WO2023071681A1 - 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
WO2023071681A1
WO2023071681A1 PCT/CN2022/122067 CN2022122067W WO2023071681A1 WO 2023071681 A1 WO2023071681 A1 WO 2023071681A1 CN 2022122067 W CN2022122067 W CN 2022122067W WO 2023071681 A1 WO2023071681 A1 WO 2023071681A1
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WIPO (PCT)
Prior art keywords
target
container
item
movable
movable carrier
Prior art date
Application number
PCT/CN2022/122067
Other languages
English (en)
French (fr)
Inventor
李洪波
邢志伟
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.)
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Publication date
Priority claimed from CN202111250791.XA external-priority patent/CN115973659A/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 WO2023071681A1 publication Critical patent/WO2023071681A1/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
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • 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.
  • a warehouse needs to store a large number of commodity types and commodity inventory, that is, it needs the warehouse to quickly complete the order picking, and it also needs to increase the storage capacity of the warehouse commodity inventory, so as to improve the storage efficiency of the entire warehouse.
  • the warehouse planning usually divides the storage area for storing a large amount of commodity inventory, and also divides the picking area for picking goods based on the "goods-to-person" mode, but for a warehouse with a fixed area, It is impossible to take into account the storage efficiency of the storage area and the picking efficiency of the picking area. Once the storage area is expanded, the picking area must be relatively compressed.
  • the storage efficiency of the storage area is improved, the shrinking of the picking area will affect the picking efficiency. Conversely, once the expansion The picking area needs to compress the storage area accordingly. Although the picking efficiency of the picking area is improved, the reduction of the storage area will also affect its storage efficiency, that is, the prior art cannot balance the picking and storage efficiency of the warehouse.
  • the embodiment of the present application provides a warehouse scheduling system and method to solve the technical defects existing in the prior art.
  • a storage scheduling system the system includes a control server, handling equipment, an inventory area, and container handling equipment; wherein, the inventory area includes at least a plurality of movable carriers, The movable carrier includes at least one storage location, each storage location can hold at least one container;
  • the control server is configured to determine the first target container on the first target movable carrier, the current storage location of the first target container, and the target position, and at the same time determine the first target handling equipment and the target container handling equipment, and send a handling instruction to the first target handling equipment, and send a loading and unloading instruction to the target container handling equipment;
  • the first target transporting device is configured to transport the first target movable carrier on which the first target container is placed to a destination in response to the transport instruction;
  • the target container handling facility is located at the destination and is configured to remove the first target container from the current storage location and place it at the target location in response to the handling command.
  • a storage scheduling system the system includes a control server, access equipment, handling equipment, inventory area and container handling equipment; wherein, the inventory area includes at least a plurality of fixed A shelf and a plurality of movable carriers, the fixed shelf includes at least one layer of partitions, the at least one layer of partitions divides the fixed shelf into at least two layers, and the movable carrier is located on the side of the fixed shelf On the bottom floor, at least one storage position is provided on the partition of the fixed shelf, and each storage position can accommodate at least one; the movable carrier includes at least one storage position, and each storage position can accommodate at least one container;
  • the control server is configured to determine, according to the order task, the target fixed shelf where the target container containing the ordered goods is currently located and the target movable carrier that the target will be placed on, and the target movable carrier is used to place the target container. memory location of the target, and simultaneously determine target access equipment for accessing the target, target handling equipment for handling the target movable carrier, and target container handling equipment for loading and unloading the target container , and send an access command to the target access device, send a handling command to the target handling device, and send a loading and unloading command to the target container handling device;
  • the target access device is configured to move to the target fixed shelf in response to the access instruction, take out the target from the target fixed shelf and place it in the storage of the target movable carrier take out the target from the storage position of the target movable carrier and place it in the storage position of the target fixed shelf;
  • the target transporting device is configured to transport the target movable carrier on which the target is placed to a destination in response to the transport instruction;
  • the target container handling device is located at the destination and is configured to, in response to the loading and unloading command, take a target out of a target movable carrier handled by the target handling device or put a target into a target transporter handled by the target handling device.
  • the target is in a movable vehicle.
