WO2023071400A1 - 一种仓储调度系统及方法 - Google Patents

一种仓储调度系统及方法 Download PDF

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Publication number
WO2023071400A1
WO2023071400A1 PCT/CN2022/111897 CN2022111897W WO2023071400A1 WO 2023071400 A1 WO2023071400 A1 WO 2023071400A1 CN 2022111897 W CN2022111897 W CN 2022111897W WO 2023071400 A1 WO2023071400 A1 WO 2023071400A1
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WIPO (PCT)
Prior art keywords
container
inventory
pick
area
place
Prior art date
Application number
PCT/CN2022/111897
Other languages
English (en)
French (fr)
Inventor
王梦迪
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202122635641.2U external-priority patent/CN216188204U/zh
Priority claimed from CN202111276509.5A external-priority patent/CN116062363A/zh
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Publication of WO2023071400A1 publication Critical patent/WO2023071400A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • the present application relates to the technical field of warehousing, in particular to a warehousing scheduling system and method.
  • the order goods are picked at the picking station.
  • the robot arrives at the station, only the container or product corresponding to the station can be checked out. If the next station needs the container on the shelf or When it comes to goods, the robot needs to carry the shelf to the next workstation to complete the picking.
  • the robot has a long transport path, and a single shelf needs to go to each station to wait for the picking to be completed before it can be transported to the inventory area, resulting in unnecessary handling.
  • the number of order containers corresponding to each station is limited, resulting in a low hit rate for a single shelf.
  • the embodiment of the present application provides a warehouse scheduling system and method to solve the technical defects existing in the prior art.
  • a warehouse scheduling system includes a control server, an inventory area, a container pick-and-place device, a container cache mechanism, and a workstation, wherein the inventory area stores a plurality of Mobile carrier, each movable carrier can accommodate at least one inventory container, the container buffer mechanism is provided with a plurality of buffer positions, each buffer position can carry at least one inventory container, the first surface of the container buffer mechanism can Multiple container pick-and-place devices are docked in parallel, and the second surface can be docked with multiple workstations in parallel, and the inventory containers cached on the container cache mechanism are stored at the workstations;
  • the control server is configured to determine the inventory container to be executed, the container pick-and-place device, and the cache position of the inventory container in the container cache mechanism, and send a container pick-and-place instruction to the container pick-and-place device;
  • the container access device configured to be located on a first side of the container buffer mechanism, to retrieve the inventory container from a movable carrier located at the container access device in response to the container access command, and place the inventory container in the buffer position of the container buffer mechanism, or take out the inventory container in the buffer position of the container buffer mechanism, and place the inventory container at the container pick-and-place device in a transportable vehicle; or,
  • the container pick-and-place device is configured to obtain an inventory container located in the inventory area in response to the container pick-and-place instruction, and transport the inventory container from the inventory area to the first surface of the container buffer mechanism, and placing the inventory container in the buffer position of the container buffer mechanism, or taking out the inventory container from the buffer position of the container buffer mechanism, and transporting the inventory container from the first side of the container buffer mechanism to the inventory area.
  • the container cache mechanism includes a first area and a second area, wherein the height of the first area is lower than that of the second area.
  • the container pick-and-place device is configured to place inventory containers in the first area or the second area.
  • the container pick-and-place device is further configured to take out the inventory containers in the second area and place them in the first area, or take out the inventory containers in the first area and place them in the second area.
  • control server is further configured to determine to place the inventory container in the first area or the second area of the container cache mechanism according to preset conditions.
  • the preset condition includes at least one of the heat of the goods stored in the inventory container, the probability that the goods stored in the inventory container will be hit by a future order, and the heat of the goods is determined by the shipping frequency of the goods or At least one of the shipments is determined.
  • an inclination angle is set between the buffer position in the first area and the horizontal plane, wherein the inclination angle is smaller than a preset angle threshold.
  • the workstation is docked with the first area on the second surface of the container buffer mechanism, so as to facilitate the operator to perform storage operations on the inventory containers located in the first area.
  • the system further includes an auxiliary device, and the auxiliary device is used to assist the operation end in performing storage operations on the inventory containers located in the first area.
  • control server is further configured to determine the inventory container to be executed, the container pick-and-place device, and the workstation corresponding to the inventory container, and send a container pick-and-place instruction to the container pick-and-place device;
  • the container pick-and-place device is configured to be located on the second surface of the container buffer mechanism, and in response to the container pick-and-place instruction, the inventory container is taken out from the container buffer mechanism and placed on a movable carrier or a transmission line , the movable carrier is transported to the workstation, and the transmission line leads to the workstation; or,
  • the container pick-and-place device is configured to take out the inventory container from the container buffer mechanism in response to the container pick-and-place instruction, and transport the inventory container to the workstation.
  • the container handling equipment includes a container handling mechanism; wherein,
  • the container handling mechanism is configured to be located on the first side of the container buffer mechanism, and in response to the container pick-and-place command, take out the inventory container from the movable carrier at the container handling mechanism and place it on the cache bit of the container cache mechanism described above, and/or,
  • the container handling mechanism is configured to be located on the second surface of the container buffer mechanism, and in response to the container pick-and-place instruction, the inventory container is taken out from the container buffer mechanism and placed on the container handling mechanism. in a movable carrier.
  • the system also includes handling equipment;
  • the handling device is configured to carry the movable carrier from the inventory area to the first side of the container buffer mechanism, transport the movable carrier from the first side of the container buffer mechanism back to the inventory area, and transfer the movable carrier to the storage area. At least one of transporting a carrier from the second face of the container cache mechanism to a work station, and transporting a movable carrier from a work station to the second face of the container cache mechanism.
  • the workstation is provided with a transmission line
  • the transmission line includes a transmission line inlet and a transmission line outlet
  • container loading and unloading mechanisms are respectively arranged at the transmission line inlet and the transmission line outlet
  • the work station is located on the path of the transmission line;
  • a container handling mechanism located at the entrance of the transmission line, configured to remove the inventory container to be operated from the buffer position of the container buffer mechanism or the movable carrier and place it at the entrance of the transmission line;
  • the container loading and unloading mechanism located at the exit of the transmission line is configured to take out the processed inventory containers from the exit of the transmission line and place them in the buffer positions of the container buffer mechanism or in the movable carrier.
  • the container pick-and-place equipment includes an autonomous mobile robot
  • the autonomous mobile robot is configured to obtain an inventory container located in the inventory area, transport the inventory container from the inventory area to the first side of the container buffer mechanism, and place the inventory container on the a cache location, or remove the inventory container from a cache location of the container cache mechanism, and move the inventory container from the first side of the container cache mechanism to the inventory area; and/or,
  • the autonomous mobile robot is configured to move to the second side of the container buffer mechanism, obtain the inventory container located in the container buffer mechanism, and transport the inventory container to the workstation, or move to the workstation to obtain inventory container, and transfers the inventory container to the second side of the container buffer mechanism.
  • the container loading and unloading mechanism includes: a frame body and a pick-and-place container assembly;
  • the frame body includes a horizontal X-axis track and a vertical Y-axis track perpendicular to each other;
  • the Y-axis track is configured to move along the X-axis track
  • the pick-and-place container assembly is configured to move along the Y-axis track.
  • the frame body includes a door frame assembly
  • the X-axis track includes a ground track structure and a sky track structure arranged on the gantry assembly;
  • the two ends of the Y-axis track are respectively guided and matched with the ground track structure and the sky track structure.
  • At least two Y-axis tracks there are at least two Y-axis tracks, and at least one pick-and-place container assembly is set on each Y-axis track.
  • the access container component accesses the container by at least one of suction, push, clamp, grasp, hook, pick up, and lift.
  • a warehouse scheduling method the method is applied to a warehouse system, and the system includes a control server, an inventory area, a container pick-and-place device, a container cache mechanism, and a workstation, wherein the The inventory area stores a plurality of movable carriers, and each movable carrier can accommodate at least one inventory container, and the container buffer mechanism is provided with a plurality of buffer positions, and each buffer position can carry at least one inventory container, the The first side of the container cache mechanism can be connected to multiple container pick-and-place devices in parallel, and the second surface can be connected to multiple workstations in parallel, and the inventory containers cached on the container cache mechanism are stored at the workstations; the method includes:
  • the control server determines the inventory container to be executed, the container pick-and-place device, and the cache position of the inventory container in the container cache mechanism, and sends a container pick-and-place instruction to the container pick-and-place device.
  • the container pick-and-place device is located on the first side of the container buffer mechanism, and in response to the container pick-and-place instruction, the inventory container is taken out from a movable carrier located at the container pick-and-place device, and the The inventory container is placed in the buffer position of the container buffer mechanism, or the inventory container is taken out from the buffer position of the container buffer mechanism, and the inventory container is placed on the movable carrier located at the container pick-and-place device. in the tool; or,
  • the container pick-and-place device acquires an inventory container located in the inventory area in response to the container pick-and-place instruction, transports the inventory container from the inventory area to the first surface of the container buffer mechanism, and transfers the The inventory container is placed in the buffer position of the container buffer mechanism, or the inventory container is removed from the buffer position of the container buffer mechanism, and the inventory container is transported from the first side of the container buffer mechanism to the inventory area.
  • the container cache mechanism includes a first area and a second area, wherein the height of the first area is lower than the height of the second area;
  • the container pick and place device places inventory containers in either the first area or the second area.
  • the method also includes:
  • the container pick-and-place device takes out inventory containers in the second area and places them in the first area, or takes out inventory containers in the first area and places them in the second area.
  • the method also includes:
  • the control server determines the inventory container to be executed, the container pick-and-place device, and the workstation corresponding to the inventory container, and sends a container pick-and-place instruction to the container pick-and-place device;
  • the container pick-and-place device is located on the second surface of the container cache mechanism, and in response to the container pick-and-place instruction, the inventory container is taken out from the container cache mechanism and placed on a movable carrier or a transmission line, the a movable carrier is transported to the workstation to which the transmission line leads; or,
  • the container pick-and-place device removes the inventory container from the container buffer mechanism in response to the container pick-and-place instruction, and transports the inventory container to the workstation.
  • the container handling equipment includes a container handling mechanism; wherein,
  • the container handling mechanism is located on the first side of the container buffer mechanism, and in response to the container pick and place command, the inventory container is taken out from the movable carrier at the container handling mechanism and placed in the container buffer mechanism cache bits, and/or,
  • the container handling mechanism is located on the second surface of the container buffer mechanism, and the inventory container is taken out from the container buffer mechanism in response to the container pick-and-place instruction and placed on a movable carrier located at the container handling mechanism middle.
