WO2023071399A1

WO2023071399A1 - Inventory management method and system

Info

Publication number: WO2023071399A1
Application number: PCT/CN2022/111895
Authority: WO
Inventors: 王梦迪; 汪旭
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2021-10-15
Filing date: 2022-08-11
Publication date: 2023-05-04
Also published as: CN115973658A; CN216188201U

Abstract

Provided in the present application are a warehousing scheduling system and method. The system comprises a control server, at least two different types of movable carriers, a carrying device and a container loading and unloading device, and an inventory area comprises movable shelves and other types of movable carriers. The control server determines a target movable shelf, other types of target movable carriers and a target workstation, determines a first carrying device, a second carrying device and a target container loading and unloading device, sends a first carrying instruction to the first carrying device, sends a second carrying instruction to the second carrying device, and sends a loading and unloading instruction to the target container loading and unloading device; the first carrying device carries the target movable shelf to the target workstation in response to the first carrying instruction; the second carrying device carries the other types of target movable carriers to the target workstation in response to the second carrying instruction; and the target container loading and unloading device takes out a target first container from the target movable shelf or places the target first container on the target movable shelf in response to the loading and unloading instruction.

Description

Method and system for inventory management

This application is required to be submitted to the China Patent Office on October 26, 2021, the application number is 202111250617.5, the title of the invention is "a storage scheduling system and method" and the application number is 202122588427.6, and the title of the invention is "a storage scheduling system". priority of the patent application, the entire content of which is incorporated in this application by reference.

technical field

The present application relates to the technical field of warehousing, in particular to a warehousing scheduling system and method.

Background technique

With the rapid development of e-commerce, e-commerce is playing an increasingly important role in consumers' lives, and the number of user orders increases exponentially every year. Higher requirements have been put forward, and the processing capacity of warehouse management is also undergoing severe tests.

With the rapid development of e-commerce, how to improve sorting efficiency, reduce the time from order to delivery, and reduce labor burden has always been an important problem to be solved in the logistics and warehousing industry. In the past robot automatic picking system, goods to people is a kind of The more common mode, the goods-to-person method is based on an intelligent handling robot. The robot automatically drives to the target tray and under the target picking shelf according to the order needs and inventory information, and sends the shelf to the picking station. The picker takes out the required goods and puts them in Specify the container to complete the picking task. The goods stored in the storage area are scattered, small, intermediate, and large. For small and medium-sized goods, they are stored in shelves, and for large-sized goods, they are placed in pallet shelves. In the traditional storage scheduling scheme, the middle Large and medium-sized commodities are stored in partitions, sorted separately and merged together, or directly shipped separately. These two processing methods increase unnecessary merge and fulfillment costs.

Therefore, improving picking efficiency and reducing costs has become an urgent problem to be solved.

Contents of the invention

In view of this, the embodiment of the present application provides a warehouse scheduling system to solve the technical defects in the prior art.

According to the first aspect of the embodiments of the present application, a storage scheduling system is provided, the system includes a control server, an inventory area, at least two different movable carriers, handling equipment, container handling equipment, and a workstation, wherein the The at least two different movable carriers include movable racks and other types of movable carriers other than said movable racks, and said inventory area includes a plurality of movable racks and a plurality of other types of movable carriers , the movable shelf includes at least one layer of partitions, the at least one layer of partitions divides the movable shelf into at least two layers, and at least one storage position is arranged on the partition of the movable shelf, each The storage position can carry at least one first container capable of accommodating stored goods, and the other type of movable carrier carries stored goods or a second container capable of accommodating stored goods;

The control server is configured to determine target movable shelves, other types of target movable carriers, and target workstations, and at the same time determine the first transport equipment used to transport the target movable shelves, and the first transport equipment used to transport other types of target movable vehicles. The second conveying equipment of the carrier, the target container loading and unloading equipment for loading and unloading the first container, and sending the first conveying instruction to the first conveying equipment, sending the second conveying instruction to the second conveying equipment, and sending the second conveying instruction to the The target container handling equipment sends loading and unloading instructions;

The first transporting device is configured to transport the target movable shelf to the target workstation in response to the first transport instruction;

The second transporting device is configured to transport the other type of target movable carrier to the target workstation in response to the second transport instruction;

The target container handling device is located at the target workstation and is configured to take the target first container from the target movable rack or place the target first container in the target movable rack in response to the loading and unloading instruction .

Optionally, the workstation is provided with a transmission line, the station of the workstation is located in the transmission path of the transmission line, the transmission line includes a transmission line entrance and a transmission line exit, container handling equipment is respectively arranged at the transmission line entrance and the transmission line exit ;

a container handling device located at the entrance of the transfer line, further configured to remove a first container from a storage location of a movable rack and place it on the transfer line;

A container handling device located at the exit of the transfer line is further configured to remove the first container from the exit of the transfer line and place it in a storage position of a removable rack.

Optionally, the workstation is provided with at least one cache bit;

The buffer position is configured to buffer a first container removed from the movable rack by the container handling device or a first container to be placed on the movable rack;

The container handling device is further configured to take out the first container from the storage position of the movable rack and place it in the buffer position, or take out the first container from the buffer position and place it in the movable rack .

Optionally, the workstation also includes a cache multifunctional area;

The buffer multifunctional area is configured to store the first container.

Optionally, the workstation is provided with at least one docking area;

The docking area is configured to dock movable shelves or other types of movable carriers.

Optionally, the container handling equipment includes a first sensor, and the first sensor is used to determine whether there is a first container, and at least one of determining whether a corresponding storage position in the movable shelf is empty when the first container is placed on the movable shelf.

Optionally, the container handling device includes a second sensor, and the second sensor is used to determine a pose deviation between the container handling device and the target first container.

Optionally, when the pose deviation is greater than or equal to a preset tolerance threshold, the container handling equipment adjusts its own pose based on the pose deviation, so that the adjusted container handling equipment is consistent with the The pose deviation between the target first containers is smaller than the preset tolerance threshold.

Optionally, the first sensor and the second sensor are the same sensor.

Optionally, the first sensor and the second sensor are vision sensors, depth information sensors or 3D sensors.

Optionally, the control server is configured to schedule the first transport equipment to transport the target movable rack back to the original position or other positions of the inventory area; and/or, schedule the second transport equipment to transport The other kinds of objects can be transported back to the original position or other positions of the storage area by the mobile carrier.

Optionally, the control server is configured to determine the activity of the movable shelf according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf, and according to the activity of the movable shelf and/or, according to at least one of the shipping frequency and the shipping quantity of the goods stored on the other types of movable carriers determine the activity of other types of movable vehicles, and determine the storage positions of the other types of movable vehicles when they return to the inventory area according to the ranking of the activity of other types of movable vehicles.

Optionally, the control server is configured to sort according to the distance between the workstation and the free storage location, and determine the storage location of the movable shelf and/or other types of movable carriers when returning to the inventory area .

Optionally, the control server is configured to, in response to the tally task, schedule the first handling device to adjust the movable shelf from the original storage location in the inventory area to another storage location or keep the original storage location unchanged; And/or, dispatching the second transport equipment to adjust other types of movable carriers from the original storage location in the inventory area to other storage locations or keep the original storage location unchanged.

Optionally, the control server is configured to determine the activity of the movable shelf according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf, and according to the activity of the movable shelf and/or, according to at least one of the shipping frequency and the shipping quantity of the goods stored on the other kinds of movable carriers, determine The activity levels of other types of movable vehicles are determined according to the ranking of the activity levels of other types of movable vehicles, and the storage positions of other types of movable vehicles after their positions are adjusted during tallying are determined.

Optionally, the control server is further configured to determine the target first container on the target movable shelf, the current storage position of the target first container, and the adjusted target position, and at the same time determine the moving the first handling equipment of the shelf and the target container handling equipment for loading and unloading the target first container, and sending a handling instruction to the first handling equipment, and sending a loading and unloading instruction to the target container handling equipment;

The first transporting device is configured to transport the target movable shelf on which the target first container is placed to the target workstation in response to the transport instruction;

The target container handling facility location is configured to, in response to the loading and unloading instruction, take out the target first container from the current storage location and place it at the adjusted target location.