  • a storage scheduling method the method is applied to a storage scheduling system, and the system includes a control server, a handling device, an inventory area, and container handling equipment; wherein, the inventory area including at least a plurality of movable carriers, the movable carriers including at least one storage location, each storage location can accommodate at least one;
  • the methods include:
  • the control server determines the first target container on the first target movable carrier, the current storage position of the first target container, and the target position, and at the same time determines the first target container for carrying the first target movable carrier.
  • target handling equipment and target container handling equipment and send a handling instruction to the first target handling equipment, and send a loading and unloading instruction to the target container handling equipment;
  • the first target transporting device transports the first target movable carrier on which the first target container is placed to a destination in response to the transport instruction;
  • the target container handling facility at the destination in response to the handling command, retrieves the first target container from the current storage location and places it at the target location.
  • a storage scheduling method the method is applied to a storage scheduling system, and the system includes a control server, access equipment, handling equipment, inventory areas, and container handling equipment;
  • the inventory area includes at least a plurality of fixed shelves and a plurality of movable carriers, the fixed shelves include at least one layer of partitions, and the at least one layer of partitions divides the fixed shelves into at least two layers, and the movable
  • the mobile carrier is located at the bottom of the fixed shelf, and at least one storage position is provided on the partition of the fixed shelf, and each storage position can accommodate at least one;
  • the movable carrier includes at least one storage position, and each storage position bits can hold at least one;
  • the methods include:
  • the control server determines, according to the order task, the target fixed shelf where the target containing the ordered goods is currently located and the target movable carrier that the target will be placed on, and the target movable carrier has a storage position for placing the target , simultaneously determine a target access device for accessing the target, a target transport device for transporting the target movable carrier, and a target container handling device for loading and unloading the target container, and send to the
  • the target access device sends an access command, sends a handling command to the target handling device, and sends a loading and unloading command to the target container handling device;
  • the target access device moves to the target fixed shelf in response to the access instruction, takes out the target from the target fixed shelf and places it in the storage position of the target movable carrier or from taking out the target from the storage position of the target movable carrier and placing it in the storage position of the target fixed shelf;
  • the object transporting device responds to the transport instruction, and transports the target movable carrier on which the target is placed to a destination;
  • the target container handling equipment is located at the destination, and in response to the loading and unloading instruction, takes out the target from the target movable carrier carried by the target handling device or puts the target into the target movable carrier carried by the target handling device. tool.
  • a storage scheduling system is provided, the system can move the carrier
  • the fixed shelf and the bearing surface carrying the fixed shelf jointly enclose an accommodating area, and the accommodating area is configured to accommodate the movable carrier;
  • an access device configured to handle containers between the fixed rack and the moveable carrier
  • the first target handling equipment is configured to move away from the movable carrier or onto the movable carrier; and/or, move the movable carrier out of the storage area or to the within the containment area.
  • This embodiment provides a warehouse scheduling system and method, the system includes a control server, handling equipment, inventory area and container handling equipment; wherein, the inventory area includes at least a plurality of movable carriers, and the at least one storage location , each storage position can hold at least one; the control server is configured to determine the first target container on the first target movable carrier, the current storage position of the first target container and the target position, and at the same time determine the The first target handling equipment and the target container handling equipment used to transport the first target movable carrier, and send a handling instruction to the first target handling equipment, and send a loading and unloading instruction to the target container handling equipment; A target handling device configured to, in response to the handling instruction, transport the first target movable carrier on which the first target container is placed to a destination; the target container handling device is located at the destination, configured In response to the loading and unloading command, the first target container is removed from the current storage location and placed at the target location.
  • the warehouse dispatching system in the embodiment of the present application provides intensive storage-type movable shelves, and container access equipment is set up at the workstation, through intensive storage-type movable shelves and operating the container access equipment in the movable shelves, lifting The space utilization rate of the storage area is improved, more goods can be stored in the storage area, and the cost of the overall storage scheduling system is saved.
  • 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 dense storage type movable shelf provided by an embodiment of the present application
  • Fig. 3 is a schematic diagram of the system structure of a storage scheduling system provided by another embodiment of the present application.
