一水平面内依次间隔排列。
容器装卸设备包括门架以及以相对于门架沿空间坐标系的X轴、Y轴和Z轴运动的装卸组件，其中，以拣选工位和货架之间的垂直距离方向记为Y轴方向，以在水平面中垂直于Y轴的方向记为X轴方向，以垂直于水平面的方向记为Z轴方向。也可以理解为X轴和Y轴所在平面为水平面，Z轴位于竖直平面内。需要说明的是，为了便于理解X轴、Y轴和Z轴等相对位置关系，请参见图2至图4。
详细地，门架包括底座40、左侧立柱41、右侧立柱42和横梁43；其中，底座40固定设置在工作站区和货架停靠区所在工作面内，左侧立柱41和右侧立柱42相互平行，横梁43与底座40平行设置且由左侧立柱41和右侧立柱42固定连接。也就是说，这四个部件依次连接形成方形门架结构。
容器装卸设备包括活动立柱44，该活动立柱44位于左侧立柱41和右侧立柱42之间并且可沿底座40和横梁43的延伸方向，即X轴方向相对于底座40和横梁43运动，装卸组件45设置在活动立柱44上，并且装卸组件受控于Z轴驱动机构沿活动立柱44的延伸方向运动，以便调整装卸组件45相对于货架在Z轴方向上的位移。
此外，装卸组件45包括基座450和受控于Y轴驱动机构相对于基座450沿Y轴方向运动的装卸部件451，基座450设置在活动立柱44上并且相对于活动立柱44沿Z轴方向运动。
在一些实施例中，Y轴驱动机构可以为气缸，气缸的缸体固定设置在基座450上，其活塞杆上设置有装卸部件451，控制气缸的缸体内气体的流向即可驱动活塞杆带动装卸部件451相对于缸体沿Y轴方向往复运动。
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当仓储系统收到拣选订单时，根据仓储系统的数据库记录，容器装卸设备确定货架20上容纳有该订单包含的货物的目标容器的具体位置(容器的空间坐标位置)，控制装卸组件45相对于门架沿X轴和Y轴运动至与目标容器基本保持对准，然后控制装卸组件45上的装卸部件451相对于其基座450沿Y轴运动至抓取目标容器。
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更为详细的，本实施例中装卸部件451为吸盘，其与真空发生装置连通，当启动真空发生装置时，吸盘会产生吸附力，吸附容器后再返回至基座上。
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采用这种结构的装卸组件时，货架20上的相邻两个容器之间无需预留供常用的叉臂伸入的空间，可以在货架20上紧密的排布容器，可以充分利用货架20的空间来摆放容器。
另外，在一些实施例中，容器装卸设备的X轴驱动机构可以包括X轴驱动电机和X轴滚珠丝杠螺母传动机构，X轴滚珠丝杠螺母传动机构的滚珠丝杠以可转动的方式连接在底座40上或者横梁43上，与之螺纹连接的螺母块固定连接在活动立柱44上，X轴驱动电机用于驱动滚珠丝杠相对于底座40或横梁43转动，螺母块即可带动活动立柱44沿X轴运动，以调整装卸组件45相对于门架沿X轴方向的运动。
在另一些实施例中，容器装卸设备的X轴驱动机构可以包括X轴驱动电机和X轴齿轮齿条传动机构，X轴齿轮齿条传动机构的齿轮以可转动的方式连接在活动立柱44上，与之啮合的齿条固定连接在底座40或横梁43上并且沿X轴方向延伸，X轴驱动电机用于齿轮相对于活动立柱44转动，齿轮即可带动活动立柱44沿齿条的延伸方向运动，以调整装卸组件45相对于门架沿X轴方向的运动。
进一步地，本实施例中，容器装卸设备还包括X轴导向机构，X轴导向机构被配置成引导活动立柱44相对于门架沿X轴方向运动，以保证容器装卸设备的运动稳定性。
详细地，X轴导向机构包括X轴直线导轨，X轴直线导轨包括沿X轴延伸且设置在门架的底座40或横梁43上的直线轨道，以及滑动连接在该直线轨道上的滑块，活动立柱44设置在滑块上，活动立柱44随着该滑块沿着该直线轨道在X轴方向上滑动。
在一些实施例中，容器装卸设备的Z轴驱动机构可以包括Z轴驱动电机和Z轴滚珠丝杠螺母传动机构，Z轴滚珠丝杠螺母传动机构的滚珠丝杠以可转动的方式连接在活动立柱44上，与之螺 纹连接的螺母块固定连接在装卸组件45的基座450上，Z轴驱动电机用于驱动Z轴滚珠丝杠相对于活动立柱44转动，螺母块即可带动装卸组件45沿Z轴运动，以调整装卸组件45相对于门架沿Z轴方向的运动。