Optionally, the control server is further configured to determine according to the heat of the goods stored in the target first container and/or the degree of correlation between the goods stored in the target first container and the goods stored in other containers The adjusted target position of the target first container.

Optionally, the control server is further configured to determine the target first container on the target movable shelf, the current storage location and the adjusted storage location of the target first container in response to a preset container adjustment trigger condition.

Optionally, the preset container adjustment trigger condition includes an order task for picking an order or a container adjustment task for adjusting the position of the container.

Optionally, the size of the movable shelf is the same as that of the other type of movable carrier, or a size difference between the two is smaller than a preset threshold.

Optionally, the other kinds of movable carriers include picking racks, wherein the picking racks include at least one partition, and the at least one partition divides the picking racks into at least two layers, and the picking racks At least one cargo compartment is arranged on the partition, and stored goods are accommodated in the compartment.

Optionally, the other type of movable carrier includes a pallet support, the pallet support carries a pallet, and the storage goods are carried in the pallet.

Optionally, the movable shelf includes at least one docking layer, and the first container located in the docking layer is at least operable by the container handling equipment.

Optionally, the movable rack further includes a non-docking layer other than the docking layer, and the containers located in the non-docking layer are only handled by the container handling equipment.

Optionally, the first transporting device is further configured to transport the target movable shelf on which the target first container is placed to the target workstation;

The target container handling device is further configured to transpose the target first container within a docked level, within a non-connected level, or between a connected level and a non-connected level.

Optionally, the system further includes a hybrid mobile carrier located in the inventory area, wherein the hybrid mobile carrier can carry a first container capable of accommodating stored goods, a container capable of accommodating At least two of the second container of the stored goods and the stored goods.

Optionally, the control server is further configured to determine the target hybrid mobile carrier according to the order task, and at the same time determine the third transport equipment for transporting the target hybrid mobile carrier, and send the The device sends the third handling instruction;

The third conveying device is configured to convey the target hybrid movable carrier to the target workstation in response to the third conveying instruction.

According to the second aspect of the embodiments of the present application, there is provided a warehouse scheduling method, the method is applied to a warehouse scheduling system, and the system includes a control server, an inventory area, at least two different movable carriers, handling equipment, Container handling equipment, workstations, wherein said at least two different types of movable carriers include movable racks and other types of movable carriers other than said movable racks, said inventory area includes a plurality of movable racks and a plurality of other types of movable carriers, the movable shelf includes at least one layer of partitions, the at least one layer of partitions divides the movable shelf into at least two layers, the partition of the movable shelf At least one storage position is provided, and each storage position can carry at least one first container capable of accommodating stored goods, and the other type of movable carrier carries stored goods or a second container capable of accommodating stored goods;

The control server determines the target movable shelf, other types of target movable carriers, and the target workstation, and at the same time determines the first transport equipment used to transport the target movable shelf, and the first transport device used to transport other types of target movable carriers. Two handling equipment, the target container handling equipment used for loading and unloading the first container, and sending a first handling instruction to the first handling equipment, sending a second handling instruction to the second handling equipment, and sending a second handling instruction to the target container handling equipment Send loading and unloading instructions;

The first transporting device transports the target movable shelf to the target workstation in response to the first transport instruction;

The second transporting device transports the other type of target movable carrier to the target workstation in response to the second transport instruction;

The target container handling equipment is located at the target workstation and responds to the loading and unloading instruction to take the target first container from the target movable rack or place the target first container in the target movable rack.

a container handling device located at the entrance of said transfer line removes a first container from a storage position of a movable rack and places it on said transfer line;

A container handling device located at the exit of the transfer line removes the first container from the exit of the transfer line and places it in a storage position of a movable rack.

Optionally, the workstation is provided with at least one buffer position, and the buffer position is used for buffering the first container taken out by the container handling device from the movable rack or for buffering the first container to be placed on the movable rack. first container;

The target container handling equipment takes out the target first container from the target movable rack or puts the target first container in the target movable rack, comprising:

The container handling device removes the first container from the storage position of the movable rack and places it in the buffer position, or removes the first container from the buffer position and places it in the movable rack.

Optionally, the method also includes:

The control server schedules the first transport equipment to transport the target movable rack back to the original position or other positions of the inventory area; and/or, schedules the second transport equipment to transport the other types of target movable racks The vehicle is transported back to its original location or other location in the inventory area.

Optionally, the method also includes:

The control server determines the activity of the movable shelf according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf, and determines the activity of the movable shelf according to the ranking of the activity of the movable shelf. The storage position of the mobile shelf when returning to the storage area; and/or, according to at least one of the shipment frequency and the shipment quantity of the goods stored on the other types of movable carriers, determine other types of movable The activity of the vehicle determines the storage position of the other types of movable vehicles when they return to the inventory area according to the ranking of the activity of other types of movable vehicles.

Optionally, the method also includes:

The control server sorts according to the distance between the workstation and the free storage space, and determines the storage position of the movable shelf and/or other types of movable carriers when returning to the inventory area.

Optionally, the method also includes:

In response to the tally task, the control server schedules the first handling equipment to adjust the movable rack from the original storage position of the inventory area to another storage position or keep the original storage position unchanged; and/or, schedules the The second handling device adjusts other types of movable carriers from the original storage location in the inventory area to other storage locations or keeps the original storage location unchanged.

Optionally, the method also includes:

The control server determines the activity of the movable shelf according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf, and determines the activity of the movable shelf according to the sorting of the activity of the movable shelf. The storage position after adjusting the position during tallying; and/or, according to at least one of the shipping frequency and the shipment quantity of the goods stored on the other kinds of movable carriers, determine the location of other kinds of movable carriers Activity, according to the ranking of the activity of other types of movable vehicles, determine the storage positions of other types of movable vehicles after their positions are adjusted during tallying.

Optionally, the method also includes:

The control server determines the target first container on the target movable shelf, the current storage location of the target first container, and the adjusted target position, and at the same time determines the first transport equipment and user for transporting the target movable shelf. a target container handling equipment for loading and unloading the target first container, and sending a handling instruction to the first handling equipment, and sending a loading and unloading instruction to the target container handling equipment;

The first handling device, in response to the handling instruction, transports the target movable shelf on which the target first container is placed to the target workstation;

The target container handling equipment position responds to the loading and unloading command, taking the target first container from the current storage position and placing it in the adjusted target position.

Optionally, determining the adjusted target position of the target first container by the control server includes:

The control server determines the temperature of the target first container according to the heat of the goods stored in the target first container and/or the degree of correlation between the goods stored in the target first container and the goods stored in other containers. Adjusted target position.

Optionally, the control server determines the target first container on the target movable shelf, the current storage location of the target first container, and the adjusted target position, including:

The control server determines the target first container on the target movable shelf, the current storage location and the adjusted storage location of the target first container in response to a preset container adjustment trigger condition.