  • Fig. 4 is a front view of an inventory holder provided by an embodiment of the present application.
  • Fig. 5 is a side view of an inventory holder provided by an embodiment of the present application.
  • Fig. 6 is a schematic diagram of a movable shelf including a connecting layer provided by an embodiment of the present application
  • Fig. 7a is a schematic diagram of a container handling equipment provided by an embodiment of the present application.
  • Fig. 7b is a schematic diagram of the first mixed cargo carrier provided by an embodiment of the present application.
  • Fig. 8 is a schematic diagram of a second mixed cargo carrier provided by an embodiment of the present application.
  • Fig. 9 is a schematic diagram of a third mixed cargo carrier provided by an embodiment of the present application.
  • Fig. 10 is a schematic diagram of a fourth mixed cargo carrier provided by an embodiment of the present application.
  • Fig. 11 is a flowchart of a storage scheduling method provided by an embodiment of the present application.
  • Fig. 12 is a flowchart of a storage scheduling method provided by another embodiment of the present application.
  • Fig. 13 is a schematic structural diagram of a warehouse scheduling system provided by another embodiment of the present application.
  • Fig. 14 is a schematic perspective view of the first object handling equipment provided in the embodiment of the present application when handling the first container;
  • Fig. 15 is a schematic structural view of a fixed shelf provided in an embodiment of the present application.
  • Fig. 16 is a schematic perspective view of the fixed shelf and the movable carrier carrying the first container and the second container provided by the embodiment of the present application;
  • Fig. 17 is a schematic structural diagram of a movable carrier provided by an embodiment of the present application.
  • Fig. 18 is a schematic perspective view of a movable carrier carrying a first container and a second container according to an embodiment of the present application;
  • Fig. 19 is a schematic perspective view of the first object handling equipment provided in the embodiment of the present application when handling the second container;
  • Fig. 20 is a schematic perspective view of the access device provided in the embodiment of the present application when carrying the first container;
  • Fig. 21 is a schematic perspective view of the access device provided in the embodiment of the present application when carrying the second container;
  • Fig. 22 is a schematic perspective view of the first object handling equipment provided in the embodiment of the present application when transporting a movable carrier;
  • Fig. 23 is a schematic perspective view of the first object handling device provided in the embodiment of the present application when transporting the movable carrier, the first container and the second container.
  • 110-control server 111-processor, 112-memory, 113-order pool, 114-operating table, 120-inventory area, 130-inventory bracket, 1301-fixed shelf, 1302-movable carrier, 13021-column, 13022-layer board, 130201-connecting layer, 130202-non-connecting layer, 1304-mixed movable carrier, 130401-first storage position, 130402-cargo compartment, 130403-second storage position, 140-access device , 150-handling equipment, 160-workstation, 170-container handling equipment, 7-frame, 71-X-axis track, 72-Y-axis track, 2-feed container assembly, 11-first bracket, 12-comb Components, 13-first layer board, 21-accommodating area, 22-second support, 23-second layer board, 31-first body, 32-telescopic fork, 33-traveling mechanism, 51-first container; 52 - Second container.
  • 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.”
  • the system includes a control server, handling equipment, an inventory area, and item handling equipment; wherein, the inventory area includes at least a plurality of movable carriers, and the movable carriers include At least one storage location, each storage location can hold at least one item;
  • the control server is configured to determine the first target item in the first target movable shelf, and at the same time determine the current storage location and target position of the first target item, and at the same time be used to transport the first target item of the first target movable shelf.
  • a target handling device and a target item loading and unloading device sending a handling command to the first target handling device, and sending a loading and unloading command to the target item loading and unloading device;
  • the target transporting device is configured to transport the first target movable shelf on which the first target item is placed to a destination, that is, a workstation, in response to the transport instruction;
  • the target item handling device is located at the destination (workstation) and is configured to remove the first target item from the current storage location and place it in the target location in response to the handling command.
  • the target location is the storage position of the first target movable carrier or the storage positions of other movable carriers except the first target movable carrier. That is, after the target item loading and unloading device takes out the first target item from the current storage position, it can also be placed in the storage position of the first target movable carrier, or placed in the storage positions of other movable carriers.