  • the system also includes handling equipment;
  • the handling equipment carries out transporting the movable carrier from the inventory area to the first side of the container buffer mechanism, transporting the movable carrier from the first side of the container buffer mechanism back to the inventory area, and transferring the movable carrier from the first side of the container buffer mechanism to the storage area. at least one of transporting the second side of the container buffer mechanism to a workstation, and transporting a movable carrier from a workstation to the second side of the container buffer mechanism.
  • the workstation is provided with a transmission line
  • the transmission line includes a transmission line inlet and a transmission line outlet
  • container loading and unloading mechanisms are respectively arranged at the transmission line inlet and the transmission line outlet
  • the work station is located on the path of the transmission line;
  • the container loading and unloading mechanism located at the entrance of the transmission line takes out the inventory container to be operated from the buffer position of the container buffer mechanism or the movable carrier and places it at the entrance of the transmission line;
  • the container loading and unloading mechanism located at the exit of the transmission line takes out the finished inventory containers from the exit of the transmission line, and places them in the buffer position of the container buffer mechanism or in the movable carrier.
  • the container pick-and-place equipment includes an autonomous mobile robot
  • the autonomous mobile robot acquires an inventory container located in the inventory area, transports the inventory container from the inventory area to the first side of the container cache mechanism, places the inventory container in the cache location, or removing the inventory container from a cache position of the container cache mechanism, and transporting the inventory container from the first side of the container cache mechanism to the inventory area; and/or,
  • the autonomous mobile robot moves to the second surface of the container buffer mechanism, obtains the inventory container located in the container buffer mechanism, and transports the inventory container to the workstation, or moves to the workstation to obtain the inventory container, and The inventory containers are transported to the second side of the container buffer mechanism.
  • An embodiment of the present application provides a storage scheduling system, the system includes a control server, an inventory area, container pick-and-place equipment, a container cache mechanism, and a workstation, wherein the inventory area stores a plurality of movable carriers, each A movable carrier can accommodate at least one storage container, the container buffer mechanism is provided with a plurality of buffer locations, each buffer location can carry at least one inventory container, and the first surface of the container buffer mechanism can parallelly dock multiple containers As for the pick-and-place device, the second surface can be connected to multiple workstations in parallel, and the inventory containers cached on the container cache mechanism are stored at the workstations; the control server is configured to determine the inventory containers to be executed, and the container pick-and-place device, the cache position of the inventory container in the container cache mechanism, and send a container pick-and-place instruction to the container pick-and-place device; the container pick-and-place device is configured to be located at the first In response to the container pick-and-place instruction, the inventory container is taken out from the
  • the container cache mechanism is set up, which increases the number of bins put into the container cache mechanism at the back end, increases the hit rate of a movable carrier in the scene, and the shelf does not need to reach multiple There is no need to wait for manual picking to put the container back into the movable carrier, which reduces the time of handling and waiting for the handling equipment, reduces the number of handling equipment, and improves the picking efficiency.
  • 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 container loading and unloading mechanism provided by an embodiment of the present application
  • Fig. 3 is a schematic diagram of the system structure of the storage scheduling system provided by the second embodiment of the present application.
  • Fig. 4 is a schematic diagram of the system structure of the storage scheduling system provided by the third embodiment of the present application.
  • Fig. 5 is a schematic diagram of the system structure of the storage scheduling system provided by the fourth embodiment of the present application.
  • Fig. 6 is a schematic diagram of the system structure of the storage scheduling system provided by the fifth embodiment of the present application.
  • Fig. 7 is a flowchart of a warehouse scheduling method provided by an embodiment of the present application.
  • 110-control server 111-processor, 112-memory, 113-order pool, 114-operating table, 120-inventory area, 130-container cache mechanism, 140-workstation, 150-handling equipment, 160-autonomous mobile robot, 170-container loading and unloading mechanism, 7-frame body, 71-X-axis track, 72-Y-axis track, 2-feed container assembly.
  • 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.”
  • 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, container pick-and-place equipment, a container cache mechanism 130 and a workstation 140, wherein, A plurality of movable carriers are arranged in the inventory area, and each movable carrier can accommodate at least one inventory container, and the container buffer mechanism is provided with a plurality of buffer positions, and each buffer position can carry at least one inventory container, the One side of the container cache mechanism can be connected to multiple container pick-and-place devices in parallel, and the other side can be connected to multiple workstations in parallel, and the inventory containers cached on the container cache mechanism are stored at the workstations.
  • the control server 110 is wirelessly connected to the container pick-and-place equipment, and the staff operates the control server 110 through the console 114.
  • the control server 110 is a software system that runs on the server and has data storage and information processing capabilities. Connected with the software system of the workstation 140, etc., the control server 110 may include one or more servers, and may be a centralized control architecture or a distributed computing architecture.
  • the control server 110 has a processor 111 and a memory 112, and the memory 112 may have an order Pool 113, 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 movable carriers are set in the inventory area 120.
  • the movable carriers include but are not limited to clapboard shelves, container shelves, and picking shelves. , between pallets, movable shelves, cage cars, pallet brackets, etc.
  • the movable carrier can be a movable shelf, and the movable shelf includes at least one layer of partitions, and the at least one layer of partitions divides the movable shelf into at least two layers, and the partition of the movable shelf is provided with at least one Storage slots, each storage slot can accommodate at least one container, the inventory container may be a case.
  • the container cache mechanism 130 is a mechanism for caching the inventory containers that are stored at the workstation.
  • the specific form can be a cache wall, and the storage operations can be specifically put on shelves, take off shelves, inventory operations, tally operations, and so on.
  • a plurality of buffering positions are arranged in the container buffering mechanism, and each buffering position can carry at least one inventory container.
  • the second surface of 130 can be connected to multiple workstations 140 in parallel. It should be noted that the multiple mentioned in this application means more than two, that is, multiple cache positions mean that there are more than two cache positions, and multiple containers take Putting equipment indicates that there are more than two container picking and placing equipment, and multiple workstations indicates that there are more than two workstations.
  • the container cache mechanism 130 includes a first area and a second area, wherein the height of the first area is lower than the height of the second area.
  • the container cache mechanism The height of 130 can be very high.
  • the container buffer mechanism can also be divided into the first area and the second area according to the height. The inventory containers in the first area can be directly operated by the operating end, and the inventory in the second area Containers need to be handled by machines.
  • control server is further configured to determine to place the inventory container in the first area or the second area of the container cache mechanism according to preset conditions.
  • the preset condition includes at least one of the heat of the goods stored in the inventory container and the probability that the goods stored in the inventory container will be hit by future orders, and the heat of the goods is determined by the frequency of shipments or the shipment volume of the goods. At least one of the identified.
  • the first area is used to store the inventory container hit by the order task, so that the operator can directly operate the inventory container in the first area.
  • the second area is used to store the inventory container that is hit by the pre-hit order or the inventory container that stores the explosive goods. In the second area, there is no need to carry the corresponding movable carrier or container from the inventory area multiple times, which improves the picking efficiency.
  • Workstation 140 is a cargo picking area, which can pick the goods in the inventory container into the order container.
  • the workstation is used to perform storage operations on the inventory container, such as picking the goods in the inventory container into the order container, putting the goods on the shelf, Cargo inventory and so on.
  • Manipulation from the inventory containers is typically performed at workstation 140 by manual or automated equipment, which may include automated robotic arms.
  • the workstation is docked with the first area located on the other side of the container buffer mechanism, so that the operator can perform inventory operations on the inventory containers located in the buffer position in the first area.
  • the operating end can be manual or automated equipment such as a robotic arm.
  • the buffer position in the first area can also be set to have a certain inclination angle with the horizontal plane, and if the inclination angle is smaller than the preset angle , which is convenient for the operator to take out or put in goods directly from the inventory container in the cache position, improving the picking efficiency.
  • the system further includes an auxiliary device, the auxiliary device is used to assist the operation terminal to perform storage operations on the inventory containers located in the first area, for example, the staff pulls a trolley to pick goods in the inventory containers in the first area, Or the order robot follows the staff to pick goods and so on.
  • the auxiliary device is used to assist the operation terminal to perform storage operations on the inventory containers located in the first area, for example, the staff pulls a trolley to pick goods in the inventory containers in the first area, Or the order robot follows the staff to pick goods and so on.
  • control server is configured to determine the inventory container to be executed, the container pick-and-place device, and the cache position of the inventory container in the container cache mechanism, and send the The container pick-and-place device sends a container pick-and-place command;
  • the container access device configured to be located on a first side of the container buffer mechanism, to retrieve the inventory container from a movable carrier located at the container access device in response to the container access command, and place the inventory container in the buffer position of the container buffer mechanism, or take out the inventory container in the buffer position of the container buffer mechanism, and place the inventory container at the container pick-and-place device in a transportable vehicle; or,
  • the container pick-and-place device is configured to obtain an inventory container located in the inventory area in response to the container pick-and-place instruction, and transport the inventory container from the inventory area to the first surface of the container buffer mechanism, and placing the inventory container in the buffer position of the container buffer mechanism, or taking out the inventory container from the buffer position of the container buffer mechanism, and transporting the inventory container from the first side of the container buffer mechanism to the inventory area.
  • control server determines the inventory container a to be executed, the container pick-and-place device, and the cache position of the inventory container a in the container cache mechanism according to the order task, and sends a container pick-and-place instruction to the container pick-and-place device at the same time.
  • placing the containers in the inventory area on the container buffering mechanism can be realized through a container loading and unloading mechanism.
  • the container picking and placing device is the container loading and unloading mechanism 170 .
  • the control server determines the container handling mechanism, and sends a container pick-and-place instruction to the container handling mechanism.
  • the container loading and unloading mechanism 170 is located on the first side of the container buffering mechanism, and the inventory container a is taken out from the movable carrier at the container loading and unloading mechanism 170 in response to the container pick-and-place command, and placed in the buffer position of the container buffering mechanism.
  • the stock container a is taken out from the buffer position of the container buffer mechanism, and placed in a movable carrier located at the container handling mechanism.
  • Fig. 2 shows a schematic diagram of a container loading and unloading mechanism provided by an embodiment of the present application.