Optionally, the system further includes a hybrid mobile carrier located in the inventory area, wherein the hybrid mobile carrier can carry a first container capable of accommodating stored goods, a container capable of accommodating At least two of the second container of stored goods and stored goods:

The control server determines the target hybrid movable carrier according to the order task, and at the same time determines a third handling device for handling the target hybrid movable carrier, and sends a third handling instruction to the third handling device;

The third transport device transports the target hybrid transportable carrier to the target workstation in response to the third transport instruction. The warehouse scheduling system provided by the embodiment of the present application, the system includes a control server, an inventory area, at least two different types of movable carriers, handling equipment, container handling equipment, and workstations, wherein the at least two different types of The carrier includes movable shelves and other types of movable carriers except the movable shelves, and the inventory area includes a plurality of movable shelves and a plurality of other kinds of movable carriers, and the movable shelves include at least One layer of partitions, the at least one layer of partitions divides the movable shelf into at least two layers, the partition of the movable shelf is provided with at least one storage position, and each storage position can carry at least one The first container of the stored goods, the other type of movable carrier carries the stored goods or the second container that can accommodate the stored goods; the control server is configured to determine the target movable shelf, the other type of target movable carrier tools and target workstations, and at the same time determine the first transport equipment for transporting the target movable shelf, the second transport equipment for transporting other types of target movable carriers, and the target container handling equipment for loading and unloading the first container, And send a first handling instruction to the first handling equipment, send a second handling instruction to the second handling equipment, and send a loading and unloading instruction to the target container handling equipment; the first handling equipment is configured to respond to The first transport instruction transports the target movable shelf to the target workstation; the second transport device is configured to transport the other type of target movable carrier to the target workstation in response to the second transport instruction the target workstation; the target container handling device is located at the target workstation and is configured to, in response to the loading and unloading instruction, take out the target first container from the target movable shelf or place the target first container on the target Target removable shelves. Through the storage scheduling system provided by this application, the original goods-to-person storage form is combined with the new shelf-plus-container form, and the mixed storage form of various movable carriers is realized in the same storage area. The workstation completes the mode of mixed picking of multiple goods, which saves the follow-up cumbersome merging process, does not require merging personnel and venues, and greatly reduces operating costs.

Description of drawings

Fig. 1 is a schematic diagram of the system structure of a warehouse dispatching system provided by an embodiment of the present application;

Fig. 2 is a schematic diagram of a movable shelf provided by an embodiment of the present application;

Fig. 3 is a schematic diagram of another movable shelf provided by an embodiment of the present application;

Fig. 4 is a schematic diagram of a workstation provided by an embodiment of the present application;

Fig. 5 is a schematic diagram of a container site provided by an embodiment of the present application;

Fig. 6 is a schematic diagram of a first hybrid mobile vehicle provided by an embodiment of the present application;

Fig. 7 is a schematic diagram of a second hybrid mobile vehicle provided by an embodiment of the present application;

Fig. 8 is a schematic diagram of a third hybrid mobile vehicle provided by an embodiment of the present application;

Fig. 9 is a schematic diagram of a fourth hybrid mobile vehicle provided by an embodiment of the present application;

Fig. 10 is a flowchart of a warehouse scheduling method provided by an embodiment of the present application.

reference sign

110-control server, 111-processor, 112-memory, 113-order pool, 114-operating table, 120-inventory area, 130-inventory bracket, 1301-movable shelf, 130101-connection layer, 130102-non-connection Barge layer, 1302-picking shelf, 1303-pallet support, 1304-mixed movable carrier, 130401-first storage position, 130402-cargo compartment, 130403-second storage position, 140-handling equipment, 150-workstation, 1501 - transmission line, 1502 - buffer position, 1503 - buffer multifunctional area, 160 - container handling equipment.

Detailed ways

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the application. However, the present application can be implemented in many other ways different from those described here, and those skilled in the art can make similar promotions without violating the connotation of the present application. Therefore, the present application is not limited by the specific implementation disclosed below.

Terms used in one or more embodiments of the present application are for the purpose of describing specific embodiments only, and are not intended to limit the one or more embodiments of the present application. As used in one or more embodiments of this application and the appended claims, the singular forms "a", "the", and "the" are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and/or" used in one or more embodiments of the present application refers to and includes any and all possible combinations of one or more associated listed items.

It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second, and similarly, second may also be referred to as first, without departing from the scope of one or more embodiments of the present application. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination."

In this application, a storage scheduling system is provided, which will be described in detail in the following embodiments one by one.

Fig. 1 shows a schematic diagram of the system structure of a warehouse scheduling system provided by an embodiment of the present application, the system includes one or more control servers 110, an inventory area 120, and the inventory area includes a plurality of inventory holders 130, a plurality of inventory Aisles are formed between the racks, in which one or more handling devices 140 run, and a plurality of workstations 150 and container handling devices 160 are located outside the inventory area.

The control server 110 is wirelessly connected with the handling equipment 140 and/or the container handling equipment 160, and the staff operates the control server 110 through the operation console 114. The software system can be connected to the software system of the handling equipment 140, the container handling equipment 160, and the workstation 150 through wireless. The control server 110 can include one or more servers, which can be a centralized control architecture or a distributed computing architecture. The control server 110 It has a processor 111 and a memory 112, and the memory 112 may have an order pool 113, and order information is stored in the order pool 113.

The inventory area 120 can be a dense storage area or a non-intensive storage area. A plurality of inventory holders 130 are arranged in the inventory area 120. There are at least two different movable carriers in the inventory holder 130. The at least Two different kinds of movable carriers include movable racks 1301 and other types of movable carriers except the movable racks 1301, wherein the movable racks 1301 include at least one layer of partitions, and the at least one layer of partitions The board divides the movable shelf 1301 into at least two layers, and at least one storage position is provided on the partition of the movable shelf 1301, and each storage position can carry at least one first container that can accommodate stored goods, wherein the first The storage goods contained in the container are storage goods less than or equal to a preset volume. The first container may be a bin.

Referring to FIG. 2, FIG. 2 shows a schematic diagram of a movable shelf 1301 used in an embodiment of the present application. As shown in FIG. 2, there are multiple storage positions for storing the first container in the movable shelf 1301. The movable shelf 1301 is densely stored, and the gap between adjacent first containers is very small, so the first container cannot be accessed by container access equipment, and can only be taken out or placed in the first container by container handling equipment.

In practical applications, the movable shelf 1301 may also include at least one connecting layer and non-connecting layers other than the connecting layer. Refer to FIG. 3, which shows another A schematic diagram of a movable shelf 1301, as shown in Figure 3, the movable shelf 1301 includes at least one docking layer 130101, and the containers located in the docking layer can be operated by container loading and unloading equipment, or by container access equipment Operation, the movable shelf 1301 includes a non-connecting layer 130102 in addition to the connecting layer 130101, and the first container in the non-connecting layer 130102 can only be handled by the container handling equipment.

The handling equipment for transporting the movable shelves, after transporting the movable shelves storing the target first containers to the workstation, the target first container in the workstation is loaded and unloaded by the target container loading and unloading equipment in the connecting layer 130101, the non-connecting layer 130102 Switch positions between the inner and connecting layers 130101 and non-connecting layers 130102.

Other types of movable carriers carry stored goods or carry second containers that can accommodate stored goods, wherein the stored goods contained in the second container are stored goods that are larger than the preset volume. In practical applications, other types of movable carriers The tools may include partition racks, picking racks, pallet racks, cage cars, pallet racks, etc. It should be noted that the racks of other types of movable carriers in this application are all non-intensive storage racks.

Specifically, other types of movable carriers include picking racks 1302, and the picking racks 1302 include at least one partition, and the at least one partition divides the picking racks 1302 into at least two layers. At least one compartment is arranged on the compartment, the compartment contains stored goods, and the goods stored in the compartment are scattered goods.

Other types of movable carrier also include a pallet support 1303, on which a pallet is carried, and stored goods are carried in the pallet. The storage goods carried on the pallet are storage goods larger than the preset volume, that is, medium and large-sized goods.

The handling equipment 140 is the equipment used to transport at least two different movable carriers. In practical applications, the sizes of at least two different movable carriers can be the same or different. When at least two different movable carriers When the sizes of the carriers are the same or the size difference is less than a preset threshold, the same model of handling equipment 140 can be used to reduce storage costs. In practical applications, the handling equipment 140 can be a handling robot.

The container handling equipment is a device that automatically takes out the first container from the movable shelf, or places the first container in the movable shelf, and the container handling equipment includes a first sensor, and the first sensor is used for When the first container is taken out from the movable shelf, it is determined whether there is a first container in the corresponding storage position in the movable shelf; Whether the memory bit is empty.