  • the items that can be accommodated in the storage position include containers
  • the control server is further configured to, according to the temperature of the goods stored in the first target container, the The degree of correlation between the goods stored in the container and the goods stored in other containers, whether the task to be processed involves the goods stored in the first target container and the target container handling equipment and each mobile carrier at the destination Either of the distances of the storage locations determines a new storage location for the first target container.
  • control server is further configured to determine a new storage position of the first target item in response to at least one of a put-off task, a tally task, and a put-on task.
  • the system further includes: access equipment and a plurality of fixed shelves, the fixed shelves include at least one layer of partitions, and the at least one layer of partitions divides the fixed shelves Divided into at least two layers, the movable carrier is located at the bottom of the fixed shelf, and at least one storage position is provided on the partition of the fixed shelf, and each storage position can accommodate at least one item.
  • the article loading and unloading equipment includes a frame body, and the frame body is provided with an item retrieval component and a carrying assembly, and the object retrieval component is configured to be placed on the frame body Move up;
  • the frame body includes X-axis tracks and Y-axis tracks perpendicular to each other;
  • the Y-axis track is configured to move along the X-axis track, and
  • the fetching and delivery component is configured to move along the Y-axis track ;
  • the pick-and-deliver component can take out items from the carrier along the Z-axis and load them onto the carrier component or unload items from the carrier component and place them on a movable carrier.
  • the system includes a control server, access equipment, handling equipment, an inventory area, and item loading and unloading equipment; wherein, the inventory area includes at least a plurality of fixed shelves and a plurality of movable The carrier, the fixed shelf includes at least one layer of partitions, the at least one layer of partitions divides the fixed shelf into at least two layers, the movable carrier is located at the bottom of the fixed shelf, and the fixed shelf At least one storage position is provided on the partition, and each storage position can accommodate at least one item; the movable carrier includes at least one storage position, and each storage position can accommodate at least one item, wherein the storage position can accommodate Contained items include containers;
  • the control server is configured to determine, according to the order task, the target fixed shelf where the target container that contains the order goods is currently located and the target movable carrier that the target container will be placed on, and the target movable carrier is used for placing The storage location of the target container, and at the same time determine the target access equipment for accessing the target container, the target handling equipment for handling the target movable carrier, and the target cargo for loading and unloading the target container.
  • the target access device is configured to move to the target fixed shelf in response to the access instruction, take out the target container from the target fixed shelf and place it on the target movable carrier taking the target container from the storage position or from the storage position of the target movable carrier and placing it in the storage position of the target fixed shelf;
  • the target transporting device is configured to transport the target movable carrier on which the target container is placed to a destination in response to the transport instruction;
  • the target container handling device is located at the destination and is configured to, in response to the loading and unloading instruction, take out a target container from a target movable carrier carried by the target handling device or put a target container into the target handling device
  • the target to be transported can be in a mobile carrier.
  • the items that can be accommodated by the storage location include containers, and the movable carrier is a hybrid movable carrier, wherein the hybrid movable carrier can carry a storage space that can accommodate At least two of a first container for goods, a second container capable of holding stored goods, and stored goods.
  • a warehouse scheduling method which is applied to a warehouse scheduling system, and the system includes a control server, a handling device, an inventory area, and an item loading and unloading equipment; wherein, the inventory area is at least comprising a plurality of movable carriers including at least one storage location, each storage location capable of holding at least one item;
  • the methods include:
  • the control server determines the first target item on the first target movable carrier, the current storage position of the first target item, and the target position, and at the same time determines the first The target handling equipment and the target item loading and unloading equipment, and sending a handling instruction to the first target handling equipment, and sending a loading and unloading instruction to the target item loading and unloading equipment;
  • the first target transporting device transports the first target movable carrier on which the first target item is placed to a destination in response to the transport instruction;
  • the target item handling device at the destination responds to the loading and unloading command, retrieves the first target item from the current storage location, and places it at the target location.