  • the container loading and unloading mechanism includes a frame body 7 and a fetching container assembly 2, and the frame body 7 includes mutually perpendicular X-axis rails 71 and Y-axis
  • the rail 72, the X-axis rail 71 and the Y-axis rail 72 are arranged on a vertical plane.
  • the Y-axis track is configured to move along the X-axis track
  • the fetching container assembly 2 is configured to move along the Y-axis track.
  • the fetching container component 2 can also take out the container from the carrier along the Z-axis direction and load it on the carrier component or unload the container from the carrier component and put it on the movable carrier.
  • the frame body 7 includes a door frame assembly
  • the X-axis track 71 includes a ground rail structure and a sky rail structure arranged on the door frame assembly.
  • the X-axis rail 71 extends in the horizontal direction
  • the Y-axis rail 72 extends in the vertical direction.
  • the Y-axis track 72 can be a column structure, and the two ends of the Y-axis track 72 are guided and matched with the ground rail structure and the sky rail structure respectively, and the Y-axis track 72 moves horizontally along the ground rail structure and the sky rail structure.
  • the two X-axis rails 71 are respectively provided with X-axis moving plates, and the X-axis moving plates can move horizontally along the X-axis rails 71, and the two ends of the Y-axis rails 72 are fixedly connected to the two X-axis moving plates respectively.
  • the Y-axis track 72 is provided with a Y-axis moving plate, and the Y-axis moving plate can move vertically along the Y-axis track 72, and the fetching container assembly is fixedly connected to the Y-axis moving plate.
  • the X-axis moving plate and the Y-axis moving plate can be further installed with guide assemblies, and slide along the corresponding X-axis rails 71 and Y-axis rails 72 through the guide assemblies.
  • a drive system is also provided on the frame body 7, and the drive system includes an X-axis drive unit and a Y-axis drive unit.
  • the X-axis drive unit is used to drive the Y-axis track 72 to move along the X-axis track 71
  • the Y-axis drive unit is used to drive the fetching and delivery container assembly to move along the Y-axis track 72, so that the fetching and delivery container assembly can be moved to
  • the corresponding position corresponds, for example, to the target position on a shelf.
  • the driving system may include a driving motor, a transmission gear, a transmission chain, a lead screw assembly, etc., and those skilled in the art can make settings based on the prior art to realize the above-mentioned functions of the driving system.
  • At least two Y-axis rails 72 may be provided, and at least two Y-axis rails 72 relatively independently move between the upper and lower X-axis rails 71 .
  • Each Y-axis track is provided with at least one pick-and-deliver container assembly, and each pick-and-deliver container assembly on each Y-axis track can move independently, which improves the working efficiency of the loading and unloading device.
  • the loading and unloading device is used to transfer the containers on the shelf, and the fetching container assembly can move on the frame body 7 along the X-axis track 71 and the Y-axis track 72 to the target position of the shelf.
  • the access container component accesses the container by at least one of suction, push, clamp, grasp, hook, hold, and lift.
  • the system further includes a handling device 150 configured to carry out moving the movable carrier from the inventory area to the first face of the container buffering mechanism, or Perform a move of the moveable carrier from the first side of the container buffer mechanism back to the inventory area.
  • the transport equipment 150 transports the movable carrier from the first surface of the container buffer mechanism back to the original position or other positions in the storage area.
  • the position of the first movable carrier in the inventory area is determined by the degree of correlation between the goods stored in the carrier and the goods in other movable carriers.
  • the heat of the movable carrier in this application refers to the heat of the goods in the movable carrier, that is, the shipment volume or frequency of the goods in the movable carrier.
  • the containers are placed on the same movable carrier, which can effectively improve the picking efficiency.
  • the container picking and placing It can also be an autonomous mobile robot 160 for picking, placing and handling inventory containers.
  • the autonomous mobile robot 160 obtains the inventory container located in the inventory area in response to the container picking and placing instruction, and transports the inventory container from the inventory area to the container cache The first side of the mechanism, placing the inventory container in the buffer position of the container buffer mechanism, or taking out the inventory container in the buffer position of the container buffer mechanism, and removing the inventory container from the first side of the container buffer mechanism Handling to the storage area described.
  • the container handling structure takes out the inventory containers from the movable carrier and places them in the target cache of the container cache mechanism
  • the form of the position and the form of the autonomous mobile robot taking the target inventory container from the inventory area and placing it in the target buffer position of the container buffer mechanism can coexist.
  • the control server is further configured to determine the inventory container to be executed, the container pick-and-place device, and the workstation corresponding to the inventory container, and send a container pick-and-place instruction to the container pick-and-place device;
  • the container pick-and-place device is configured to be located on the second surface of the container buffer mechanism, and in response to the container pick-and-place instruction, the inventory container is taken out from the container buffer mechanism and placed on a movable carrier or a transmission line , the movable carrier is transported to the workstation, and the transmission line leads to the workstation; or,
  • the container pick-and-place device is configured to take out the inventory container from the container buffer mechanism in response to the container pick-and-place instruction, and transport the inventory container to the workstation.
  • the container pick and place device may also be the container handling mechanism 170 during the handling of inventory containers to workstations for picking.
  • the container handling mechanism is located on the second side of the container buffer mechanism, and the inventory container is taken out of the container buffer mechanism in response to the container pick-and-place command, and placed on the movable carrier or the transmission line at the container handling mechanism.
  • the movable carrier When placed on the movable carrier, the movable carrier can be transported to the work station by the handling device 150; when placed on the transmission line, the storage container can be transported to the work station by the transmission line.
  • the transport device 150 transports the movable carrier from the second surface of the container buffer mechanism to the workstation, and may also transport the movable carrier from the workstation to the container The second side of the caching mechanism.
  • a transmission line may be provided between the workstation and the container handling mechanism, the transmission line includes a transmission line inlet and a transmission line outlet, and the transmission line includes a transmission line inlet and a transmission line outlet.
  • Container loading and unloading mechanisms are respectively provided at the outlet of the transmission line and the picking station of the workstation is located on the path of the transmission line.
  • the container handling mechanism located at the entrance of the transmission line is configured to take out the inventory container to be operated from the buffer position of the container buffer mechanism or the movable carrier, and place it at the entrance of the transmission line.
  • the transmission line transports the inventory container to the picking station.
  • the station completes the picking of order tasks, and the transmission line transports the completed inventory containers to the exit of the transmission line.
  • the container handling mechanism located at the exit of the transmission line is configured to take out the completed inventory containers from the exit of the transmission line and place them in the buffer position of the container buffer mechanism or in a movable vehicle.
  • the container pick and place device may also be an autonomous mobile robot 160 during the handling of inventory containers to workstations for picking.
  • the autonomous mobile robot 160 is configured to move to the second side of the container buffer mechanism, obtain the inventory container located in the container buffer mechanism, and transport the inventory container to the workstation, or move to the workstation to obtain the inventory container, and store the inventory container. Containers are transported to the second side of the container buffer mechanism.
  • FIG. 1 shows a storage scheduling system provided by an embodiment of the present application.
  • the system includes a control server 110 , an inventory area 120 , a container cache mechanism 130 , a workstation 140 , container pick-and-place equipment, and handling equipment 150 .
  • the control server 110 is configured to determine the inventory container a, the container loading and unloading mechanism, the cache position of the inventory container a in the container buffer mechanism 130, the movable carrier corresponding to the inventory container a, and the handling equipment 150 for handling the movable carrier , and send a handling instruction to the handling equipment 150, and send a pick-and-place instruction to the container loading and unloading mechanism.
  • the transport device 150 transports the movable carrier from the inventory area 120 to the first surface of the container buffer mechanism 130 in response to a transport instruction.
  • the container loading and unloading mechanism is configured to be located on the first surface of the container buffer mechanism 130, and take out the inventory container a from the movable carrier in response to the container pick-and-place instruction, and place it on the buffer position of the container buffer mechanism 130, and the staff Item picking occurs at the workstation 140 on the second side of the container buffer mechanism 130 .
  • FIG. 3 shows a schematic diagram of the system structure of a warehouse scheduling system provided by an embodiment of the present application.
  • the system includes a control server 110 , an inventory area 120 , a container cache mechanism 130 , a workstation 140 , and an autonomous mobile robot 160 .
  • the control server 110 is configured to determine the inventory container b located in the inventory area, the cache position of the inventory container b in the container buffer mechanism 130, and is used to carry the autonomous mobile robot 160 of the inventory container b, and send a pick-and-place request to the autonomous mobile robot 160. instruction.
  • the autonomous mobile robot 160 moves to the inventory container b in the inventory area in response to the pick-and-place instruction, takes out the inventory container b, and transports the inventory container b to the first surface of the container buffer mechanism 130, and places it on the container buffer mechanism 130. In the buffer position, the worker picks goods at the workstation 140 on the second side of the container buffer mechanism 130 .
  • FIG. 4 shows a schematic diagram of the system structure of a storage scheduling system provided by an embodiment of the present application
  • the system includes a control server 110, an inventory area 120, a container cache mechanism 130, a workstation 140, an autonomous mobile robot 160, and a container Loading and unloading mechanism 170 .
  • the inventory container is transported from the inventory area 120 to the container buffer mechanism 130 by the autonomous mobile robot 160 .
  • the control server 110 is configured to determine the storage container c located on the cache mechanism 130 , the container loading and unloading mechanism 170 used to pick and place the storage container c, and send a pick and place instruction to the container loading and unloading mechanism 170 .
  • the container loading and unloading mechanism 170 is located on the second side of the container buffer mechanism 130.
  • the inventory container c is taken out from the container buffer mechanism 130 and placed on the workstation 140. At the workstation 140, goods are picked from the inventory container c by manual or robotic arm.
  • FIG. 5 shows a schematic diagram of the system structure of a storage scheduling system provided by an embodiment of the present application, the system includes a control server 110, an inventory area 120, a container cache mechanism 130, a workstation 140, an autonomous mobile robot 160, and a container A handling mechanism 170 and a transfer line, wherein inventory containers are transported from the inventory area 120 to the container buffer mechanism 130 by the autonomous mobile robot 160 .
  • the control server 110 is configured to determine the storage container d located on the container cache mechanism 130 , the container handling mechanism 170 used to pick and place the storage container d, and send a pick-and-place instruction to the container handling mechanism 170 .
  • the container loading and unloading mechanism 170 is located on the second surface of the container buffer mechanism 130, takes out the inventory container d from the container buffer mechanism 130, and places it at the entrance of the transmission line.