在另一些实施例中，容器装卸设备的Z轴驱动机构可以包括Z轴驱动电机和Z轴齿轮齿条传动机构，Z轴齿轮齿条传动机构的齿轮以可转动的方式连接在装卸组件45的基座450上，与之啮合的齿条固定连接在活动立柱44上并且沿Z轴方向延伸，Z轴驱动电机用于齿轮相对于活动立柱44转动，齿轮即可带动装卸组件45沿齿条的延伸方向运动，以调整装卸组件45相对于门架沿Z轴方向的运动。
同样，本实施例中，容器装卸设备还包括Z轴导向机构，Z轴导向机构被配置成引导装卸组件45相对于活动立柱44沿Z轴方向运动，以保证容器装卸设备的运动稳定性。
详细地，Z轴导向机构包括Z轴直线导轨，Z轴直线导轨包括沿Z轴延伸且设置在活动立柱44上的直线轨道，以及滑动连接在该直线轨道上的滑块，装卸组件45的基座450设置在滑块上，装卸组件45的基座450随着该滑块沿着该直线轨道在Z轴方向上滑动。
进一步地，本实施例中，仓储系统还包括自动搬运设备，自动搬运设备被构造为用于将货架搬运至货架停靠区。货架上存放有容器，容器内容纳有货物。
为了便于更好地理解，下面结合几个应用场景详细说明上述仓储系统的工作原理。
应用场景一
多功能区被构造为用于存放第一容器，第一容器用于容纳预设时间段内第一出货量大于第一出货量阈值的货物。
其中，预设时间段大于一天，即预设时间段为一周、一个月、一个季度或者一年等，第一出货量阈值是指根据年出货量、季度出货量、月出货量、周出货量等预设的一个具体数值或数值范围。
当预设时间段内该货物的实际第一出货量等于或位于第一出货量阈值时，则说明该货物的第一出货量处于正常水平内。当预设时间段内该货物的实际第一出货量大于第一出货量阈值时，则说明该货物属于爆款或畅销品；反之，当预设时间段内该货物的实际第一出货量小于第一出货量阈值时，则说明该货物属于滞销品。
仓储系统根据预设时间段内的出货量发现第一容器内存放的货物属于爆款或畅销品，即预设时间内该货物的实际第一出货量大于第一出货量阈值，此时仓储系统的容器装卸设备从货架停靠区的货架上抓取第一容器，并且将第一容器转运至多功能区暂存。
当收到拣选第一容器内货物的指令(订单)时，容器装卸设备将第一容器从多功能区转运到工作站区的拣选工位上，以供工作人员或拣选机器人拣选。
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拣选完成后，如果第一容器内还剩有货物，容器装卸设备将第一容器转运放回多功能区暂存，否则直接将第一容器放回空闲容器存放区。
详细地，拣选系统可识别目前暂时不需要但一段时间后会命中的物料。设立多功能区后，系统可拉取比现有播种墙所需物料更多的货物，即货架中有现在播种墙中所需的物料，同时如果还有一段时间后会被用到的物料，容器装卸设备可将预命中的物料从货架上取下，暂时放入多功能区，等待需要此物料时，直接由容器装卸设备将该物料或者容纳有该物料的容器从多功能区取出，送至拣选位进行拣选，可加快订单完成速度，有效减少自动搬运设备搬运货架的次数。
另外，需要说明的是，爆款商品可以在入库时直接存在多功能区，也可以在拣选到某个爆款产品时从仓储区搬运出来拣选完成后就直接放在多功能区。
也就是说，爆品、畅销品会有更大的概率被命中，当拣选工位需要用到这些物品时，不需呼叫自动搬运设备与货架，容器装卸机构可直接将此功能区的容器取下，放至于拣选工位进行拣选，大大提高了拣选效率，加快订单完成速度，同时有效减少自动搬运设备搬运货架的次数。
应用场景二
多功能区被构造为用于存放第二容器，所述第二容器用于容纳次日的日出货量大于日出货量阈值的货物。
需要说明的是，日出货量阈值是指预设的单日内货物出货量的一个具体数值或一个数值范围。日出货量阈值取决于货物种类、季节等因素，比如雪糕的夏季日出货量大于冬季日出货量。
仓储系统根据预约订单或当日内货物的实际日出货量预判出该货物次日的实际日出货量会大于其日出货量阈值时，仓储系统呼叫自动搬运设备将存储有容纳该货物的容器的货架搬运到货架停靠区，容器装卸设备从货架上将该容器转运到多功能区暂存。
当次日仓储系统收到拣选第二容器内货物的指令时，容器装卸设备从多功能区将第二容器转运至拣选工位，以供工作人员或拣选机器人拣选。拣选完成后，容器装卸设备将还剩有货物的第二容器放回多功能区，或者将空的第二容器直接放回空闲容器存放区。
应用场景三
多功能区被构造为用于存放第三容器，第三容器用于容纳有与指定货物关联的物品。其中，与指定货物关联的物品可以是该指定货物的赠品，赠品是指购买指定货物时免费赠送的物品。当然与指定货物相关联的物品也可以是与指定物品在一个相同订单下单时价格上会有优惠的商品。