  • the items that can be accommodated in the storage position include containers, and the method further includes:
  • the control server is based on the temperature of the goods stored in the first target container, the degree of correlation between the goods stored in the first target container and the goods stored in other containers, and whether the task to be processed involves the first target container. Any one of the cargo stored in the target container and the distance between the target container handling device and each storage location on each mobile carrier at the destination determines a new storage location of the first target container.
  • a warehouse scheduling method which is applied to a warehouse scheduling system, and the system includes a control server, access equipment, handling equipment, inventory areas, and item handling equipment;
  • the The inventory area includes at least a plurality of fixed shelves and a plurality of movable carriers
  • the fixed shelves include at least one layer of partitions, and the at least one layer of partitions divides the fixed shelves into at least two layers
  • the movable The carrier is located at the bottom of the fixed shelf, and at least one storage position is provided on the partition of the fixed shelf, and each storage position can accommodate at least one item;
  • the movable carrier includes at least one storage position, and each storage position
  • the slot can hold at least one item, wherein the storage slot can hold an item including a container;
  • the methods include:
  • the control server determines the target fixed shelf where the target container containing the order goods is currently located and the target movable carrier that the target container is about to be placed on, and the target movable carrier is used to place the target container. storage location, while determining a target access device for accessing the target container, a target handling device for handling the target movable carrier, and a target container handling device for loading and unloading the target container, and sending an access command to the target access device, sending a handling command to the target handling device, and sending a loading and unloading command to the target container handling device;
  • the target access device moves to the target fixed shelf in response to the access instruction, takes out the target container from the target fixed shelf and places it in the storage position of the target movable carrier, or taking the target container from the storage position of the target movable carrier and placing it in the storage position of the target fixed shelf;
  • the target transporting device transports the target movable carrier on which the target container is placed to a destination in response to the transport instruction
  • the target container handling equipment is located at the destination and responds to the loading and unloading instruction, taking out the target container from the target movable carrier carried by the target handling equipment or putting the target container into the target transported by the target handling equipment. in the mobile carrier.
  • a warehouse scheduling system includes:
  • the fixed shelf and the bearing surface carrying the fixed shelf jointly enclose an accommodating area, and the accommodating area is configured to accommodate the movable carrier;
  • an access device configured to move items between the fixed rack and the moveable carrier
  • the first object handling equipment is configured to move the item from the movable carrier or onto the movable carrier; and/or, move the movable carrier out of the storage area or to the within the containment area.
  • the storage position in the movable carrier in the above embodiment can accommodate at least one item, wherein the item may include a container or goods, wherein the first target item may include a first target container, and the second target item The second target container may be included, and the third target item may include a third target container; at the same time, the target item handling equipment may be used for loading and unloading containers or goods, and this embodiment may also refer to a pick-and-deliver item assembly, wherein the pick-and-deliver item assembly It can be used to pick up and deliver containers or goods, which is not specifically limited in this embodiment.
  • items are described as containers as an example, and the process of the warehouse dispatching system is described in detail, wherein, the item handling equipment is described as container handling equipment, and the picking and delivery components are described as picking and delivery containers Components, handling items, and access items are described as handling containers and access containers.
  • FIG. 1 shows a schematic diagram of the system structure of a storage scheduling system provided by an embodiment of the present application, and the system includes one or more control servers 110 , an inventory area 120 and container handling equipment 170 .
  • the inventory area includes a plurality of movable carriers 1302, a passage is formed between the plurality of movable carriers 1302, one or more handling equipment 150 runs in the passage, and a plurality of workstations 160 are arranged outside the inventory area,
  • the workstation is provided with container handling equipment 170 .
  • the control server 110 is wirelessly connected with the handling equipment 150 and the container handling equipment 170, and the staff operates the control server 110 through the operation console 114.
  • the control server 110 is a software system running on the server with data storage and information processing capabilities , can be connected to the software system of the handling equipment 150, the container handling equipment 170, and the workstation 160 through wireless, the control server 110 can include one or more servers, and can be a centralized control architecture or a distributed computing architecture.
  • the control server 110 has processing
  • 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 movable carriers 1302 are set in the inventory area 120.