  • the inventory container d is transported to the workstation 140 through the transmission line to complete the picking, and is transported to the exit of the transmission line through the transmission line.
  • the container loading and unloading mechanism 170 takes out the inventory container d from the exit of the transmission line, and places it in the buffer position of the container buffer mechanism 130 .
  • FIG. 6 shows a schematic diagram of the system structure of a storage scheduling system provided by an embodiment of the present application
  • the system includes a control server 110, an inventory area 120, a container cache mechanism 130, a workstation 140, a handling device 150, an autonomous mobile The robot 160, the container loading and unloading mechanism 170 and the transmission line, wherein, the handling equipment 150 obtains the movable shelf from the storage area 120, and transports it to the container loading and unloading mechanism 170 located on the first side of the container buffer mechanism 130, and the container loading and unloading mechanism 170 moves from the movable shelf Inventory containers are removed from the rack and placed on the container cache mechanism 130.
  • the control server 110 is configured to determine the inventory container e located on the container buffer mechanism 130 , the autonomous mobile robot 160 for handling the inventory container e, and send a pick-and-place instruction to the autonomous mobile robot 160 .
  • the autonomous mobile robot 160 moves the inventory area e on the second side of the container buffer mechanism 130 in response to the pick-and-place instruction, takes out the inventory container e, and transports the inventory container e to the workstation 140. Finish picking of goods.
  • An embodiment of the present application provides a storage scheduling system, the system includes a control server, an inventory area, container pick-and-place equipment, a container cache mechanism, and a workstation, wherein the inventory area stores a plurality of movable carriers, each A movable carrier can accommodate at least one storage container, the container buffer mechanism is provided with a plurality of buffer locations, each buffer location can carry at least one inventory container, and the first surface of the container buffer mechanism can parallelly dock multiple containers As for the pick-and-place device, the second surface can be connected to multiple workstations in parallel, and the inventory containers cached on the container cache mechanism are stored at the workstations; the control server is configured to determine the inventory containers to be executed, and the container pick-and-place device, the cache position of the inventory container in the container cache mechanism, and send a container pick-and-place instruction to the container pick-and-place device; the container pick-and-place device is configured to be located at the first In response to the container pick-and-place instruction, the inventory container is taken out from the
  • the container cache mechanism is set up, which increases the number of bins put into the container cache mechanism at the back end, increases the hit rate of a movable carrier in the scene, and the shelf does not need to reach multiple There is no need to wait for manual picking to put the container back into the movable carrier, which reduces the time of handling and waiting for the handling equipment, reduces the number of handling equipment, and improves the picking efficiency.
  • Fig. 7 shows a flowchart of a storage scheduling method provided by an embodiment of the present application, the method is applied to a storage system, and the system includes a control server, an inventory area, a container pick-and-place device, a container cache mechanism, and a workstation, wherein,
  • the inventory area stores a plurality of movable carriers, and each movable carrier can accommodate at least one inventory container, and the container buffer mechanism is provided with a plurality of buffer positions, and each buffer position can carry at least one inventory container, so
  • the first side of the container cache mechanism can be connected to multiple container pick-and-place devices in parallel, and the second surface can be connected to multiple workstations in parallel, and the inventory containers cached on the container cache mechanism are stored at the workstations;
  • the method includes:
  • Step 702 The control server determines the inventory container to be executed, the container pick-and-place device, and the cache position of the inventory container in the container cache mechanism, and sends a container pick-and-place instruction to the container pick-and-place device.
  • Step 704 The container pick-and-place device is located on the first surface of the container buffer mechanism, and in response to the container pick-and-place instruction, takes out the inventory container from a movable carrier located at the container pick-and-place device, and placing the stock container in a buffer position of the container buffer mechanism, or taking out the stock container from the buffer position of the container buffer mechanism, and placing the stock container in the container pick-and-place device in a transportable vehicle; or,
  • the container pick-and-place device acquires an inventory container located in the inventory area in response to the container pick-and-place instruction, transports the inventory container from the inventory area to the first surface of the container buffer mechanism, and transfers the The inventory container is placed in the buffer position of the container buffer mechanism, or the inventory container is removed from the buffer position of the container buffer mechanism, and the inventory container is transported from the first side of the container buffer mechanism to the inventory area.
  • the container cache mechanism includes a first area and a second area, wherein the height of the first area is lower than the height of the second area;
  • the container pick and place device places inventory containers in either the first area or the second area.
  • the method also includes:
  • the container pick-and-place device takes out inventory containers in the second area and places them in the first area, or takes out inventory containers in the first area and places them in the second area.
  • the method also includes:
  • the control server determines the inventory container to be executed, the container pick-and-place device, and the workstation corresponding to the inventory container, and sends a container pick-and-place instruction to the container pick-and-place device;
  • the container pick-and-place device is located on the second surface of the container cache mechanism, and in response to the container pick-and-place instruction, the inventory container is taken out from the container cache mechanism and placed on a movable carrier or a transmission line, the a movable carrier is transported to the workstation to which the transmission line leads; or,
  • the container pick-and-place device removes the inventory container from the container buffer mechanism in response to the container pick-and-place instruction, and transports the inventory container to the workstation.
  • the container handling equipment includes a container handling mechanism; wherein,
  • the container handling mechanism is located on the first side of the container buffer mechanism, and in response to the container pick and place command, the inventory container is taken out from the movable carrier at the container handling mechanism and placed in the container buffer mechanism cache bits, and/or,
  • the container handling mechanism is located on the second surface of the container buffer mechanism, and the inventory container is taken out from the container buffer mechanism in response to the container pick-and-place instruction and placed on a movable carrier located at the container handling mechanism middle.
  • the system also includes handling equipment;
  • the handling equipment carries out transporting the movable carrier from the inventory area to the first side of the container buffer mechanism, transporting the movable carrier from the first side of the container buffer mechanism back to the inventory area, and transferring the movable carrier from the first side of the container buffer mechanism to the storage area. at least one of transporting the second side of the container buffer mechanism to a workstation, and transporting a movable carrier from a workstation to the second side of the container buffer mechanism.
  • the workstation is provided with a transmission line
  • the transmission line includes a transmission line inlet and a transmission line outlet
  • container loading and unloading mechanisms are respectively arranged at the transmission line inlet and the transmission line outlet
  • the work station is located on the path of the transmission line;
  • the container loading and unloading mechanism located at the entrance of the transmission line takes out the inventory container to be operated from the buffer position of the container buffer mechanism or the movable carrier and places it at the entrance of the transmission line;
  • the container loading and unloading mechanism located at the exit of the transmission line takes out the finished inventory containers from the exit of the transmission line, and places them in the buffer position of the container buffer mechanism or in the movable carrier.
  • the container pick-and-place equipment includes an autonomous mobile robot
  • the autonomous mobile robot acquires an inventory container located in the inventory area, transports the inventory container from the inventory area to the first side of the container cache mechanism, places the inventory container in the cache location, or removing the inventory container from a cache position of the container cache mechanism, and transporting the inventory container from the first side of the container cache mechanism to the inventory area; and/or,
  • the autonomous mobile robot moves to the second surface of the container buffer mechanism, obtains the inventory container located in the container buffer mechanism, and transports the inventory container to the workstation, or moves to the workstation to obtain the inventory container, and The inventory containers are transported to the second side of the container buffer mechanism.