仓储系统呼叫自动搬运设备将存放有赠品的货架搬运至货架停靠区，容器装卸设备将存放有赠品的第三容器从货架停靠区的货架转运至多功能区暂存。当仓储系统收到与赠品关联的拣选指定货物的指令时，仓储系统呼叫自动搬运设备将存放有该指定货物的货架搬运至货架停靠区，容器装卸设备将容纳该指定货物的第四容器从货架停靠区的货架转运至工作站区的拣选工位上，然后或在此步骤之前容器装卸设备从多功能区转运容纳赠品的第三容器至拣选工位上，以供工作人员或拣选机器人拣选。
拣选完成后，如果第四容器内还剩有指定货物，容器装卸设备将容纳指定货物的第四容器放回货架上，或者将空的第四容器直接放回空闲容器存放区；如果第三容器内还剩有赠品时，容器装卸设备第三容器放回多功能区或者将空的第三容器放回空闲容器存放区。
另外，需要说明的是，赠品可以在入库时直接存在多功能区，也可以在拣选到某个爆款产品时从仓储区搬运出来拣选完成后就直接放在多功能区。
应用场景四
容器装卸设备被构造为在空闲时通过多功能区调配货架上不同容器的位置。
当容器装卸设备空闲时，仓储系统呼叫自动搬运设备将货架搬运至货架停靠区，基于货架上存放的货物种类以及以往订单中各种货物的出货量，仓储系统调配不同容器在货架上的位置，比如将容纳出货量较高的货物的第五容器挪动到容纳出货量较低的货物的第六容器外侧，以缩短拣选时间，提高拣选效率。
详细地，仓储系统基于以往订单判断出货架上货物的出货量高低，如果出货量高的货物的第五容器位于出货量低的货物的第六容器内侧，容器装卸设备首先将出货量低的货物的第六容器从货架转运到多功能区暂存；其次，将出货量高的货物的第五容器从货架转运到多功能区暂存；再次，将出货量低的货物的第六容器从多功能区放回货架；最后，将出货量高的货物的第六容器从多功能区放回货架并使其位于出货量低的货物的第五容器外侧，以方便抓取。
或者是，容器装卸设备将货架上出货量高的货物的第五容器调配到货架上低层架位，并且将出货量低的货物的第六容器调配到货物上高层架位。
详细地，仓储系统呼叫自动搬运设备将货架搬运到货架停靠区，并且基于以往的订单预判该货架上各种货物的出货量等级。基于此，容器装卸设备首先将货架的低层或位上的出货量低的货物的第六容器转运到多功能区暂存；其次，将位于货架的高层货位上的出货量高的货物的第五容器转动到低层架位上；再次，将暂存再多功能区的第六容器放回到货架上的高层货位，如此反复操作直至货架上所有的出货量高的货物都位于出货量低的货物的下方，以方便取放。
另外，在容器装卸设备空闲时，如果仓储系统可提前接收到第二天的订单内容，系统可以下发指令，控制自动搬运设备将与第二天订单相关联的容器从存储区搬运至工作站，容器装卸设备可以将第二天订单所需的容器转运放置于一个或多个特定货架中，在容器装卸设备将容器转运至一个或多个特定货架的过程中，可以先通过多功能区进行暂时的存放，一个或多个特定货架用于集中放置与第二天订单相关的容器，一个或多个特定货架可以在收集容器完毕后，自动搬运设备将相应搬运至工作站区域附近或者距离工作站比较近的仓储区，可以收大大提高第二天的货架命中率。
也就是说，如果仓储系统可提前接收到第二天的订单内容，或根据订单预测，容器装卸设备可在闲时自动完成货架间的理货：将第二天需要出库的容器集中放置于某些货架中，大大提高第二天的货架命中率，可有效减少自动搬运设备的搬运次数。原有方案自动理货时仅可仅支持取1放1，理货速度较慢，增设功能区后，理货时可取多放多，大大提高理货效率。
此外，该仓储系统被构造为在拣选过程中同时利用该多功能区完成货架间的理货。
详细地，在人工执行拣选操作，且此时容器装卸设备处于空闲状态，可以利用多功能区完成货架之间的理货，即将预命中的容器集中放置于某些指定的货架中，以提高后续拣选的货架命中率，减少自移动搬运设备的搬运次数。
应用场景五
多功能区被构造为用于存放空的容器。
空的容器是由容器装卸设备从容器存放区转运至多功能区，或者是仓储系统呼叫自动搬运设备将存放有空的容器的货架转运到货架停靠区，再由容器装卸设备从货架转运至多功能区暂存。
当仓储系统收到整箱上架的指令或者外部容器功能不足的警报时，容器装卸设备从多功能区将空的容器转运至拣选工位，以供工作人员或拣选机器人将货物拣选到空的容器内。
需要说明的是，整箱上架是指需要在容器内装满货物后整体销售。