  • the movable carriers include but are not limited to clapboard shelves, container shelves, picking Racks, between pallets, movable racks, cage trolleys, pallet supports and more.
  • the movable carrier 1302 can be a movable shelf 1302, and the movable shelf 1302 includes at least one laminate, and the at least one laminate divides the movable shelf 1302 into at least two layers, and the laminate of the movable shelf 1302 At least one storage position is provided on the top, and each storage position can accommodate at least one container, and the container can be a container.
  • a channel is formed between a plurality of movable shelves 1302 in the inventory area 120, and a handling device 150 runs in the channel, and the handling device 150 is used to carry the movable shelves 1302, specifically, the handling device 150 includes Handling robots.
  • the movable shelf 1302 can be a dense storage shelf or a non-intensive storage shelf. Referring to FIG. 2, FIG. The multiple grids in the shelf are used to store containers, and the movable shelf is a dense storage shelf with very small gaps between containers.
  • the work station 160 is a goods picking area. After the movable shelf 1302 is transported to the work station 160, at the work station 160, manual or automated equipment is used to pick the goods required for the order task from the container on the movable shelf 1302.
  • the automated equipment Includes automated robotic arm.
  • control server is configured to determine the first target container in the first target movable shelf, and at the same time determine the current storage position and target position of the first target container, and at the same time, be used to transport the first target container
  • the first target handling equipment and the target container handling equipment of the first target movable shelf send a handling instruction to the first target handling equipment, and send a loading and unloading instruction to the target container handling equipment;
  • the object transporting device is configured to, in response to the transport instruction, transport the first target movable shelf on which the first target container is placed to a destination, that is, a workstation;
  • the target container handling facility is located at the destination (workstation) and is configured to remove the first target container from the current storage location and place it in the target location in response to the handling command.
  • the target location is the storage position of the first target movable carrier or the storage positions of other movable carriers except the first target movable carrier. That is, after the target container handling equipment takes the first target container out of the current storage position, it can also be placed in the storage position of the first target movable carrier, or placed in the storage positions of other movable carriers.
  • control server is further configured so that the control server is further configured to: according to the temperature of the goods stored in the first target container, the temperature of the goods stored in the first target container and the goods stored in other containers Any one of the degree of relevance, whether the task to be processed involves the goods stored in the first target container, and the distance between the target container handling equipment and each storage position on each mobile carrier at the destination determines the first The new storage bit for the target container.
  • the heat of the goods in the mobile shelf in this application refers to the shipment volume or frequency of shipments
  • the high heat value of the goods means that the goods in the container are shipped in large quantities or the frequency of shipments is high. If If multiple SKU goods are placed in the container, the heat of the goods is determined according to the weighted sum of the shipment volume or frequency of shipments of 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, and the degree of correlation between these two goods will be relatively high.
  • Tasks to be processed specifically include off-shelf tasks (pre-hit orders), put-on tasks (pre-hit on-shelf), tally tasks (pre-hit tally), etc., among which, the pre-hit principle is that if the goods will be processed in the future , can adjust the position of the pre-hit goods in advance, put them on some specific shelves, and gather them together, so that the tasks to be processed can be processed quickly, saving scheduling time, and improving the scheduling efficiency of the warehouse scheduling system.
  • Container handling equipment is a device that automatically removes containers from movable racks or places containers into movable racks.
  • the container handling equipment takes out the container from the movable carrier or puts the container on the movable carrier by at least one of sucking, pushing, gripping, grabbing, hooking, picking up, and lifting. middle.
  • the container handling device comprises a first sensor for determining whether a container is present in a storage position of the movable rack when the container is removed from the movable rack of the container handling device and/or for determining when a container is placed in the storage position of the movable rack Whether the storage slot of this movable shelf is empty.
  • the container handling device also includes a second sensor for determining a pose deviation between the container handling device and the containers on the movable rack.
  • a second sensor for determining a pose deviation between the container handling device and the containers on the movable rack.
  • the container handling equipment adjusts its own pose based on the pose deviation, so that the adjusted distance between the container handling equipment and the first container The pose deviation between them is smaller than the preset tolerance threshold.