The container handling device may further include a second sensor for determining a pose deviation between the container writing device and the target first container, and when the pose deviation is greater than or equal to a preset tolerance threshold, the container handling The device adjusts its own pose based on the pose deviation, so that the adjusted pose deviation between the container handling device and the target first container is smaller than the preset tolerance threshold. That is, before the container handling equipment touches the first container, it needs to judge whether there is a deviation from the target first container according to the second sensor. If the deviation distance is large, the pose of the container handling equipment needs to be adjusted so that the deviation distance is tolerable In the range.

In practical applications, the first sensor and the second sensor can be the same sensor or different sensors. Furthermore, the first sensor and the second sensor are both visual sensors, depth information sensors or 3D sensors, such as 2D camera, 3D camera, etc.

Workstation 150 is a cargo picking area, in which storage tasks such as cargo picking, cargo shelving, container adjustment, and cargo inventory can be performed. At workstation 150, the above storage tasks can be performed manually or by automated equipment, wherein the automated equipment includes automated robotic arms. .

In the storage system provided by the present application, each workstation 150 includes a container station and a shelf station, wherein the container station is used to park the movable shelf, take out or store the first container in the movable shelf, and the shelf station uses It is a second container for parking other kinds of movable carriers other than movable shelves, taking out and storing goods from other kinds of movable carriers, or accommodating stored goods.

In an embodiment provided by this application, each workstation 150 is provided with a transmission line 1501, and the transmission line includes a transmission line inlet and a transmission line outlet, and the container station and shelf station of the workstation are arranged around the transmission line, specifically, the shelf station is located at the transmission line of the transmission line. In the route, the container station is located at the entrance of the transmission line and/or the exit of the transmission line, and container handling equipment is respectively arranged at the entrance of the transmission line and the exit of the transmission line. removing the first container and placing it on the transfer line; a container handling device located at the outlet of the transfer line, further configured to remove the first container from the outlet of the transfer line and place it on a storage location of a movable rack.

Referring to FIG. 4 , FIG. 4 shows a schematic diagram of a certain workstation provided by an embodiment of the present application. The workstation includes a container station and a shelf station, wherein the container station is used for picking medium and large goods, shelves, and pallets, and the shelf station is used for small and medium goods, and box picking.

In an embodiment provided by the present application, the workstation 150 is provided with at least one buffer position 1502, and the buffer position is used for buffering the first container, wherein the first container used for buffering may be taken out from a movable shelf by a container handling device ; It can also be stored in the buffer position and needs to be placed on a movable shelf by the container handling equipment.

The container handling equipment can take out the target first container from the storage position of the movable rack and place the target first container in the buffer position, or take out the target first container from the buffer position and place it in the movable rack.

Referring to FIG. 5 , FIG. 5 shows a schematic diagram of a container station provided by an embodiment of the present application. As shown in FIG. 5 , at least one cache location 1502 is included in the container site, and the cache location 1502 is used to cache the first container.

As shown in FIG. 5 , the workstation may further include a buffer multifunctional area 1503 configured to store the first container, and the first container stored in the buffer multifunctional area 1503 may be used for Accommodating goods whose first shipment volume is greater than the first shipment volume threshold within a preset time period, for example, the preset time period may be greater than one day. In practical applications, some warehoused goods in the first container will be hit by multiple orders. If the movable shelves are moved from the inventory area to the workstation every time, it will waste time. Therefore, the first shipment can be made within a preset time period The first container corresponding to the goods whose quantity is greater than the first shipment threshold is temporarily stored in the buffer multi-function area. Move it to a lower place to facilitate the picking of order tasks and improve picking efficiency.

In an embodiment provided by the present application, the workstation can also be provided with at least one shelf docking area, specifically, the shelf docking area is used to dock a movable shelf or other types of movable carriers, such as docking a movable shelf on a container The shelf docking area of the station, and other kinds of movable vehicles are parked in the shelf docking area of the shelf station.

The warehouse scheduling system provided by the present application will be further explained below in conjunction with specific embodiments.

After the control server 110 receives the order task, if it is determined according to the order task that the order has hit the target movable shelf 1301, other kinds of target movable carriers and the target workstation 150, then simultaneously determine the first place to carry the target movable shelf 1301. The handling equipment 140-1, the second handling equipment 140-2 for handling other kinds of target movable carriers, the target container handling equipment 160 for loading and unloading the first container, and sends the first handling equipment 140-1 to the first handling equipment 140-1. For the handling instruction, the second handling instruction is sent to the second handling equipment 140 - 2 , and the loading and unloading instruction is sent to the target container loading and unloading equipment 160 .

The first transport device 140 - 1 is configured to move to the bottom of the target movable rack 1301 in response to the first transport command, and transport the target movable rack 1301 to the target workstation 150 .

The second carrying device 140-2 is configured to move to the bottom of other types of target movable carriers in response to the second carrying instruction, and carry other types of target movable carriers to the target workstation 150. It should be noted that if according to If the order task hits the picking shelf, the other target movable carrier is the picking shelf 1302; if the order task hits the pallet support, the other target movable carrier is the pallet support 1303; if the order task hits the picking Shelves and tray supports, other types of target movable carriers are picking shelves 1302 and tray supports 1303 .

The target container loading and unloading device 160 is located at the target workstation, and is configured to respond to the loading and unloading instruction, take out the target first container from the target movable rack 1301 after the target movable rack 1301 arrives at the target workstation; The container is returned to the target removable rack.

It should be noted that, in practical applications, the target first container can be put back into the same movable shelf, or can be put into different movable shelves. Where the target first container is placed back into the same removable shelf, it can also be placed into a different storage location. Specifically, the control server is further configured to determine the target first container on the target movable shelf, the current storage location of the target first container, and the adjusted target position, and at the same time determine the target movable The first handling equipment of the shelf and the target container handling equipment for loading and unloading the target first container, and sending a handling instruction to the first handling equipment, and sending a loading and unloading instruction to the target container handling equipment;

Wherein, the control server 110 is also configured to determine the target first container on the target movable shelf 1301, the current storage location of the target first container, and the adjusted target position of the target first container, and determine the target movable shelf In step 1301 , the handling equipment 140 and the container handling equipment 160 for loading and unloading the target first container send a handling instruction to the first handling equipment 140 and send a loading and unloading instruction to the target container handling equipment 160 .

The first transport device 140 is further configured to transport the target movable shelf 1301 on which the target first container is placed to the target workstation 150 in response to the transport instruction.

The target container loading and unloading device 160 located at the target workstation 150 is configured to take out the target first container from the current storage position in response to the loading and unloading instruction, and place it at the adjusted target position after performing the storage task.

In a specific embodiment provided in the present application, the control server is further configured to, according to the temperature of the goods stored in the target first container and/or the difference between the goods stored in the target first container and the goods stored in other containers The degree of correlation between them determines the adjusted target position of the target first container.

It should be noted that the heat value of the goods in this application is determined according to the shipment volume and/or the frequency of shipments of the goods. A high heat value of the goods means that the goods in the first container have a large shipment volume and/or a high frequency of shipments , if multiple SKU goods are placed in the first container, the heat of the goods is determined according to the weighted sum value of the shipment volume and/or shipment frequency of the multiple SKU goods.

The degree of correlation between goods specifically refers to the frequency with which goods are selected together in the order task. For example, nail polish and nail polish remover usually appear in the same order, so the degree of correlation between these two goods is relatively height, the distance between the two first containers for the two goods will be closer. It is convenient to ship according to the order task.

In another application scenario of the warehouse scheduling system provided in this application, the control server is further configured to determine the target first container on the target movable shelf and the current value of the target first container according to the preset container adjustment trigger condition. Storage bits and adjusted storage bits.

Specifically, when the target first container is taken out from the storage position of a movable shelf and placed behind the storage position of another movable shelf, the storage position of the previous movable shelf will be free, and the An additional first container is placed in a free storage location to the preceding removable shelf.

In practical applications, the container handling equipment of the workstation can also be used to adjust the first container in the movable shelf. Specifically, the control server determines the target first container on the target movable shelf 1301 according to the preset container adjustment trigger condition, The current storage position and the adjusted storage position of the target first container. Wherein, the preset container adjustment triggering condition specifically includes an order task for picking an order or a container adjustment task for adjusting a container position.