应用场景六
多功能被构造为直接开放成拣货位。
基于此，操作人员可以直接从多功能区拣出货物，以减少自动搬运设备的搬运次数，甚至直接减少了容器装卸设备的动作，提高整体效率。
应用场景七
多功能区被构造为位于拣选工位的上面，也可以被构造为位于拣选工位的下方，还可以被构造为可供自移动设备搬运的可移动货架，该可移动货架在工作站的后边进行上述缓存的作用即可。
应用场景八
多功能区被构造为特殊的存储位。
详细地，多功能区可以放置特殊的高度比较高的容器，比如无法放入货架的容器。
应用场景九
多功能区被构造为用来做入库顺序的调整。
详细地，仓储系统首先将所有或大部分入库容器放置在多功能区，再根据入库订单中容器的先后顺序将多功能区的这些容器，最后利用容器装卸设备放置到指定的货架的目标存储位上，以减少自动搬运设备搬运容器的次数，提高入库效率。
应用场景十
多功能区被构造为用来作为上架箱的排序调整。
详细地，仓储系统首先将所有或大部分上架容器放置在多功能区，再根据上架订单中容器的先后顺序将多功能区的这些容器，最后利用容器装卸设备放置到指定的货架的目标存储位上，以减少自动搬运设备搬运容器的次数，提高上架效率。
本发明还提供一种仓储系统的控制方法，该仓储系统具体为上述的仓储系统，该仓储系统的控制方法包括如下主要步骤：
基于预设属性，容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运。
为了便于更好地理解，下面结合图8至图10，以四个实施例为例详细地说明本发明的控制方法的具体控制逻辑。
控制方法的实施例七
参见图8，本实施例中，仓储系统的控制方法包括如下步骤：
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S801、在预设时间段内第一容器内货物的第一出货量大于第一出货量阈值时，容器装卸设备将第一容器从货架停靠区的货架转运至多功能区，预设时间段大于一天。
其中，预设时间段为一周、一个月、一个季度或者一年等，第一出货量阈值是指根据年出货量、季度出货量、月出货量、周出货量等预设的一个具体数值或数值范围。
当预设时间段内该货物的实际第一出货量等于或位于第一出货量阈值时，则说明该货物的第一出货量处于正常水平内。当预设时间段内该货物的实际第一出货量大于第一出货量阈值时，则说明该货物属于爆款或畅销品；反之，当预设时间段内该货物的实际第一出货量小于第一出货量阈值时，则说明该货物属于滞销品。
仓储系统根据预设时间段内的第一出货量发现第一容器内存放的货物属于爆款或畅销品，即预设时间内该货物的实际第一出货量大于第一出货量阈值时，仓储系统的容器装卸设备从货架停靠区的货架上抓取第一容器，并且将第一容器转运至多功能区暂存。
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S802、当收到拣选第一容器内货物的指令时，容器装卸设备将第一容器从多功能区转运至工作站区的拣选工位，以供工作人员或拣选机器人拣选。
当然，在另一些实施例中，拣选人员也可以直接将第一容器从多功能区转运至工作站区的拣选工位，而无需借助容器装卸设备。
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S803、拣选完成后，容器装卸设备将还剩有货物的第一容器放回多功能区暂存，或者直接将空的第一容器放回空闲容器存放区。
详细地，拣选系统可识别目前暂时不需要但一段时间后会命中的物料。设立多功能区后，系统可拉取比现有播种墙所需物料更多的货物，即货架中有现在播种墙中所需的物料，同时如果还有一段时间后会被用到的物料，容器装卸设备可将预命中的物料从货架上取下，暂时放入多功能区，等待需要此物料时，直接由容器装卸设备将该物料或者容纳有该物料的容器从多功能区取出，送至拣选位进行拣选，可加快订单完成速度，有效减少自动搬运设备搬运货架的次数。
另外，需要说明的是，爆款商品可以在入库时直接存在多功能区，也可以在拣选到某个爆款产品时从仓储区搬运出来拣选完成后就直接放在多功能区。
控制方法的实施例八
参见图9，本实施例中，仓储系统的控制方法包括如下步骤：
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S901、当第二容器内货物次日的日出货量大于日出货量阈值时，容器装卸设备将第二容器从货架停靠区的货架转运至多功能区上暂存。