  • the first sensor and the second sensor may be the same sensor or different sensors. Both can be vision sensors, depth information sensors or 3D sensors, such as 2D cameras, 3D cameras and the like.
  • the target container handling equipment is located in the workstation 160, and a transmission line is arranged in the workstation 160, and the picking work is located in the transmission path of the transmission line.
  • the transmission line has a transmission line entrance and a transmission line exit. The outlets of the transmission line are respectively provided with target container loading and unloading equipment.
  • the target container handling device at the entrance of the transmission line takes out the first target container from the current storage position and places it on the transmission line; the target container handling device at the exit of the transmission line takes out the first target container from the exit of the transmission line and places it on the target container location, wherein the target location is the storage position of the first target movable shelf or the storage positions of other movable shelves except the first target movable shelf.
  • the position of the target container can be adjusted not only on the same movable shelf, but also on different movable shelves, that is, the target position and the current storage location can be on the same movable shelf or Is different removable shelves.
  • the target location is a storage position of the second target movable carrier
  • the control server 110 is further configured to determine that the first target container is located at the the storage position on the second target movable carrier, and at the same time, determine the second target transport equipment used to transport the second target movable carrier, and send a transport instruction to the second target transport device;
  • the second target transporting device is configured to transport the second target movable carrier to a destination in response to the transport instruction
  • the target container loading and unloading device is further configured to, in response to the loading and unloading instruction, take out the first target container from the current storage position on the first target movable carrier, and place it in the second target movable carrier. Move the storage slots on the carrier.
  • the first target movable carrier specifically refers to the movable carrier where the first target container is currently located
  • the second target movable carrier specifically refers to the movable carrier to which the first target container needs to be moved, namely It is necessary to move the first target container located on the first target movable carrier to the second target movable carrier, after the control server determines the first target movable carrier and the second movable carrier, it also needs to determine A target container handling device for moving the first target container, and sending a handling instruction to the first target handling device and the second target handling device, and sending a loading and unloading instruction to the target container handling device.
  • the first target transport equipment moves the first target movable carrier to the workstation 160 according to the transport instruction
  • the second target transport equipment moves the second target movable carrier to the workstation 160 according to the transport instruction.
  • the first target container is taken out from the current storage position on the first target movable carrier, and the target container is placed in the second target movable carrier. on the storage slot of the mobile carrier.
  • the target container handling equipment can also place the containers in the loading and unloading area on the movable carrier.
  • the loading and unloading area specifically refers to the After the tallying task or put-on-shelf task, the area used to place the container. After the container completes the corresponding task in the loading area, it needs to be put back into the inventory area. After the target container completes the order task, loading task, inventory task, and container adjustment task, The container is transported to the storage area by a movable carrier.
  • control server is further configured to determine the storage location on the second target container and the third target movable carrier located in the loading and unloading area, and at the same time determine the a third target transporting device for transporting the third target movable carrier, and sending a transporting instruction to the third target transporting device, and sending a loading and unloading command to the target container handling device;
  • the third target transporting device is configured to transport the third target movable carrier to the loading and unloading area in response to the transporting instruction;
  • the target container loading and unloading device is located in the loading and unloading area, and is configured to take out the second target container from the loading and unloading area in response to the loading and unloading instruction, and place it on the storage device on the third target movable carrier. bit.
  • the control server is further configured to determine a new storage position of the second target container in response to at least one of a put-away task, a tally task, and a put-away task.
  • the second target movable carrier for placing the first target container and/or the third target movable carrier for transporting the second target container in the loading and unloading area back to the inventory area may be based on the container Some of the storage slots transported from the storage area are empty shelves, or they may be empty shelves with no containers in all storage slots, which is not limited in this application.
  • control server 110 is further configured to determine a new storage position of the first target container in response to at least one of a put-off task, a tally task, and a put-on task.
  • the control server is further configured to determine the first target container and the first target container according to the order task.
  • taking the preset container adjustment trigger condition as the container adjustment task for adjusting the position of the container as an example, every once in a while, it is necessary to adjust the containers in the inventory area.
  • a certain period of time is specially used to adjust the positions of containers to complete container adjustments Task.