Abstract

本申请提供一种仓储调度系统及方法，所述系统包括所述系统包括控制服务器、库存区域、容器取放设备、容器缓存机构、工作站，所述控制服务器，被配置为确定待执行任务的库存容器、容器取放设备、所述库存容器在所述容器缓存机构中的缓存位，并向所述容器取放设备发送容器取放指令；所述容器取放设备，被配置为位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器取放设备处的可移动载具中取出所述库存容器，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，并将所述库存容器放置在位于所述容器取放设备处的可移动载具中。

Description

一种仓储调度系统及方法
本申请要求于2021年10月29日提交中国专利局、申请号为202111276509.5、发明名称为“一种仓储调度系统及方法”以及申请号为202122635641.2，发明名称为“一种仓储调度系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储技术领域，特别涉及一种仓储调度系统及方法。
背景技术
随着电子商务的快速发展，电子商务在消费者生活中扮演着越来越重要的角色，每年用户订单数量呈几何倍数增长，同时电子商务越来越成熟，用户对电子商务的服务质量也提出了更高的要求，仓储调度的处理能力也在经受严峻的考验。
在目前的仓储管理中，订单货物均在拣选工位进行拣选，当机器人到达工位后，只有该工位对应的容器或商品才能被检出，若下一个工位需要该货架上的容器或商品时，机器人需要搬运该货架到下一个工作站完成拣选，机器人搬运路径较长，单个货架也需要到各个工位等待拣选完成之后，才能被搬运会库存区域，造成了不必要的搬运，而每个工位对应的订单容器的数量有限，导致单个货架的命中率较低。
发明内容
有鉴于此，本申请实施例提供了仓储调度系统及方法，以解决现有技术中存在的技术缺陷。
根据本申请实施例的第一方面，提供了一种仓储调度系统，所述系统包括控制服务器、库存区域、容器取放设备、容器缓存机构、工作站，其中，所述库存区域存储有多个可移动载具，每个可移动载具可容纳至少一个库存容器，所述容器缓存机构设置有多个缓存位，每个缓存位可承载至少一个库存容器，所述容器缓存机构的第一面可并行对接多个容器取放设备，第二面可并行对接多个工作站，所述容器缓存机构上缓存的库存容器在工作站被执行仓储操作；
所述控制服务器，被配置为确定待执行任务的库存容器、容器取放设备、所述库存容器在所述容器缓存机构中的缓存位，并向所述容器取放设备发送容器取放指令；
所述容器取放设备，被配置为位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器取放设备处的可移动载具中取出所述库存容器，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，并将所述库存容器放置在位于所述容器取放设备处的可移动载具中；或者，
所述容器取放设备，被配置为响应于所述容器取放指令取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域。
可选的，所述容器缓存机构包括第一区域和第二区域，其中，所述第一区域的高度低于所述第二区域的高度。
可选的，所述容器取放设备，被配置为将库存容器放置在所述第一区域或所述第二区域。
可选的，所述容器取放设备，还被配置为将所述第二区域中的库存容器取出并放置在所述第一区域，或将所述第一区域中的库存容器取出并放置在所述第二区域。
可选的，所述控制服务器，进一步被配置为根据预设条件确定将库存容器放置在所述容器缓存机构的第一区域或第二区域。
可选的，所述预设条件包括库存容器中存储的货物的热度、库存容器中存储的货物被未来的订单命中的概率中的至少一种，所述货物的热度由货物的出货频率或者出货量中的至少之一确定。
可选的，所述第一区域中的缓存位与水平面间设置倾斜角度，其中，所述倾斜角度小于预设角度阈值。
可选的，所述工作站对接位于所述容器缓存机构位于第二面的第一区域，便于操作端对位于所述第一区域的库存容器进行仓储操作。
可选的，所述系统还包括辅助装置，所述辅助装置用于辅助所述操作端对位于所述第一区域的库存容器进行仓储操作。
可选的，所述控制服务器，还被配置为确定待执行任务的库存容器、容器取放设备、所述库存容器对应的工作站，并向所述容器取放设备发送容器取放指令；
所述容器取放设备，被配置为位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述 容器缓存机构中取出所述库存容器放置在可移动载具上或传输线上，所述可移动载具被搬运至所述工作站，所述传输线通向所述工作站；或者，
所述容器取放设备，被配置为响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器，并搬运所述库存容器到所述工作站。
可选的，所述容器取放设备包括容器装卸机构；其中，
所述容器装卸机构，被配置为位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器装卸机构处的可移动载具中取出库存容器，并放置在所述容器缓存机构的缓存位，和/或，
所述容器装卸机构，被配置为位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出库存容器，并放置在位于所述容器装卸机构处的可移动载具中。
可选的，所述系统还包括搬运设备；
所述搬运设备，被配置为执行将可移动载具从库存区域搬运至所述容器缓存机构的第一面、将可移动载具从容器缓存机构的第一面搬运回库存区域、将可移动载具从所述容器缓存机构的第二面搬运至工作站、将可移动载具从工作站搬运至所述容器缓存机构的第二面中的至少一种。
可选的，所述工作站设置有传输线，所述传输线包括传输线入口和传输线出口，在所述传输线入口和所述传输线出口分别设置有容器装卸机构，工作站点位于所述传输线的路径上；
位于所述传输线入口的容器装卸机构，被配置为从所述容器缓存机构的缓存位中或者可移动载具中取出待操作的库存容器并放置在所述传输线入口；
位于所述传输线出口的容器装卸机构，被配置为从所述传输线出口取出操作完的库存容器，并放置在所述容器缓存机构的缓存位或者可移动载具中。
可选的，所述容器取放设备包括自主移动机器人；
所述自主移动机器人，被配置为取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，将所述库存容器放置在所述缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域；和/或，
所述自主移动机器人，被配置为移动至所述容器缓存机构的第二面，取得位于所述容器缓存机构的库存容器，并将所述库存容器搬运至所述工作站，或移动至工作站取得库存容器，并将所述库存容器搬运至容器缓存机构的第二面。
可选的，所述容器装卸机构包括：架体和取放容器组件；
所述架体包括方向相互垂直的水平方向的X轴轨道和竖直方向的Y轴轨道；
所述Y轴轨道被构造为沿着X轴轨道运动，所述取放容器组件被构造为沿着Y轴轨道运动。
可选的，所述架体包括门架组件；
所述X轴轨道包括地轨结构和设置在门架组件上的天轨结构；
所述Y轴轨道的两端分别与地轨结构和天轨结构导向配合在一起。
可选的，所述Y轴轨道设置有至少两个，每个Y轴轨道上设置有至少一个所述取放容器组件。
可选的，所述取放容器组件通过吸取、推动、夹取、抓取、钩取、抱起、抬升方式中的至少一种取放容器。
根据本申请实施例的第二方面，提供了一种仓储调度方法，所述方法应用于仓储系统，所述系统包括控制服务器、库存区域、容器取放设备、容器缓存机构、工作站，其中，所述库存区域存储有多个可移动载具，每个可移动载具可容纳至少一个库存容器，所述容器缓存机构设置有多个缓存位，每个缓存位可承载至少一个库存容器，所述容器缓存机构的第一面可并行对接多个容器取放设备，第二面可并行对接多个工作站，所述容器缓存机构上缓存的库存容器在工作站被执行仓储操作；所述方法包括：
所述控制服务器确定待执行任务的库存容器、容器取放设备、所述库存容器在所述容器缓存机构中的缓存位，并向所述容器取放设备发送容器取放指令。
所述容器取放设备位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器取放设备处的可移动载具中取出所述库存容器，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，并将所述库存容器放置在位于所述容器取放设备处的可移动载具中；或者，
所述容器取放设备响应于所述容器取放指令取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，并将所述库存容器放置在所述容器缓存机构的缓 存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域。
可选的，所述容器缓存机构包括第一区域和第二区域，其中，所述第一区域的高度低于所述第二区域的高度；
所述容器取放设备将库存容器放置在所述第一区域或所述第二区域。
可选的，所述方法还包括：
所述容器取放设备将所述第二区域中的库存容器取出并放置在所述第一区域，或将所述第一区域中的库存容器取出并放置在所述第二区域。
可选的，所述方法还包括：
所述控制服务器确定待执行任务的库存容器、容器取放设备、所述库存容器对应的工作站，并向所述容器取放设备发送容器取放指令；
所述容器取放设备位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器放置在可移动载具上或传输线上，所述可移动载具被搬运至所述工作站，所述传输线通向所述工作站；或者，
所述容器取放设备响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器，并搬运所述库存容器到所述工作站。
可选的，所述容器取放设备包括容器装卸机构；其中，
所述容器装卸机构位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器装卸机构处的可移动载具中取出库存容器，并放置在所述容器缓存机构的缓存位，和/或，
所述容器装卸机构位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出库存容器，并放置在位于所述容器装卸机构处的可移动载具中。
可选的，所述系统还包括搬运设备；
所述搬运设备执行将可移动载具从库存区域搬运至所述容器缓存机构的第一面、将可移动载具从容器缓存机构的第一面搬运回库存区域、将可移动载具从所述容器缓存机构的第二面搬运至工作站、将可移动载具从工作站搬运至所述容器缓存机构的第二面中的至少一种。
可选的，所述工作站设置有传输线，所述传输线包括传输线入口和传输线出口，在所述传输线入口和所述传输线出口分别设置有容器装卸机构，工作站点位于所述传输线的路径上；
位于所述传输线入口的容器装卸机构从所述容器缓存机构的缓存位中或者可移动载具中取出待操作的库存容器并放置在所述传输线入口；
位于所述传输线出口的容器装卸机构从所述传输线出口取出操作完的库存容器，并放置在所述容器缓存机构的缓存位或者可移动载具中。
可选的，所述容器取放设备包括自主移动机器人；
所述自主移动机器人取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，将所述库存容器放置在所述缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域；和/或，
所述自主移动机器人移动至所述容器缓存机构的第二面，取得位于所述容器缓存机构的库存容器，并将所述库存容器搬运至所述工作站，或移动至工作站取得库存容器，并将所述库存容器搬运至容器缓存机构的第二面。