需要说明的是，日出货量阈值是指预设的单日内货物出货量的一个具体数值或一个数值范围。日出货量阈值取决于货物种类、季节等因素，比如雪糕的夏季日出货量大于冬季日出货量。
详细地，在一种实施例中，仓储系统收到次日预约订单后，比较次日预约订单上目标货物的日出货量和日出货量阈值之间的大小关系，该目标货物放置在第二容器中；当次日预约订单上目标货物的日出货量大于日出货量阈值时，仓储系统呼叫自动搬运设备将存放第二容器的货架搬运到货架停靠区，容器装卸设备从货架停靠区的货架上将第二容器转运到多功能区暂存。
在另一种实施例中，仓储系统根据当日内目标货物的实际出货量预判得出目标货物次日的日出货量将会大于目标货物的日出货量阈值时，该目标货物放置在第二容器中，仓储系统呼叫自动搬运设备将存放第二容器的货架搬运到货架停靠区，容器装卸设备从货架停靠区的货架上将第二容 器转运到多功能区暂存。
比如：针对水果、蔬菜等出货量受季节影响的货物，当仓储系统获取到鸡心果在深秋10月10日当日的日出货量远超针对该货物预设的日出货阈值。基于此，仓储系统预判次日鸡心果的日出货量也会超出其日出货量阈值。仓储系统呼叫自动搬运设备将存放第二容器的货架搬运到货架停靠区，容器装卸设备从货架停靠区的货架上将第二容器转运到多功能区暂存，第二容器内存放有目标货物鸡心果。
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S902、当次日仓储系统收到拣选第二容器内货物的指令时，容器装卸设备将第二容器从多功能区转运至工作站区的拣选工位上，供工作人员或拣选机器人拣选。
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S903、拣选完成后，容器装卸设备将还剩有货物的第二容器放回多功能区暂存，或者直接将空的第二容器放回空闲料箱存放区。
控制方法的实施例九
参见图10，本实施例中，仓储系统的控制方法包括如下步骤：
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S1001、当货架上的第三容器内容纳与指定货物关联的物品时，容器装卸设备将第三容器从货架停靠区的货架上转运至多功能区暂存。
其中，与指定货物关联的物品可以是该指定货物的赠品，赠品是指购买指定货物时免费赠送的物品。当然与指定货物相关联的物品也可以是与指定物品在一个相同订单下单时价格上会有优惠的商品。
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在步骤S1001之前，该控制方法还包括呼叫自动搬运设备将存放第三容器的货架搬运至货架停靠区。
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S1002、当仓储系统收到拣选指定货物的指令时，容器装卸设备将第三容器从多功能区转运至拣选工位上，以供工作人员或拣选机器人拣选。
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在步骤S1002之前或之后，控制方法还包括步骤S1003、仓储系统呼叫自动搬运设备将存放指定货物的货架搬运至货架停靠区，并且容器装卸设备将货架上容纳指定货物的第五容器从货架停靠区的货架上转运至工作站区的拣选工位上。
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S1004、拣选完成后，容器装卸设备将还剩有与指定货物关联的物品的第三容器放回多功能区暂存，或者直接将空的第三容器放回空闲容器存放区，并且将剩有指定货物的第四容器放回货架或者直接将空的第四容器放回空闲容器存放区。
另外，需要说明的是，与指定货物关联的物品可以在入库时直接存在多功能区，也可以在拣选到某个爆款产品时从仓储区搬运出来拣选完成后就直接放在多功能区。
控制方法的实施例十
本实施例中，仓储系统的控制方法包括如下步骤：
当容器装卸设备空闲时，容器装卸设备通过多功能区调配货架上不同容器的位置。
当容器装卸设备空闲时，仓储系统呼叫自动搬运设备将货架搬运至货架停靠区，基于货架上存放的货物种类以及以往订单中各种货物的出货量，仓储系统调配不同容器在货架上的位置，比如将容纳出货量较高的货物的第五容器挪动到容纳出货量较低的货物的第六容器外侧，以缩短拣选时间，提高拣选效率。