The adjustment of the first container in the movable shelf can be based on the order task. After the movable shelf 1301 executes the picking order, it determines the temperature of the target container according to the heat of the goods in the first container and/or the degree of correlation between the goods. The adjusted target position; it can also rely on the container adjustment task, and at intervals of a preset time interval, the target container can be determined according to the heat of the goods in the first container within the preset time interval and/or the degree of correlation between the goods. After adjusting the target position, the position adjustment of the first container is then performed.

After executing the order task, the system also includes:

The control server is configured to schedule the first transport equipment to transport the target movable rack back to the original position or other positions of the inventory area; and/or, schedule the second transport equipment to transport the other kinds of The target movable vehicle is transported back to the original location or other location in the inventory area.

That is, after the order picking task is completed, the target movable rack and/or other target movable carriers for order picking need to be transported back to the inventory area, specifically, the target movable rack is transported back to the storage area by the first transport equipment In the inventory area, other types of target movable carriers are transported back to the inventory area by the second handling equipment. Elsewhere in the inventory area.

In a specific embodiment provided by the present application, the control server is configured to sort according to the distance between the workstation and the free storage space, and determine that the movable shelf and/or other types of movable storage location when describing the inventory area. That is, when the movable shelves and/or other types of movable carriers are transported back to the inventory area, the movable shelves and/or other types of movable carriers are transported to the free storage space closest to the workstation in the inventory area to reduce handling The operating distance of the device.

Carrying movable shelves and/or other types of target movable vehicles back to the inventory area is applicable to the scene where the movable shelves and/or other types of target movable vehicles are processed to the workstation according to the business tasks, and is also suitable for special Movable shelves in the storage area and/or other types of scenarios where the goods in the target movable carrier are tallied. After the corresponding business processing (such as picking, inventory, replenishment, etc.) is carried out at the workstation according to the business task, the position of the movable shelf and/or other target movable carriers has changed; or in the tally scenario, The positions of the movable shelves and/or other target movable vehicles are re-determined according to reasons such as the heat and hit rate of the movable shelves and/or other target movable vehicles.

In another specific implementation manner provided by the present application, taking the tally scene as an example, the control server is configured to, in response to the tally task, schedule the first transport equipment to move the movable shelf from the original position of the inventory area to Adjust the storage position to another storage position or keep the original storage position unchanged; and/or, dispatch the second handling equipment to adjust other kinds of movable carriers from the original storage position in the inventory area to other storage positions or keep the original storage position The memory bit is unchanged.

In the tally scenario, the control server determines the current position and adjustment of the movable shelves and/or other movable carriers in response to the tally task without moving the movable shelves and/or other kinds of movable carriers to the workstation Then move the first handling equipment to the storage area to move the movable shelf from the current position to the adjusted position, and then transfer the second handling equipment to the storage area to move other kinds of movable carriers from the current position to the adjusted position. In the case of the current position and the adjusted position of the movable shelf and/or other types of movable vehicles, keep the current position of the movable shelf and/or other types of movable vehicles unchanged.

Furthermore, the control server is configured to determine the activity of the movable shelf according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf, and according to the activity of the movable shelf and/or, according to at least one of the shipping frequency and the shipping quantity of the goods stored on the other kinds of movable carriers, determine The activity levels of other types of movable vehicles are determined according to the ranking of the activity levels of other types of movable vehicles, and the storage positions of other types of movable vehicles after their positions are adjusted during tallying are determined.

In practical applications, it is necessary to determine the storage position of the movable shelf after adjusting its position during tallying according to the activity of the movable shelf, and determine the adjustment of other types of movable carriers during tallying according to the activity of other types of movable carriers. The storage position behind the position, wherein, the activity of the movable shelf is determined according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf; the activity of other types of movable carriers is determined according to other It is determined by at least one of the shipping frequency and the shipping quantity of the goods stored on the movable carrier.

In another specific implementation manner provided by the present application, taking the scenario of transporting movable shelves and/or other types of movable carriers from the workstation back to the inventory area as an example, the control server is configured to At least one of the cargo handling frequency and the cargo loading and unloading quantity of the goods stored on the computer, determine the activity of the movable shelf, and determine when the movable shelf returns to the storage area according to the order of the activity of the movable shelf and/or, according to at least one of the shipping frequency and the shipment quantity of the goods stored on the other kinds of movable carriers, determine the activity of other kinds of movable carriers, according to the other kinds of movable carriers The ranking of the activity of the mobile vehicles determines the storage position of the other types of mobile vehicles when returning to the inventory area.

That is, after the movable shelves and/or other kinds of movable vehicles complete the target business tasks at the workstation, it is necessary to determine the storage position for the movable shelves to be transported back to the inventory area according to the activity of the movable shelves. To determine the storage location of other types of movable carriers transported back to the inventory area, specifically, the activity of the movable shelf is based on at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf. Determining; the activity of other types of movable carriers is determined according to at least one of shipment frequency and shipment quantity of goods stored on other types of movable carriers.

In practical applications, the movable shelf can also be transported to other positions in the inventory area according to the heat value of the movable shelf. The heat value of the movable shelf is specifically determined by the heat value of the first container in the movable shelf. The first The heat value of the container is determined by the shipment volume and/or shipment frequency of the goods in the first container. A high heat value of the first container means that the goods in the first container have a large shipment volume and/or a high shipment frequency, and can be moved The higher the heat value of the shelf, the higher the heat value of the first container in the movable shelf. Move the movable shelf of the heat value manuscript to the place closer to the workstation in the inventory area, so as to reduce the heat value in the order task. The movement distance of the movable shelf can improve the picking efficiency.

The same method for calculating the heat value of other target movable vehicles is the same as the calculation method for the heat value of the movable shelf. For the specific calculation method, please refer to the above description, which will not be repeated here.

In order to further improve the picking efficiency, the warehouse dispatching system provided by the present application also provides a mixed movable carrier 1304, which is located in the inventory area, wherein the mixed movable carrier can carry the second At least two of a container, a second container capable of holding stored goods, and stored goods.

Referring to FIG. 6 , FIG. 6 shows a schematic diagram of a first hybrid mobile vehicle provided by an embodiment of the present application. As shown in FIG. 6 , the mixed movable carrier 1304 includes a first storage position 130401 and a cargo compartment 130402 , where the first container is placed in the first storage position 130401 ; bulk goods are placed in the compartment 130402 .

Referring to FIG. 7, FIG. 7 shows a schematic diagram of a second hybrid mobile carrier provided by an embodiment of the present application. As shown in FIG. 130402, wherein, the second storage position 130403 is placed in the carrying tray, and the carrying tray carries the stored goods; the cargo compartment 130402 is placed in bulk goods.

Referring to FIG. 8, FIG. 8 shows a schematic diagram of a third hybrid mobile carrier provided by an embodiment of the present application. As shown in FIG. The storage position 130403, wherein, the first container is placed in the first storage position 130401; the carrying tray is placed in the second storage position 130403, and the storage goods are carried in the carrying tray.

Referring to FIG. 9, FIG. 9 shows a schematic diagram of a fourth hybrid mobile carrier provided by an embodiment of the present application. As shown in FIG. 130402 and the second storage position 130403, wherein, the first storage position 130401 is placed in the first container; the second storage position 130403 is placed in the carrying tray, and the carrying tray carries the stored goods; the cargo compartment 130402 is placed in bulk goods.

In the case that the control server hits the target hybrid movable carrier according to the order task, it determines the third handling device for handling the target mixed movable carrier, and sends the third handling device a third handling instruction, and the third handling device responds In the third transport instruction, the target mixed movable carrier is transported to the target workstation to execute the order task.