本申请一实施例提供了一种仓储调度系统，所述系统包括控制服务器、库存区域、容器取放设备、容器缓存机构、工作站，其中，所述库存区域存储有多个可移动载具，每个可移动载具可容纳至少一个库存容器，所述容器缓存机构设置有多个缓存位，每个缓存位可承载至少一个库存容器，所述容器缓存机构的第一面可并行对接多个容器取放设备，第二面可并行对接多个工作站，所述容器缓存机构上缓存的库存容器在工作站被执行仓储操作；所述控制服务器，被配置为确定待执行任务的库存容器、容器取放设备、所述库存容器在所述容器缓存机构中的缓存位，并向所述容器取放设备发送容器取放指令；所述容器取放设备，被配置为位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器取放设备处的可移动载具中取出所述库存容器，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，并将所述库存容器放置在位于所述容器取放设备处的可移动载具中；或者，所述容器取放设备，被配置为响应于所述容器取放指令取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存 容器从所述容器缓存机构的第一面搬运至所述库存区域。通过本申请实施例提供的仓储调度系统，设置容器缓存机构，增加了后端放入容器缓存机构料箱的数量，增加了场景内带个可移动载具的命中率，货架也无需到达多个工位，无需等待人工拣选后将容器放回可移动载具，减少了搬运设备搬运及等待的时间，减少了搬运设备的数量，提升了拣选效率。
附图说明
图1是本申请一实施例提供的仓储调度系统的系统结构示意图；
图2是本申请一实施例提供的容器装卸机构的示意图；
图3是本申请第二实施例提供的仓储调度系统的系统结构示意图；
图4是本申请第三实施例提供的仓储调度系统的系统结构示意图；
图5是本申请第四实施例提供的仓储调度系统的系统结构示意图；
图6是本申请第五实施例提供的仓储调度系统的系统结构示意图；
图7是本申请一实施例提供的仓储调度方法的流程图。
附图标记
110-控制服务器，111-处理器，112-存储器，113-订单池，114-操作台，120-库存区域，130-容器缓存机构，140-工作站，150-搬运设备，160-自主移动机器人，170-容器装卸机构，7-架体，71-X轴轨道，72-Y轴轨道，2-取送容器组件。
具体实施方式
在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开的具体实施的限制。
在本申请一个或多个实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请一个或多个实施例。在本申请一个或多个实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本申请一个或多个实施例中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请一个或多个实施例中可能采用术语第一、第二等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请一个或多个实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
在本申请中，提供了一种仓储调度系统及方法，在下面的实施例中逐一进行详细说明。
图1示出了本申请一实施例提供的仓储调度系统的系统结构示意图，该系统包括一个或多个控制服务器110，库存区域120、容器取放设备、容器缓存机构130和工作站140，其中，在库存区域设置有多个可移动载具，每个可移动载具可容纳至少一个库存容器，所述容器缓存机构设置有多个缓存位，每个缓存位可承载至少一个库存容器，所述容器缓存机构的一侧可并行对接多个容器取放设备，另一侧可并行对接多个工作站，所述容器缓存机构上缓存的库存容器在工作站被执行仓储操作。
控制服务器110与容器取放设备无线通信连接，工作人员通过操作台114操作控制服务器110工作，所述控制服务器110为在服务器上运行的、具有数据存储、信息处理能力的软件系统，可以通过无线与工作站140的软件系统等连接，控制服务器110可以包括一个或多个服务器，可以为集中式控制架构或者分布式计算架构，控制服务器110具有处理器111和存储器112，在存储器112中可以具有订单池113，订单池113中存有订单信息。
所述库存区域120可以为密集存储区，也可以为非密集存储区，在库存区域120中设置多个可移动载具，可移动载具包括但不限于隔板货架、货箱货架、拣选货架、托盘之间、可移动货架、笼车、托板支架等等。
可移动载具可以是可移动货架，可移动货架包括至少一层隔板，所述至少一层隔板将可移动货架分割为至少两层，所述可移动货架的隔板上设置有至少一个存储位，每个存储位可容纳至少一个容器，所述库存容器可以是货箱。
容器缓存机构130是用于缓存在工作站被执行仓储操作的库存容器的机构，具体表现形式可以为缓存墙，仓储操作具体可以为上架操作、下架操作、盘点操作、理货操作等等。在容器缓存机构中设置有多个缓存位，每个缓存位可承载至少一个库存容器，参见图1，在容器缓存机构130的第一面可以并行对接多个容器取放设备，在容器缓存机构130的第二面可并行对接多个工作站140，需要注意的是，本申请中提及的多个均表示两个以上，即多个缓存位表示有两个以上的缓存位，多个容器取放设备表示有 两个以上的容器取放设备，多个工作站表示有两个以上的工作站。
进一步的，在容器缓存机构130中包括第一区域和第二区域，其中，第一区域的高度低于第二区域的高度，在实际应用中，为了提高仓储系统的空间利用率，容器缓存机构130的高度可以很高，为了便于拣选，还可以根据高度将容器缓存机构划分为第一区域和第二区域，第一区域中的库存容器可以由操作端直接进行操作，第二区域中的库存容器则需要借助机器来进行操作处理。
在实际应用中，所述控制服务器，进一步被配置为根据预设条件确定将库存容器放置在所述容器缓存机构的第一区域或第二区域。其中，预设条件包括库存容器中存储的货物的热度、库存容器中存储的货物被未来的订单命中的概率中的至少一种，所述货物的热度由货物的出货频率或者出货量中的至少之一确定。
具体的，在第一区域中用于存放订单任务命中的库存容器，便于操作端对第一区域中的库存容器直接进行操作。第二区域中用于存放预命中订单命中的库存容器或存放有爆品货物的库存容器，将预命中订单命中的库存容器或用于存放爆品货物的库存容器预先放置在容器缓存机构的第二区域，无需从库存区域多次搬运相应的可移动载具或容器，提升了拣选效率。
工作站140为货物拣选区，可以将库存容器中的货物拣选到订单容器中，在实际应用中，工作站用于对库存容器执行仓储操作，如将库存容器中的货物拣选至订单容器、货物上架、货物盘点等等。在工作站140中通常由人工或自动化设备从库存容器中进行操作，自动化设备可以包括自动化机械臂。
工作站对接位于容器缓存机构的另一侧的第一区域，便于操作端对位于第一区域的缓存位中的库存容器进行库存操作。其中，操作端可以是人工，也可以是机械臂等自动化设备。更进一步的，为了便于在第一区域由操作端直接对库存容器进行操作，还可以将第一区域中的缓存位设置为与水平面有一定的倾斜角度，在倾斜角度小于预设角度的情况下，便于操作端直接从缓存位中的库存容器中取出或放入货物，提升拣选效率。
具体的，所述系统还包括辅助装置，辅助装置用于辅助操作端对位于第一区域的库存容器进行仓储操作，例如，由工作人员拉着推车在第一区域的库存容器中拣货，或由订单机器人跟随工作人员拣货等等。
在本申请提供的一具体实施方式中，所述控制服务器，被配置为确定待执行任务的库存容器、容器取放设备、所述库存容器在所述容器缓存机构中的缓存位，并向所述容器取放设备发送容器取放指令；
所述容器取放设备，被配置为位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器取放设备处的可移动载具中取出所述库存容器，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，并将所述库存容器放置在位于所述容器取放设备处的可移动载具中；或者，
所述容器取放设备，被配置为响应于所述容器取放指令取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域。
具体的，控制服务器根据订单任务，确定待执行任务的库存容器a，容器取放设备，和库存容器a在容器缓存机构中的缓存位，同时向容器取放设备发送容器取放指令。
具体的，将库存区域中的容器放置在容器缓存机构上可以通过容器装卸机构来实现，在此场景下，容器取放设备是容器装卸机构170。控制服务器确定容器装卸机构，并向容器装卸机构发送容器取放指令。容器装卸机构170位于容器缓存机构的第一面，响应于容器取放指令将库存容器a从位于容器装卸机构170处的可移动载具中取出，并放置在容器缓存机构的缓存位中。或者从库存容器a从容器缓存机构的缓存位中取出，并放置在位于所述容器装卸机构处的可移动载具中。
参见图2，图2示出了本申请一实施例提供的容器装卸机构的示意图，容器装卸机构包括架体7和取送容器组件2，架体7包括相互垂直的X轴轨道71和Y轴轨道72，X轴轨道71和Y轴轨道72设置在竖直的平面上。具体地，Y轴轨道被构造为沿着X轴轨道运动，取送容器组件2被构造为沿着Y轴轨道运动。所述取送容器组件2还可延沿Z轴方向从载具上取出容器并装载至所述承载组件上或者从所述承载组件卸载容器并放在可移动载具上。
在一种实施方式中，架体7包括门架组件，X轴轨道71包括地轨结构和设置在门架组件上的天轨结构。X轴轨道71沿水平方向延伸，Y轴轨道72沿竖直方向延伸。Y轴轨道72可以是立柱结构，Y轴轨道72的两端分别与地轨结构和天轨结构导向配合在一起，Y轴轨道72沿着地轨结构和天轨结构水平 运动。
具体地，两个X轴轨道71上分别设置有X轴移动板，X轴移动板能够沿着X轴轨道71水平方向移动，Y轴轨道72的两端分别固定连接于两个X轴移动板上。Y轴轨道72设置有Y轴移动板，Y轴移动板能够沿着Y轴轨道72在竖直方向移动，取送容器组件固定连接在Y轴移动板上。X轴移动板、Y轴移动板上可以进一步安装导向组件，并且通过导向组件沿着相应的X轴轨道71、Y轴轨道72滑动。
架体7上还设置有驱动系统，驱动系统包括X轴驱动单元以及Y轴驱动单元。其中，X轴驱动单元用于驱动Y轴轨道72沿着X轴轨道71运动，Y轴驱动单元用于驱动取送容器组件沿着Y轴轨道72运动，由此可将取送容器组件运动至相应的位置，例如与货架上的目标位置相对应。驱动系统可以包括驱动电机、传动齿轮、传动链，丝杠组件等，本领域技术人员能够基于现有技术进行设置，以实现驱动系统的上述功能。
在本公开一个实施方式中，Y轴轨道72可以设置有至少两个，至少两个Y轴轨道72在上下两条X轴轨道71之间相对独立运动。每个Y轴轨道上设置有至少一个取送容器组件，每个Y轴轨道上的取送容器组件均可以独立运动，提高了装卸装置的工作效率。
本实施例中，装卸装置用于转运货架上的容器，取送容器组件能够沿着X轴轨道71和Y轴轨道72在架体7上移动，移动至货架的目标位置。
在实际应用中，取放容器组件通过吸取、推动、夹取、抓取、钩取、抱起、抬升方式中的至少一种取放容器。
在应用容器装卸机构的场景下，参见图1，所述系统还包括搬运设备150，搬运设备150被配置为执行将可移动载具从库存区域搬运至所述容器缓存机构的第一面，或者执行将可移动载具从容器缓存机构的第一面搬运回库存区域。在实际应用中，搬运设备150将可移动载具从容器缓存机构的第一面搬运回库存区域的原位置或其他位置，具体的，可以根据第一可移动载具的热度、第一可移动载具中存储货物与其他可移动载具中货物之间的关联度来确定第一可移动载具在库存区域中的位置。
需要注意的是，本申请中可移动载具的热度是指可移动载具中货物的热度，即可移动载具中货物的出货量或出货频次，货物的热度越高是指货物的出货量大或者出货频次高，货物的热度越高，则对应可移动载具的热度越高；货物之间的关联度是指在订单任务中，货物一同被选中的频次，例如美甲油和卸甲油，通常会出现在一个订单中，则这两个货物的关联度比较高，将关联度较高的两个可移动载具相邻放置，或将关联度较高的两个库存容器放在同一个可移动载具上，可以有效提高拣选效率。
除了根据将库存区域中的容器放置在容器缓存机构上可以通过容器装卸机构来实现之外，还可以用其他形式实现，具体的，在本申请提供的另一具体实施方式中，容器取放设备还可以是用于取放及搬运库存容器的自主移动机器人160，在此场景下，自主移动机器人160响应于容器取放指令取得位于库存区域的库存容器，将库存容器从库存区域搬运至容器缓存机构的第一面，将库存容器放置在所述容器缓存机构的缓存位，或者，在容器缓存机构的缓存位中取出库存容器，并将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域。