详细地，仓储系统基于以往订单判断出货架上货物的出货量高低，如果出货量高的货物的第五容器位于出货量低的货物的第六容器内侧，容器装卸设备首先将出货量低的货物的第六容器从货架转运到多功能区暂存；其次，将出货量高的货物的第五容器从货架转运到多功能区暂存；再次，将出货量低的货物的第六容器从多功能区放回货架，最后将出货量高的货物的第五容器从多功能区放回货架并使其位于出货量低的货物的第六容器外侧，以方便抓取。
或者是，容器装卸设备将货架上出货量高的货物的第五容器调配到货架上低层架位，并且将出货量低的货物的第六容器调配到货物上高层架位。
详细地，仓储系统呼叫自动搬运设备将货架搬运到货架停靠区，并且基于以往的订单预判该货架上各种货物的出货量等级，基于此，容器装卸设备首先将货架的低层架位上的出货量低的货物的第六容器转运到多功能区暂存；其次，将位于货架的高层价位上的出货量高的货物的第五容器转动到前述的低层架位上；再次，将暂存在多功能区的第六容器放回到货架上的高层架位，如此反复操作直至货架上所有的出货量高的货物都位于出货量低的货物的下方，以方便取放。
控制方法的实施例十一
本实施例中，仓储系统的控制方法包括如下步骤：
多功能区存放有空的容器。
需要说明的是，空的容器可以预先存放在货架上，仓储系统呼叫自动搬运设备将该货架搬运至货架停靠区，然后容器装卸设备将空的容器从该货架转运至多功能区暂存。
当仓储系统收到整箱上架的指令或者外部供应容器不足的警报时，容器装卸设备将空的容器从多功能区转运至拣选工位，以供工作人员或拣选机器人将货物拣选到空的容器内。
需要说明的是，整箱上架是指需要在容器内装满货物后整体销售。
最后应说明的是：以上所述实施例，仅为本公开的具体实施方式，用以说明本公开的技术方 案，而非对其限制，本公开的保护范围并不局限于此，尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本公开实施例技术方案的精神和范围，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应所述以权利要求的保护范围为准。

Claims (34)

  1. 一种仓储系统，其特征在于，所述仓储系统包括：
    工作站区，所述工作站区包括至少一个拣选工位；
    货架停靠区，所述货架停靠区被配置为用于停靠货架；
    多功能区，所述多功能区包括至少一个存储位，所述存储位被构造为用于存放从所述拣选工位或所述货架上转运的容器；
    容器装卸设备，所述容器装卸设备被构造为在工作站区、货架停靠区、多功能区之间转运容器。
  2. 根据权利要求1所述的仓储系统，其特征在于，所述多功能区位于所述拣选工位的上方、下方或者旁边。
  3. 根据权利要求1所述的仓储系统，其特征在于，所述存储位被构造为用于存放容器，所述容器内货物在预设时间段内的需求频次超过需求频次阈值。
  4. 根据权利要求1所述的仓储系统，其特征在于，所述多功能区的存储位被构造为用于存放容器，所述容器内货物与指定货物关联。
  5. 根据权利要求1所述的仓储系统，其特征在于，所述多功能区被构造为用于存放容器，所述容器内货物已拣选完成，且所述容器装卸设备没有空闲转运所述容器。
  6. 根据权利要求1所述的仓储系统，其特征在于，所述多功能区被构造为用于存放容器，所述容器的货物已拣选完成，且存放所述容器的货架尚未到达所述货架停靠区。
  7. 根据权利要求1所述的仓储系统，其特征在于，所述多功能区被构造为用于存放容器，所述容器内货物已完成拣选且在待拣选订单命中了所述货物。
  8. 根据权利要求1所述的仓储系统，其特征在于，所述容器装卸设备还被构造为进行理货操作。
  9. 根据权利要求8所述的仓储系统，其特征在于，在预设时间段内，当第一容器内货物的需求频次高于第二容器内货物时，且与所述第一容器相比，所述第二容器在货架上的位置更便于取放时；
    所述容器装卸设备部被构造为将所述第二容器从所述货架移动至所述多功能区暂存，将所述第一容器由当前位置转运至所述第二容器原来的位置，并且将所述第二容器从所述多功能区转运至所述第一容器原来的位置。
  10. 根据权利要求8所述的仓储系统，其特征在于，当容器内货物在预设时间段内的需求频次超过需求频次阈值时；