It should be noted that if the goods hit by the order task are in the first storage position 130401 of the target mixed movable carrier, then the target mixed movable carrier will be transported to the container station of the target workstation; if the order task hits If the goods are in the compartment 130402 and the second storage location 130403 of the target mixed movable carrier, then transport the target mixed movable carrier to the shelf site of the target workstation; if the goods hit by the order task are in the first storage location 130401, and in the case of the cargo compartment 130402 and the second storage location 130403, the target mixed movable carrier is transported to the container site and the shelf site of the target workstation respectively. The order of transport is not limited, and the actual application shall prevail .

The following is a further explanation of the storage scheduling system provided by this application in combination with specific scenarios:

Example 1

The storage scheduling system provided in Embodiment 1 includes a control server, an inventory area, handling equipment, container handling equipment, and a workstation, wherein the inventory area includes a plurality of movable shelves and a plurality of other types of movable carriers, and the movable The first container is carried in the storage position of the shelf, and the stored goods or the second container are carried on the other type of movable carrier, and each work station includes a shelf station and a container station.

The control server determines the target movable shelf, the picking shelf, and the target workstation according to the order task, and at the same time determines the first handling equipment for handling the target movable shelf, the second handling equipment for handling the picking shelf, and the first handling equipment for loading and unloading. The target container loading and unloading equipment of the container, and send the first transportation instruction to the first transportation equipment, send the second transportation instruction to the second transportation equipment, and send the loading and unloading instruction to the target container loading and unloading equipment.

The first moving device is configured to, in response to the first moving instruction, move the target movable rack to the container station of the target workstation.

The second handling device is configured to, in response to the second handling instruction, move the picking racks to the rack site of the target workstation.

The target container loading and unloading device is located at the target workstation, and is configured to, in response to the loading and unloading instruction, take out the target first container from the target movable shelf and place it on the shelf site of the target workstation, and After completion place the target first container on the target removable shelf.

Example 2

The warehouse scheduling system provided in Embodiment 2 includes a control server, an inventory area, handling equipment, container handling equipment, and a workstation, wherein the inventory area includes a plurality of movable shelves and a plurality of other types of movable carriers, and the movable The first container is carried in the storage position of the shelf, and the stored goods or the second container are carried on the other type of movable carrier, and each work station includes a shelf station and a container station.

The control server determines the target movable shelf, the pallet support and the target workstation according to the order task, and at the same time determines the first transport equipment for transporting the target movable shelf, the second transport equipment for transporting the pallet support, and the first transport equipment for loading and unloading the target mobile shelf. The target container loading and unloading equipment of the container, and send the first transportation instruction to the first transportation equipment, send the second transportation instruction to the second transportation equipment, and send the loading and unloading instruction to the target container loading and unloading equipment.

The second transporting device is configured to transport the pallet rack to the rack station of the target workstation in response to the second transporting instruction.

Example 3

The warehouse scheduling system provided in Embodiment 3 includes a control server, an inventory area, handling equipment, container handling equipment, and a workstation, wherein the inventory area includes a plurality of movable shelves and a plurality of other types of movable carriers, and the movable The first container is carried in the storage position of the shelf, and the stored goods or the second container are carried on the other type of movable carrier, and each work station includes a shelf station and a container station.

The control server determines the target hybrid mobile carrier and the target workstation according to the order task, and at the same time determines the third handling equipment for handling the mixed mobile carrier and the target container handling equipment for loading and unloading the first container, and sends to the The third handling device sends a third handling instruction to send a loading and unloading instruction to the target container handling equipment.

The third conveying device is configured to convey the target mixed movable carrier to the container site of the target workstation in response to the third conveying instruction when the first container is hit according to the order task.

The third conveying device is configured to, in response to the third conveying instruction, convey the target mixed movable carrier to the shelf site of the target workstation in response to the third conveying instruction when the second container or goods is hit according to the order task .

The warehouse scheduling system provided by the embodiment of the present application, the system includes a control server, an inventory area, at least two different types of movable carriers, handling equipment, container handling equipment, and workstations, wherein the at least two different types of The carrier includes movable shelves and other types of movable carriers except the movable shelves, and the inventory area includes a plurality of movable shelves and a plurality of other kinds of movable carriers, and the movable shelves include at least One layer of partitions, the at least one layer of partitions divides the movable shelf into at least two layers, the partition of the movable shelf is provided with at least one storage position, and each storage position can carry at least one The first container of the stored goods, the other type of movable carrier carries the stored goods or the second container that can accommodate the stored goods; the control server is configured to determine the target movable shelf, the other type of target movable carrier tools and target workstations, and at the same time determine the first transport equipment for transporting the target movable shelf, the second transport equipment for transporting other types of target movable carriers, and the target container handling equipment for loading and unloading the first container, And send a first handling instruction to the first handling equipment, send a second handling instruction to the second handling equipment, and send a loading and unloading instruction to the target container handling equipment; the first handling equipment is configured to respond to The first transport instruction transports the target movable shelf to the target workstation; the second transport device is configured to transport the other type of target movable carrier to the target workstation in response to the second transport instruction the target workstation; the target container handling device is located at the target workstation and is configured to, in response to the loading and unloading instruction, take out the target first container from the target movable shelf or place the target first container on the target Target removable shelves. Through the storage scheduling system provided by this application, the original goods-to-person storage form is combined with the new shelf-plus-container form, and the mixed storage form of various movable carriers is realized in the same storage area. The workstation completes the mode of mixed picking of multiple goods, which saves the follow-up cumbersome merging process, does not require merging personnel and venues, and greatly reduces operating costs.

Referring to FIG. 10 , FIG. 10 shows a flowchart of a warehouse scheduling method provided by an embodiment of the present application. The warehouse scheduling method is applied to a warehouse scheduling system, and the system includes a control server, an inventory area, at least two different movable carriers, handling equipment, container handling equipment, and a workstation, wherein the at least two different movable vehicles The mobile carrier includes movable shelves and other kinds of movable carriers except the movable shelves, and the inventory area includes a plurality of movable shelves and a plurality of other kinds of movable carriers, and the movable shelves include At least one layer of partitions, the at least one layer of partitions divides the movable shelf into at least two layers, at least one storage position is arranged on the partition of the movable shelf, and each storage position can carry at least one movable The first container for storing goods, and the other type of movable carrier carries the stored goods or the second container that can accommodate the stored goods. Specifically, the method includes:

Step 1002: The control server determines the target movable shelf, other types of target movable carriers, and the target workstation, and at the same time determines the first transport equipment for transporting the target movable shelf, and the first transport equipment for transporting other types of target movable carriers. The second handling equipment for the tool, the target container loading and unloading equipment for loading and unloading the first container, and send a first handling instruction to the first handling equipment, send a second handling instruction to the second handling equipment, and send a second handling instruction to the target The container handling equipment sends loading and unloading instructions.

Step 1004: the first transporting device transports the target movable shelf to the target workstation in response to the first transport instruction.

Step 1006: The second transporting device transports the other type of target movable carrier to the target workstation in response to the second transport instruction.

Step 1008: The target container loading and unloading device located at the target workstation responds to the loading and unloading instruction, taking the target first container from the target movable rack or placing the target first container in the target movable rack.

In an optional embodiment of the present application, the workstation is provided with a transmission line, the station of the workstation is located in the transmission path of the transmission line, the transmission line includes a transmission line entrance and a transmission line exit, and the transmission line entrance and the transmission line exit Separately equipped with container loading and unloading equipment;

In an optional embodiment of the present application, the workstation is provided with at least one buffer position, and the buffer position is used for buffering the first container taken out by the container handling equipment from the movable shelf or buffering for placing a first container of said movable shelf;

In an optional embodiment of the present application, the method also includes:

In an optional implementation manner of the present application, the determination of the adjusted target position of the target first container by the control server includes:

In an optional implementation manner of the present application, the control server determines the target first container on the target movable shelf, the current storage location of the target first container, and the adjusted target position, including:

In an optional implementation manner of the present application, the preset container adjustment trigger condition includes an order task for picking an order or a container adjustment task for adjusting a container position.