在实际应用中，在将库存区域中的库存容器搬运至容器缓存机构中时，上述两种场景可以并存，即容器装卸结构从可移动载具中取出库存容器并放置在容器缓存机构的目标缓存位的形式和自主移动机器人从库存区域中取出目标库存容器并放置在容器缓存机构的目标缓存位的形式可以共存。
当库存容器被搬运至容器缓存机构后，还需要通过工作站对容器缓存机构中的库存容器进行拣选。具体的，还可以由设置在容器缓存机构第二面的容器取放设备来实现。具体的，所述控制服务器，还被配置为确定待执行任务的库存容器、容器取放设备、所述库存容器对应的工作站，并向所述容器取放设备发送容器取放指令；
所述容器取放设备，被配置为位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器放置在可移动载具上或传输线上，所述可移动载具被搬运至所述工作站，所述传输线通向所述工作站；或者，
所述容器取放设备，被配置为响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器，并搬运所述库存容器到所述工作站。
在将库存容器搬运至工作站进行拣选过程中，容器取放设备也可以是容器装卸机构170。相应的，容器装卸机构位于容器缓存机构的第二面，响应于容器取放指令在容器缓存机构中取出库存容器，并放置在位于所述容器装卸机构处的可移动载具或传输线上。当放置在可移动载具上时，可移动载具可以通过搬运设备150搬运至工作站；当放置在传输线上时，可以由传输线将容库存容器运输至工作站。
具体的，在搬运设备将可移动载具搬运至工作站的场景下，搬运设备150将可移动载具从容器缓存 机构的第二面搬运至工作站，也可以将可移动载具从工作站搬运至容器缓存机构的第二面。
具体的，在通过传输线将库存容器运输至工作站的场景下，在工作站和容器装卸机构之间可以设置有传输线，所述传输线包括传输线入口和传输线出口，传输线包括传输线入口和传输线出口，在传输线入口和传输线出口分别设置有容器装卸机构，工作站的拣选站点位于传输线的路径上。位于传输线入口的容器装卸机构，被配置为从容器缓存机构的缓存位中或者可移动载具中取出待操作的库存容器，并放置在传输线入口，传输线将该库存容器传输至拣选站点，在拣选站点完成订单任务的拣选，传输线将操作完成的库存容器传输至传输线出口，位于传输线出口的容器装卸机构，被配置为从传输线出口取出操作完的库存容器，并放置在容器缓存机构的缓存位中或者可移动载具中。
在将库存容器搬运至工作站进行拣选过程中，容器取放设备也可以是自主移动机器人160。具体的，自主移动机器人160被配置为移动至容器缓存机构的第二面，取得位于容器缓存机构的库存容器，并将所述库存容器搬运至工作站，或移动至工作站取得库存容器，并将库存容器搬运至容器缓存机构的第二面。
下面结合具体实施例对本申请提供的仓储调度系统做进一步解释说明。
实施例一
参见图1，图1示出了本申请一实施例提供的仓储调度系统，所述系统包括控制服务器110、库存区域120、容器缓存机构130、工作站140、容器取放设备、搬运设备150。
控制服务器110，被配置为确定库存容器a、容器装卸机构、库存容器a在容器缓存机构130中的缓存位，库存容器a对应的可移动载具，用于搬运可移动载具的搬运设备150，并向搬运设备150发送搬运指令，向容器装卸机构发送取放指令。
所述搬运设备150，响应于搬运指令将可移动载具从库存区域120搬运至所述容器缓存机构130的第一面。
所述容器装卸机构，被配置为位于容器缓存机构130的第一面，响应于容器取放指令从可移动载具中取出库存容器a，并放置在容器缓存机构130的缓存位上，工作人员在容器缓存机构130的第二面的工作站140处进行货物拣选。
实施例二
参见图3，图3示出了本申请一实施例提供的仓储调度系统的系统结构示意图，所述系统包括控制服务器110、库存区域120、容器缓存机构130、工作站140、自主移动机器人160。
控制服务器110，被配置为确定位于库存区域的库存容器b、库存容器b在容器缓存机构130中的缓存位，用于搬运库存容器b的自主移动机器人160，并向自主移动机器人160发送取放指令。
自主移动机器人160，响应于取放指令移动至库存区域的库存容器b处，取出库存容器b，并将库存容器b搬运至容器缓存机构130的第一面，放置在所述容器缓存机构130的缓存位中，工作人员在容器缓存机构130的第二面的工作站140处进行货物拣选。
实施例三
参见图4，图4示出了本申请一实施例提供的仓储调度系统的系统结构示意图，所述系统包括控制服务器110、库存区域120、容器缓存机构130、工作站140、自主移动机器人160、容器装卸机构170。其中，库存容器通过自主移动机器人160从库存区域120搬运至容器缓存机构130。
控制服务器110，被配置为确定位于缓存机构130上的库存容器c，用于取放库存容器c的容器装卸机构170，并向容器装卸机构170发送取放指令。
容器装卸机构170位于容器缓存机构130的第二面，从容器缓存机构130中取出库存容器c，并放置在工作站140，在工作站140处由人工或机械臂从库存容器c中拣选货物。
实施例四
参见图5，图5示出了本申请一实施例提供的仓储调度系统的系统结构示意图，所述系统包括控制服务器110、库存区域120、容器缓存机构130、工作站140、自主移动机器人160、容器装卸机构170和传输线，其中，库存容器通过自主移动机器人160从库存区域120搬运至容器缓存机构130。
控制服务器110，被配置为确定位于容器缓存机构130上的库存容器d，用于取放库存容器d的容器装卸机构170，并向容器装卸机构170发送取放指令。
容器装卸机构170位于容器缓存机构130的第二面，从容器缓存机构130中取出库存容器d，并放置在传输线入口。
库存容器d经过传输线传输至工作站140完成拣选，并经过传输线传输至传输线出口。
容器装卸机构170，从传输线出口取出库存容器d，并放置在容器缓存机构130的缓存位中。
实施例五
参见图6，图6示出了本申请一实施例提供的仓储调度系统的系统结构示意图，所述系统包括控制服务器110、库存区域120、容器缓存机构130、工作站140、搬运设备150、自主移动机器人160、容器装卸机构170和传输线，其中，搬运设备150从库存区域120取得可移动货架，并搬运至位于容器缓存机构130第一面的容器装卸机构170处，由容器装卸机构170从可移动货架中取出库存容器，并放置在容器缓存机构130上。
控制服务器110被配置为确定位于容器缓存机构130上的库存容器e，用于搬运库存容器e的自主移动机器人160，并向自主移动机器人160发送取放指令。
自主移动机器人160响应于取放指令移动容器缓存机构130第二面的库存区域e处，取出库存容器e，并将库存容器e搬运至工作站140处，由位于工作站140处的工作人员或自动化设备完成货物拣选。
本申请一实施例提供了一种仓储调度系统，所述系统包括控制服务器、库存区域、容器取放设备、容器缓存机构、工作站，其中，所述库存区域存储有多个可移动载具，每个可移动载具可容纳至少一个库存容器，所述容器缓存机构设置有多个缓存位，每个缓存位可承载至少一个库存容器，所述容器缓存机构的第一面可并行对接多个容器取放设备，第二面可并行对接多个工作站，所述容器缓存机构上缓存的库存容器在工作站被执行仓储操作；所述控制服务器，被配置为确定待执行任务的库存容器、容器取放设备、所述库存容器在所述容器缓存机构中的缓存位，并向所述容器取放设备发送容器取放指令；所述容器取放设备，被配置为位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器取放设备处的可移动载具中取出所述库存容器，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，并将所述库存容器放置在位于所述容器取放设备处的可移动载具中。通过本申请实施例提供的仓储调度系统，设置容器缓存机构，增加了后端放入容器缓存机构料箱的数量，增加了场景内带个可移动载具的命中率，货架也无需到达多个工位，无需等待人工拣选后将容器放回可移动载具，减少了搬运设备搬运及等待的时间，减少了搬运设备的数量，提升了拣选效率。
图7示出了本申请一实施例提供的仓储调度方法的流程图，所述方法应用于仓储系统，所述系统包括控制服务器、库存区域、容器取放设备、容器缓存机构、工作站，其中，所述库存区域存储有多个可移动载具，每个可移动载具可容纳至少一个库存容器，所述容器缓存机构设置有多个缓存位，每个缓存位可承载至少一个库存容器，所述容器缓存机构的第一面可并行对接多个容器取放设备，第二面可并行对接多个工作站，所述容器缓存机构上缓存的库存容器在工作站被执行仓储操作；所述方法包括：
步骤702：所述控制服务器确定待执行任务的库存容器、容器取放设备、所述库存容器在所述容器缓存机构中的缓存位，并向所述容器取放设备发送容器取放指令。
步骤704：所述容器取放设备位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器取放设备处的可移动载具中取出所述库存容器，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，并将所述库存容器放置在位于所述容器取放设备处的可移动载具中；或者，
所述容器取放设备响应于所述容器取放指令取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域。
可选的，所述容器缓存机构包括第一区域和第二区域，其中，所述第一区域的高度低于所述第二区域的高度；
所述容器取放设备将库存容器放置在所述第一区域或所述第二区域。
可选的，所述方法还包括：
所述容器取放设备将所述第二区域中的库存容器取出并放置在所述第一区域，或将所述第一区域中的库存容器取出并放置在所述第二区域。
可选的，所述方法还包括：
所述控制服务器确定待执行任务的库存容器、容器取放设备、所述库存容器对应的工作站，并向所述容器取放设备发送容器取放指令；
所述容器取放设备位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器放置在可移动载具上或传输线上，所述可移动载具被搬运至所述工作站，所述 传输线通向所述工作站；或者，
所述容器取放设备响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器，并搬运所述库存容器到所述工作站。
可选的，所述容器取放设备包括容器装卸机构；其中，
所述容器装卸机构位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器装卸机构处的可移动载具中取出库存容器，并放置在所述容器缓存机构的缓存位，和/或，
所述容器装卸机构位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出库存容器，并放置在位于所述容器装卸机构处的可移动载具中。
可选的，所述系统还包括搬运设备；
所述搬运设备执行将可移动载具从库存区域搬运至所述容器缓存机构的第一面、将可移动载具从容器缓存机构的第一面搬运回库存区域、将可移动载具从所述容器缓存机构的第二面搬运至工作站、将可移动载具从工作站搬运至所述容器缓存机构的第二面中的至少一种。
可选的，所述工作站设置有传输线，所述传输线包括传输线入口和传输线出口，在所述传输线入口和所述传输线出口分别设置有容器装卸机构，工作站点位于所述传输线的路径上；
位于所述传输线入口的容器装卸机构从所述容器缓存机构的缓存位中或者可移动载具中取出待操作的库存容器并放置在所述传输线入口；
位于所述传输线出口的容器装卸机构从所述传输线出口取出操作完的库存容器，并放置在所述容器缓存机构的缓存位或者可移动载具中。
可选的，所述容器取放设备包括自主移动机器人；
所述自主移动机器人取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，将所述库存容器放置在所述缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域；和/或，
所述自主移动机器人移动至所述容器缓存机构的第二面，取得位于所述容器缓存机构的库存容器，并将所述库存容器搬运至所述工作站，或移动至工作站取得库存容器，并将所述库存容器搬运至容器缓存机构的第二面。