    所述容器装卸设备被构造为将所述容器从当前的货架转运至新的货架上，所述新的货架被配置成为专门用于存放货物在预设时间段内的需求频次超过需求频次阈值的容器。
  11. 根据权利要求1所述仓储系统，其特征在于，所述容器装卸设备被构造为用于将空的容器放回用于存放空容器的货架上或所述多功能区。
  12. 根据权利要求1至11任一项所述的仓储系统，其特征在于，所述多功能区包括多个存储位，多个所述存储位沿高度方向间隔排列、沿水平方向间隔排列，或者在高度方向和水平方向混合间隔排列。
  13. 根据权利要求1至11任一项所述的仓储系统，其特征在于，所述仓储系统还包括自动搬运设备，所述自动搬运设备被配置为搬运所述货架进入或者离开所述货架停靠区。
  14. 根据权利要求13所述的仓储系统，其特征在于，所述仓储系统包括多个所述拣选工位，多个所述拣选工位沿水平方向间隔排列。
  15. 根据权利要求14所述的仓储系统，其特征在于，所述拣选工位包括第一支撑架以及设置在所述第一支撑架上的第一引导机构，所述第一引导机构被构造为用于辅助所述容器装卸设备取放容器。
  16. 根据权利要求1至11任一项所述的仓储系统，其特征在于，所述存储位包括第二支撑架以及设置在所述第二支撑架上的第二引导机构，所述第二引导机构被构造为用于辅助所述容器装卸设备取放容器。
  17. 根据权利要求1至11任一项所述的仓储系统，其特征在于，所述容器装卸设备包括门架和装卸组件，所述装卸组件设置在所述门架上，并且所述装卸组件被构造成可相对于所述门架沿X轴方向和Y轴方向；或者，
    所述装卸组件被构造成可相对于所述门架沿Z轴方向和Y轴方向；或者，
    所述装卸组件被构造成可相对于所述门架沿X轴方向、Y轴方向、Z轴方向运动；
    以所述拣选工位和所述货架之间的垂直距离方向记为Y轴方向，以在水平面中垂直于Y轴的方向记为X轴方向，以垂直于水平面的方向记为Z轴方向。
  18. 根据权利要求17所述的仓储系统，其特征在于，所述装卸组件被构造成可相对于所述门架沿X轴方向、Y轴方向、Z轴方向运动,所述容器装卸设备还包括:
    活动立柱，所述活动立柱设置在所述门架上并且被构造成受控于X轴驱动机构相对于所述门 架沿X轴方向运动；
    所述装卸组件设置在所述活动立柱上，并且被构造成受控于Z轴驱动机构相对于所述活动立柱沿Z轴方向运动。
  19. 根据权利要求18所述的仓储系统，其特征在于，所述装卸组件包括：
    基座，所述基座设置在所述活动立柱上；
    装卸组件，所述装卸组件设置在所述基座上，并且被构造成受控于Y轴驱动机构相对于所述基座沿Y轴方向运动。
  20. 根据权利要求19所述的仓储系统，其特征在于，所述容器装卸设备还包括：
    X轴导向机构，设置在所述门架上，并且被构造成用于引导所述活动立柱相对于所述门架沿X轴方向运动；和/或，
    Z轴导向机构，设置在所述活动立柱上，并且被构造成用于引导所述装卸组件相对于所述活动立柱沿Z轴方向运动。
  21. 根据权利要求1所述的仓储系统，其特征在于，所述多功能区被构造为用于存放空的容器，所述容器装卸设备被构造为当整箱上架或者容器外部供应不足时将所述多功能区的空的容器转运至所述拣选工位上。
  22. 一种仓储系统的控制方法，其特征在于，所述仓储系统为权利要求1至21任一项所述的仓储系统，所述控制方法包括如下步骤：
    基于预设属性，所述容器装卸设备将满足预设属性的目标容器在工作站区、货架停靠区、多功能区之间转运。
  23. 根据权利要求22所述的控制方法，其特征在于，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
    当容器内货物在预设时间段内需求频次超过需求频次阈值时，所述容器装卸设备将所述容器从所述货架停靠区的货架转运至所述多功能区；
    当收到拣选所述货物的指令时，所述容器装卸设备将所述容器从所述多功能区转运至所述拣选工位。
  24. 根据权利要求22所述的控制方法，其特征在于，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
    当第一容器内容纳有与指定货物相关联的物品时，所述容器装卸设备将所述第一容器从所述货架上转运至所述多功能区暂存；
    当收到拣选所述指定货物的指令时，所述容器装卸设备将所述第一容器从所述多功能区转运至所述拣选工位上；