In an optional embodiment of the present application, the system further includes a hybrid movable carrier located in the inventory area, wherein the hybrid movable carrier can carry a At least two of the first container, the second container capable of containing the stored goods, and the stored goods:

The third transport device transports the target hybrid transportable carrier to the target workstation in response to the third transport instruction.

The warehousing scheduling method provided by the embodiment of the present application combines the original goods-to-person warehousing form with the new shelf-plus-container form, and realizes the mixed storage form of various movable carriers in the same warehousing area. The mode of returning mixed picking of various goods in one workstation saves the subsequent cumbersome merging process, does not require merging personnel and venues, and greatly reduces operating costs.

The foregoing describes specific embodiments of the present application. Other implementations are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain embodiments.

It should be noted that, for the sake of simplicity of description, the above-mentioned embodiments are expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence, because Depending on the application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

In the foregoing embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

The preferred embodiments of the present application disclosed above are only used to help clarify the present application. Alternative embodiments do not exhaust all details and do not limit the invention to specific implementations described. Obviously, many modifications and changes can be made according to the content of this application. This application selects and specifically describes these embodiments in order to better explain the principles and practical applications of this application, so that those skilled in the art can well understand and use this application. This application is to be limited only by the claims, along with their full scope and equivalents.

Claims

A storage scheduling system, characterized in that the system includes a control server, an inventory area, at least two different types of movable carriers, handling equipment, container handling equipment, and workstations, wherein the at least two different types of movable The carrier includes movable shelves and other types of movable carriers except the movable shelves, and the inventory area includes a plurality of movable shelves and a plurality of other kinds of movable carriers, and the movable shelves include at least One layer of partitions, the at least one layer of partitions divides the movable shelf into at least two layers, the partition of the movable shelf is provided with at least one storage position, and each storage position can carry at least one The first container for the stored goods, and the other type of movable carrier carries the stored goods or the second container that can accommodate the stored goods;

The control server is configured to determine target movable shelves, other types of target movable carriers, and target workstations, and at the same time determine the first transport equipment used to transport the target movable shelves, and the first transport equipment used to transport other types of target movable vehicles. The second conveying equipment of the carrier, the target container loading and unloading equipment for loading and unloading the first container, and sending the first conveying instruction to the first conveying equipment, sending the second conveying instruction to the second conveying equipment, and sending the second conveying instruction to the The target container handling equipment sends loading and unloading instructions;

The first transporting device is configured to transport the target movable shelf to the target workstation in response to the first transport instruction;

The second transporting device is configured to transport the other type of target movable carrier to the target workstation in response to the second transport instruction;

The target container handling device is located at the target workstation and is configured to take the target first container from the target movable rack or place the target first container in the target movable rack in response to the loading and unloading instruction .
The warehouse dispatching system according to claim 1, wherein the workstation is provided with a transmission line, the station of the workstation is located in the transmission path of the transmission line, the transmission line includes a transmission line entrance and a transmission line exit, and at the transmission line entrance and the outlet of the transmission line are respectively provided with container loading and unloading equipment;

a container handling device located at the entrance of the transfer line, further configured to remove a first container from a storage location of a movable rack and place it on the transfer line;

A container handling device located at the exit of the transfer line is further configured to remove the first container from the exit of the transfer line and place it in a storage position of a removable rack.
The warehouse dispatching system according to claim 1, wherein said workstation is provided with at least one buffer position;

The buffer position is configured to buffer a first container removed from the movable rack by the container handling device or a first container to be placed on the movable rack;

The container handling device is further configured to take out the first container from the storage position of the movable rack and place it in the buffer position, or take out the first container from the buffer position and place it in the movable shelf. in the shelf.
The storage scheduling system according to claim 3, wherein the workstation also includes a buffer multifunctional area;

The buffer multifunctional area is configured to store the first container.
The warehouse scheduling system according to claim 1, wherein the workstation is provided with at least one parking area;

The docking area is configured to dock movable shelves or other types of movable carriers.
The storage scheduling system according to claim 1, wherein the container handling equipment comprises a first sensor, and the first sensor is used to determine that the available At least one of whether there is a first container in the corresponding storage location in the mobile shelf, and determining whether the corresponding storage location in the movable shelf is empty when the first container is placed on the movable shelf.
The warehouse dispatching system according to claim 6, wherein the container handling equipment includes a second sensor, and the second sensor is used to determine a pose deviation between the container handling equipment and the target first container.
The storage scheduling system according to claim 7, wherein when the pose deviation is greater than or equal to a preset tolerance threshold, the container handling equipment adjusts its own pose based on the pose deviation so that The adjusted pose deviation between the container handling equipment and the target first container is smaller than the preset tolerance threshold.
The storage scheduling system according to claim 7, wherein the first sensor and the second sensor are the same sensor.
The warehouse scheduling system according to claim 7, wherein the first sensor and the second sensor are vision sensors, depth information sensors or 3D sensors.
The warehouse scheduling system according to claim 1, wherein the control server is configured to schedule the first transport equipment to transport the target movable shelf back to the original position or other positions of the inventory area; and /or, dispatching the second transport equipment to transport the other types of target movable carriers back to the original position or other positions of the inventory area.
The warehouse scheduling system according to claim 11, wherein the control server is configured to determine the movable shelf according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf. According to the activity degree of the movable shelf, determine the storage position of the movable shelf when returning to the storage area; and/or, according to the goods stored on the other kinds of movable carriers At least one of the shipping frequency and the shipping quantity determines the activity of other types of movable vehicles, and according to the ranking of the activity of other types of movable vehicles, it is determined that the other types of movable vehicles return to the storage location when describing the inventory area.
The warehouse scheduling system according to claim 11, wherein the control server is configured to determine the movable shelves and/or other kinds of movable carriers according to the sorting of the distance between the workstation and the free storage space Storage location when returning to said inventory area.
The warehouse dispatching system according to claim 11, wherein the control server is configured to, in response to a tally task, dispatch the first handling device to adjust the movable shelf from the original storage location in the inventory area to Other storage positions or keep the original storage position unchanged; and/or, dispatch the second handling equipment to adjust other types of movable carriers from the original storage position in the inventory area to other storage positions or keep the original storage position unchanged .
The warehouse scheduling system according to claim 14, wherein the control server is configured to determine the movable shelf according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf. activity, according to the sorting of the activity of the movable shelf, determine the storage position of the movable shelf after adjusting the position when tallying; and/or, according to the shipping frequency of the goods stored on the other kinds of movable carriers And at least one of the shipment quantities, determine the activity of other types of movable carriers, and determine the storage of other types of movable carriers after adjusting their positions during tallying according to the ranking of the activity of other types of movable carriers bit.
The warehouse scheduling system according to claim 1, wherein the control server is further configured to determine the target first container on the target movable shelf, the current storage position of the target first container, and the adjusted target position, and simultaneously determine the first handling equipment used to transport the target movable shelf and the target container handling equipment used to load and unload the target first container, and send a handling instruction to the first handling equipment, and send a handling instruction to the target Container handling equipment sends loading and unloading instructions;

The first transporting device is configured to transport the target movable shelf on which the target first container is placed to the target workstation in response to the transport instruction;