上述对本申请特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
需要说明的是，对于前述的各方法实施例，为了简便描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定都是本申请所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。
以上公开的本申请优选实施例只是用于帮助阐述本申请。可选实施例并没有详尽叙述所有的细节，也不限制该发明仅为所述的具体实施方式。显然，根据本申请的内容，可作很多的修改和变化。本申请选取并具体描述这些实施例，是为了更好地解释本申请的原理和实际应用，从而使所属技术领域技术人员能很好地理解和利用本申请。本申请仅受权利要求书及其全部范围和等效物的限制。

Claims (26)

  1. 一种仓储调度系统，其特征在于，所述系统包括控制服务器、库存区域、容器取放设备、容器缓存机构、工作站，其中，所述库存区域存储有多个可移动载具，每个可移动载具可容纳至少一个库存容器，所述容器缓存机构设置有多个缓存位，每个缓存位可承载至少一个库存容器，所述容器缓存机构的第一面可并行对接多个容器取放设备，第二面可并行对接多个工作站，所述容器缓存机构上缓存的库存容器在工作站被执行仓储操作；
    所述控制服务器，被配置为确定待执行任务的库存容器、容器取放设备、所述库存容器在所述容器缓存机构中的缓存位，并向所述容器取放设备发送容器取放指令；
    所述容器取放设备，被配置为位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器取放设备处的可移动载具中取出所述库存容器，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，并将所述库存容器放置在位于所述容器取放设备处的可移动载具中；或者，
    所述容器取放设备，被配置为响应于所述容器取放指令取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域。
  2. 如权利要求1所述的仓储调度系统，其特征在于，所述容器缓存机构包括第一区域和第二区域，其中，所述第一区域的高度低于所述第二区域的高度。
  3. 如权利要求2所述的仓储调度系统，其特征在于，所述容器取放设备，被配置为将库存容器放置在所述第一区域或所述第二区域。
  4. 如权利要求3所述的仓储调度系统，其特征在于，所述容器取放设备，还被配置为将所述第二区域中的库存容器取出并放置在所述第一区域，或将所述第一区域中的库存容器取出并放置在所述第二区域。
  5. 如权利要求3所述的仓储调度系统，其特征在于，所述控制服务器，进一步被配置为根据预设条件确定将库存容器放置在所述容器缓存机构的第一区域或第二区域。
  6. 如权利要求5所述的仓储调度系统，其特征在于，所述预设条件包括库存容器中存储的货物的热度、库存容器中存储的货物被未来的订单命中的概率中的至少一种，所述货物的热度由货物的出货频率或者出货量中的至少之一确定。
  7. 如权利要求2所述的仓储调度系统，其特征在于，所述第一区域中的缓存位与水平面间设置倾斜角度，其中，所述倾斜角度小于预设角度阈值。
  8. 如权利要求2所述的仓储调度系统，其特征在于，所述工作站对接位于所述容器缓存机构位于第二面的第一区域，便于操作端对位于所述第一区域的库存容器进行仓储操作。
  9. 如权利要求8所述的仓储调度系统，其特征在于，所述系统还包括辅助装置，所述辅助装置用于辅助所述操作端对位于所述第一区域的库存容器进行仓储操作。
  10. 如权利要求1所述的仓储调度系统，其特征在于，所述控制服务器，还被配置为确定待执行任务的库存容器、容器取放设备、所述库存容器对应的工作站，并向所述容器取放设备发送容器取放指令；
    所述容器取放设备，被配置为位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器放置在可移动载具上或传输线上，所述可移动载具被搬运至所述工作站，所述传输线通向所述工作站；或者，
    所述容器取放设备，被配置为响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器，并搬运所述库存容器到所述工作站。
  11. 如权利要求1或10所述的仓储调度系统，其特征在于，所述容器取放设备包括容器装卸机构；其中，
    所述容器装卸机构，被配置为位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器装卸机构处的可移动载具中取出库存容器，并放置在所述容器缓存机构的缓存位，和/或，
    所述容器装卸机构，被配置为位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出库存容器，并放置在位于所述容器装卸机构处的可移动载具中。
  12. 如权利要求11所述的仓储调度系统，其特征在于，所述系统还包括搬运设备；
    所述搬运设备，被配置为执行将可移动载具从库存区域搬运至所述容器缓存机构的第一面、将可 移动载具从容器缓存机构的第一面搬运回库存区域、将可移动载具从所述容器缓存机构的第二面搬运至工作站、将可移动载具从工作站搬运至所述容器缓存机构的第二面中的至少一种。
  13. 如权利要求11所述的仓储调度系统，其特征在于，所述工作站设置有传输线，所述传输线包括传输线入口和传输线出口，在所述传输线入口和所述传输线出口分别设置有容器装卸机构，工作站点位于所述传输线的路径上；
    位于所述传输线入口的容器装卸机构，被配置为从所述容器缓存机构的缓存位中或者可移动载具中取出待操作的库存容器并放置在所述传输线入口；
    位于所述传输线出口的容器装卸机构，被配置为从所述传输线出口取出操作完的库存容器，并放置在所述容器缓存机构的缓存位或者可移动载具中。
  14. 如权利要求1或10所述的仓储调度系统，其特征在于，所述容器取放设备包括自主移动机器人；
    所述自主移动机器人，被配置为取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，将所述库存容器放置在所述缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域；和/或，
    所述自主移动机器人，被配置为移动至所述容器缓存机构的第二面，取得位于所述容器缓存机构的库存容器，并将所述库存容器搬运至所述工作站，或移动至工作站取得库存容器，并将所述库存容器搬运至容器缓存机构的第二面。
  15. 如权利要求11所述的仓储调度系统，其特征在于，所述容器装卸机构包括：架体和取放容器组件；
    所述架体包括方向相互垂直的水平方向的X轴轨道和竖直方向的Y轴轨道；
    所述Y轴轨道被构造为沿着X轴轨道运动，所述取放容器组件被构造为沿着Y轴轨道运动。
  16. 如权利要求15所述的仓储调度系统，其特征在于，所述架体包括门架组件；
    所述X轴轨道包括地轨结构和设置在门架组件上的天轨结构；
    所述Y轴轨道的两端分别与地轨结构和天轨结构导向配合在一起。
  17. 如权利要求16所述的仓储调度系统，其特征在于，所述Y轴轨道设置有至少两个，每个Y轴轨道上设置有至少一个所述取放容器组件。
  18. 如权利要求15所述的仓储调度系统，其特征在于，所述取放容器组件通过吸取、推动、夹取、抓取、钩取、抱起、抬升方式中的至少一种取放容器。
  19. 一种仓储调度方法，其特征在于，所述方法应用于仓储系统，所述系统包括控制服务器、库存区域、容器取放设备、容器缓存机构、工作站，其中，所述库存区域存储有多个可移动载具，每个可移动载具可容纳至少一个库存容器，所述容器缓存机构设置有多个缓存位，每个缓存位可承载至少一个库存容器，所述容器缓存机构的第一面可并行对接多个容器取放设备，第二面可并行对接多个工作站，所述容器缓存机构上缓存的库存容器在工作站被执行仓储操作；
    所述控制服务器确定待执行任务的库存容器、容器取放设备、所述库存容器在所述容器缓存机构中的缓存位，并向所述容器取放设备发送容器取放指令；
    所述容器取放设备位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器取放设备处的可移动载具中取出所述库存容器，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，并将所述库存容器放置在位于所述容器取放设备处的可移动载具中；或者，
    所述容器取放设备响应于所述容器取放指令取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，并将所述库存容器放置在所述容器缓存机构的缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域。
  20. 如权利要求19所述的仓储调度方法，其特征在于，所述容器缓存机构包括第一区域和第二区域，其中，所述第一区域的高度低于所述第二区域的高度；
    所述容器取放设备将库存容器放置在所述第一区域或所述第二区域。
  21. 如权利要求20所述的仓储调度方法，其特征在于，所述方法还包括：
    所述容器取放设备将所述第二区域中的库存容器取出并放置在所述第一区域，或将所述第一区域中的库存容器取出并放置在所述第二区域。
  22. 如权利要求19所述的仓储调度方法，其特征在于，所述方法还包括：
    所述控制服务器确定待执行任务的库存容器、容器取放设备、所述库存容器对应的工作站，并向所述容器取放设备发送容器取放指令；
    所述容器取放设备位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器放置在可移动载具上或传输线上，所述可移动载具被搬运至所述工作站，所述传输线通向所述工作站；或者，
    所述容器取放设备响应于所述容器取放指令在所述容器缓存机构中取出所述库存容器，并搬运所述库存容器到所述工作站。
  23. 如权利要求19或22所述的仓储调度方法，其特征在于，所述容器取放设备包括容器装卸机构；其中，
    所述容器装卸机构位于所述容器缓存机构的第一面，响应于所述容器取放指令在位于所述容器装卸机构处的可移动载具中取出库存容器，并放置在所述容器缓存机构的缓存位，和/或，
    所述容器装卸机构位于所述容器缓存机构的第二面，响应于所述容器取放指令在所述容器缓存机构中取出库存容器，并放置在位于所述容器装卸机构处的可移动载具中。
  24. 如权利要求23所述的仓储调度方法，其特征在于，所述系统还包括搬运设备；
    所述搬运设备执行将可移动载具从库存区域搬运至所述容器缓存机构的第一面、将可移动载具从容器缓存机构的第一面搬运回库存区域、将可移动载具从所述容器缓存机构的第二面搬运至工作站、将可移动载具从工作站搬运至所述容器缓存机构的第二面中的至少一种。
  25. 如权利要求24所述的仓储调度方法，其特征在于，所述工作站设置有传输线，所述传输线包括传输线入口和传输线出口，在所述传输线入口和所述传输线出口分别设置有容器装卸机构，工作站点位于所述传输线的路径上；
    位于所述传输线入口的容器装卸机构从所述容器缓存机构的缓存位中或者可移动载具中取出待操作的库存容器并放置在所述传输线入口；
    位于所述传输线出口的容器装卸机构从所述传输线出口取出操作完的库存容器，并放置在所述容器缓存机构的缓存位或者可移动载具中。
  26. 如权利要求19或22所述的仓储调度方法，其特征在于，所述容器取放设备包括自主移动机器人；
    所述自主移动机器人取得位于所述库存区域的库存容器，将所述库存容器从所述库存区域搬运至所述容器缓存机构的第一面，将所述库存容器放置在所述缓存位，或在所述容器缓存机构的缓存位中取出所述库存容器，将所述库存容器从所述容器缓存机构的第一面搬运至所述库存区域；和/或，
    所述自主移动机器人移动至所述容器缓存机构的第二面，取得位于所述容器缓存机构的库存容器，并将所述库存容器搬运至所述工作站，或移动至工作站取得库存容器，并将所述库存容器搬运至容器缓存机构的第二面。
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