    所述容器装卸设备将存放有指定货物的第二容器从所述货架停靠区的货架上转运到所述拣选工位上。
  25. 根据权利要求22所述的控制方法，其特征在于，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
    当拣选完成容器内货物，且所述容器装卸设备没有空闲转运所述容器时，将所述容器存放在所述多功能区。
  26. 根据权利要求22所述的控制方法，其特征在于，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
    当拣选完成，且用于放置所述容器的货架尚未到达所述货架停靠区时，所述容器装卸设备将所述容器存放在所述多功能区。
  27. 根据权利要求22所述的控制方法，其特征在于，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
    当所述容器装卸设备空闲时，所述容器装卸设备进行理货操作。
  28. 根据权利要求27所述的控制方法，其特征在于，所述容器装卸设备进行理货操作的方法包括如下步骤：
    在预设时间段内，当第一容器内货物的需求频次大于第二容器内货物时，且与所述第一容器相比，所述第二容器在货架上的位置更便于取放时，所述容器装卸设备将所述第二容器先从所述货架移动至所述多功能区暂存；
    所述容器装卸设备将所述第一容器由当前位置转运至所述第二容器原来所在的位置；
    所述容器装卸设备将所述第二容器从所述多功能区转运至所述第一容器原来的位置。
  29. 根据权利要求27所述的控制方法，其特征在于，所述容器装卸设备进行理货操作的方法包括如下步骤：
    在预设时间段内，当容器内货物的需求频次超过需求频次阈值时，所述容器装卸设备将所述容器从当前的货架转运至新的货架上，所述新的货架专门用于存放货物在预设时间段内的需求频次超过需求频次阈值的容器。
  30. 根据权利要求27所述的控制方法，其特征在于，所述容器装卸设备进行理货操作的方法包括如下步骤：
    在预设时间段内，当容器内货物的需求频次超过预设度阈值时，所述容器装卸设备将所述容器从所述多功能区转运至新的货架上，所述新的货架专门用于存放货物在预设时间段内的需求频次超过需求频次阈值的容器。
  31. 根据权利要求22所述的控制方法，其特征在于，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
    当所述多功能区存放空的容器，且收到整箱上架的指令或者外部容器供应不足的警报时，所述容器装卸设备将所述多功能区的空的容器转运至所述拣选工位上。
  32. 根据权利要求22所述的控制方法，其特征在于，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
    当拣选完成后容器为空时，所述容器装卸设备将所述空的容器从拣选工位转运到新的货架上，所述新的货架被配置为专门用于存放空的容器。
  33. 根据权利要求22所述的控制方法，其特征在于，所述容器装卸设备将满足预设属性的容器在工作站区、货架停靠区、多功能区之间转运包括如下步骤：
    当容器内货物拣选完成后，判断待拣选订单是否命中了所述货物；
    若所述待拣选订单命中了所述货物时，容器装卸设备将所述容器从所述拣选工位转运至所述多功能区暂存；
    收到拣选命中所述货物的所述待拣选订单的指令后，所述容器装卸设备将所述容器从所述多功能区转运至所述拣选工位。
  34. 根据权利要求22所述的控制方法，其特征在于，所述仓储系统还包括自动搬运设备，所述自动搬运设备被配置为搬运所述货架进入或者离开所述货架停靠区，所述控制方法还包括如下步骤：
    当一个容器内容纳有与指定货物相关联的物品时，所述容器装卸设备将所述一个容器从所述货架上转运至所述多功能区暂存；
    当收到拣选所述指定货物的指令时，所述容器装卸设备将所述一个容器从所述多功能区转运至所述拣选工位上；
    呼叫所述自动搬运设备将存放有另一个容器的货架搬运至所述货架停靠区，并且所述容器装卸设备将所述另一个容器从所述货架停靠区的货架上转运到所述拣选工位上，所述另一个容器用于容纳所述指定货物。
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