The target container handling facility location is configured to, in response to the loading and unloading instruction, take out the target first container from the current storage location and place it at the adjusted target location.
The warehouse scheduling system according to claim 16, wherein the control server is further configured to, according to the temperature of the goods stored in the target first container and/or the difference between the goods stored in the target first container The degree of correlation between the goods stored in the containers determines the adjusted target position of the target first container.
The storage scheduling system according to claim 16, wherein the control server is further configured to determine the target first container on the target movable shelf, the target first container in response to the preset container adjustment trigger condition The current storage bit and the adjusted storage bit.
The warehouse scheduling system according to claim 18, wherein the preset container adjustment trigger condition includes an order task for picking an order or a container adjustment task for adjusting the position of the container.
The storage scheduling system according to claim 1, wherein the size of the movable shelf is the same as that of the other type of movable carrier, or the difference between the two sizes is smaller than a preset threshold.
The storage scheduling system according to any one of claims 1-20, wherein the other types of movable carriers include picking shelves, wherein the picking shelves include at least one partition, and the at least one partition The picking shelf is divided into at least two layers, and at least one compartment is arranged on the partition of the picking shelf, and the goods stored in the compartment are accommodated.
The warehouse dispatching system according to any one of claims 1-20, wherein the other types of movable carriers include pallet supports, and the pallet supports carry pallets, and the pallets carry stored goods.
The storage scheduling system according to any one of claims 1-20, wherein the movable shelf comprises at least one connecting layer, and the first container located in the connecting layer can be at least held by the container Loading and unloading equipment operations.
The warehouse dispatching system according to claim 23, wherein the movable shelf further comprises a non-connecting layer other than the connecting layer, and the containers located in the non-connecting layer are only stored by the Container handling equipment operations.
The storage scheduling system according to claim 24, wherein the first transporting device is further configured to transport the target movable shelf on which the target first container is placed to the target workstation;

The target container handling device is further configured to transpose the target first container within a docked level, within a non-connected level, or between a connected level and a non-connected level.
The warehouse scheduling system according to claim 1, characterized in that, the system further comprises a hybrid mobile carrier, the hybrid mobile carrier is located in the inventory area, wherein the hybrid mobile carrier can carry At least two of the first container that can accommodate the stored goods, the second container that can accommodate the stored goods, and the stored goods.
The warehouse scheduling system according to claim 26, wherein the control server is further configured to determine the target hybrid mobile carrier according to the order task, and at the same time determine the first hybrid mobile carrier used to carry the target 3. Handling equipment, and sending a third handling instruction to the third handling equipment;

The third conveying device is configured to convey the target hybrid movable carrier to the target workstation in response to the third conveying instruction.
A warehousing scheduling method, characterized in that the method is applied to a warehousing scheduling system, and the system includes a control server, an inventory area, at least two different movable carriers, handling equipment, container handling equipment, and a workstation, wherein, The at least two different movable carriers include movable racks and other types of movable carriers other than the movable racks, and the inventory area includes a plurality of movable racks and a plurality of other types of movable carriers. The movable shelf includes at least one layer of partitions, the at least one layer of partitions divides the movable shelf into at least two layers, and at least one storage position is arranged on the partition of the movable shelf, each Each storage position can carry at least one first container that can accommodate stored goods, and the other type of movable carrier can carry stored goods or a second container that can accommodate stored goods;

The control server determines the target movable shelf, other types of target movable carriers, and the target workstation, and at the same time determines the first transport equipment used to transport the target movable shelf, and the first transport device used to transport other types of target movable carriers. Two handling equipment, the target container handling equipment used for loading and unloading the first container, and sending a first handling instruction to the first handling equipment, sending a second handling instruction to the second handling equipment, and sending a second handling instruction to the target container handling equipment Send loading and unloading instructions;

The first transporting device transports the target movable shelf to the target workstation in response to the first transport instruction;

The second transporting device transports the other type of target movable carrier to the target workstation in response to the second transport instruction;

The target container handling equipment is located at the target workstation and responds to the loading and unloading instruction to take the target first container from the target movable rack or place the target first container in the target movable rack.
The warehouse scheduling method according to claim 28, wherein the workstation is provided with a transmission line, and the station of the workstation is located in the transmission path of the transmission line, and the transmission line includes a transmission line entrance and a transmission line exit, and at the transmission line entrance and the outlet of the transmission line are respectively provided with container loading and unloading equipment;

a container handling device located at the entrance of said transfer line removes a first container from a storage position of a movable rack and places it on said transfer line;

A container handling device located at the exit of the transfer line removes the first container from the exit of the transfer line and places it in a storage position of a movable rack.
The warehouse scheduling method according to claim 28, wherein the workstation is provided with at least one buffer position, and the buffer position is used for buffering the first container or caching a first container for placement on said removable shelf;

The target container handling equipment takes out the target first container from the target movable rack or puts the target first container in the target movable rack, comprising:

The container handling device removes the first container from the storage position of the movable rack and places it in the buffer position, or removes the first container from the buffer position and places it in the movable rack.
The storage scheduling method according to claim 28, wherein the method further comprises:

The control server schedules the first transport equipment to transport the target movable rack back to the original position or other positions of the inventory area; and/or, schedules the second transport equipment to transport the other types of target movable racks The vehicle is transported back to its original location or other location in the inventory area.
The warehouse scheduling method according to claim 31, characterized in that the method further comprises:

The control server determines the activity of the movable shelf according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf, and determines the activity of the movable shelf according to the ranking of the activity of the movable shelf. The storage position of the mobile shelf when returning to the storage area; and/or, according to at least one of the shipment frequency and the shipment quantity of the goods stored on the other types of movable carriers, determine other types of movable The activity of the vehicle determines the storage position of the other types of movable vehicles when they return to the inventory area according to the ranking of the activity of other types of movable vehicles.
The warehouse scheduling method according to claim 31, characterized in that the method further comprises:

The control server sorts according to the distance between the workstation and the free storage space, and determines the storage position of the movable shelf and/or other types of movable carriers when returning to the inventory area.
The warehouse scheduling method according to claim 31, characterized in that the method further comprises:

In response to the tally task, the control server schedules the first handling equipment to adjust the movable rack from the original storage position of the inventory area to another storage position or keep the original storage position unchanged; and/or, schedules the The second handling device adjusts other types of movable carriers from the original storage location in the inventory area to other storage locations or keeps the original storage location unchanged.
The storage scheduling method according to claim 34, wherein the method further comprises:

The control server determines the activity of the movable shelf according to at least one of the cargo loading and unloading frequency and the cargo loading and unloading quantity of the goods stored on the movable shelf, and determines the activity of the movable shelf according to the sorting of the activity of the movable shelf. The storage position after adjusting the position during tallying; and/or, according to at least one of the shipping frequency and the shipment quantity of the goods stored on the other kinds of movable carriers, determine the location of other kinds of movable carriers Activity, according to the ranking of the activity of other types of movable vehicles, determine the storage positions of other types of movable vehicles after their positions are adjusted during tallying.
The storage scheduling method according to claim 28, wherein the method further comprises:

The control server determines the target first container on the target movable shelf, the current storage location of the target first container, and the adjusted target position, and at the same time determines the first transport equipment and user for transporting the target movable shelf. a target container handling equipment for loading and unloading the target first container, and sending a handling instruction to the first handling equipment, and sending a loading and unloading instruction to the target container handling equipment;

The first handling device, in response to the handling instruction, transports the target movable shelf on which the target first container is placed to the target workstation;

The target container handling equipment position responds to the loading and unloading command, taking the target first container from the current storage position and placing it in the adjusted target position.
The warehouse scheduling method according to claim 36, wherein said control server determining the adjusted target position of said target first container comprises:

The control server determines the temperature of the target first container according to the heat of the goods stored in the target first container and/or the degree of correlation between the goods stored in the target first container and the goods stored in other containers. Adjusted target position.
The storage scheduling method according to claim 36, wherein the control server determines the target first container on the target movable shelf, the current storage position of the target first container, and the adjusted target position, comprising:

The control server determines the target first container on the target movable shelf, the current storage location and the adjusted storage location of the target first container in response to a preset container adjustment trigger condition.
The warehouse scheduling method according to claim 38, wherein the preset container adjustment trigger condition includes an order task for picking an order or a container adjustment task for adjusting the position of the container.
The storage scheduling method according to claim 28, wherein the system further comprises a hybrid movable carrier, the hybrid movable carrier is located in the inventory area, wherein the hybrid movable carrier can carry At least two of the first container capable of containing the stored goods, the second container capable of containing the stored goods, and the stored goods:

The control server determines the target hybrid movable carrier according to the order task, and at the same time determines a third handling device for handling the target hybrid movable carrier, and sends a third handling instruction to the third handling device;

The third transport device transports the target hybrid transportable carrier to the target workstation in response to the third transport instruction.