  • the target container can be put back into the original movable carrier, or it can be put into a different movable carrier.
  • the control server determines the target container according to the order task, it can determine the current storage position and target position of the first target container on the first target movable carrier; The current storage location of the mobile vehicle and the target location of the second mobile vehicle.
  • the control server is also configured to determine the second target container according to the order task, and the second target container is in the The current storage position on the first target movable carrier is the target position of the second target container. That is, after the first target container is taken out from the current storage position on the first target movable carrier, the second target container can also be determined, and the second target container is placed on the first target movable carrier that is free.
  • the current storage position on the container is used to achieve the purpose of adjusting the position of the container according to the order task.
  • the movable carrier may be a double-sided movable shelf
  • the control server is further configured to determine that the current storage location of the first target container and the target position are located on the opposite side of the first target movable shelf, and send a shelf switching instruction to the target handling device;
  • the target handling equipment is further configured to, after the target container handling equipment takes out the first target container, respond to the shelf switching instruction, and carry the first target movable shelf to perform a shelf switching operation;
  • the target container handling equipment is further configured to place the target container at the target location.
  • the movable shelf is a double-sided shelf
  • the current storage position of the target container and the target position are on the opposite side of the double-sided shelf.
  • the target container equipment takes out the target container from the current storage location, and then executes the shelf switching instruction, and the target movable shelf performs the shelf switching operation.
  • the target container is placed in the target location.
  • each target handling equipment is also configured to move each target The movable carrier is transported back to the original location or other location in the storage area.
  • the control server is further configured to determine each target movable carrier according to any one of the heat of each target movable carrier and the distance between each target movable carrier and an idle position in the storage area. the new location of the tool. Wherein, the distance between the other location and the destination is positively correlated with the heat value of the first target movable shelf.
  • the specific heat value of the movable carrier is determined according to the heat value of the container in the movable carrier.
  • the new location of the target movable carrier may also be determined according to the distance between the movable carrier and the free location in the storage area. Transport the movable carrier to the nearest free position in the storage area to improve the handling efficiency of the movable carrier.
  • Figure 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 one or more control servers 110, an inventory area 120, including a plurality of inventory holders 130 in the inventory area, and a plurality of inventory A channel is formed between the racks 130, and one or more handling devices 150, one or more access devices 140 run in the channel, and a plurality of work stations 160 are arranged outside the inventory area 120, and the work stations are provided with container handling devices 170.
  • the control server 110 is wirelessly connected with the access equipment 140, the handling equipment 150, and the container handling equipment 170.
  • the staff operates the control server 110 through the console 114.
  • the control server 110 is run on the server and has data storage
  • the software system of the information processing capability can be connected with the software system of the access device 140, the handling device 150, the container handling device 170, and the workstation 160 through wireless, and the control server 110 can include one or more servers, which can be a centralized control structure 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, 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.
  • the inventory rack 130 includes a fixed shelf 1301 and a movable carrier 1302.
  • the fixed shelf 1301 and the movable carrier 1302 comprise at least one layer of partitions, and the at least one layer of partition divides the fixed shelf 1301 and the movable carrier 1302 into at least two layers, and the movable carrier 1302 is located on the fixed shelf 1301
  • the bottom layer of the fixed shelf 1301 is provided with at least one storage position on the partitions of other layers except the bottom layer, and each storage position can accommodate at least one container.
  • Movable vehicles include movable racks.
  • FIG. 4 shows a front view of an inventory holder 130 provided by an embodiment of the present application.
  • the inventory holder 130 includes a fixed shelf 1301 and a movable carrier 1302.
  • Containers are stored in the fixed shelf 1301 and the movable carrier 1302 , and the handling device 150 is used to move the movable carrier 1302 .
  • FIG. 5 shows a side view of the inventory holder 130 provided by the embodiment of the present application.
  • Containers containing goods in stock are placed in layers, and each layer of partitions of the fixed shelves is provided with at least one storage position for container storage in the depth direction, that is, when the inventory area 120 is non-intensive storage, each layer of partitions of the fixed shelves
  • the storage position of one container can be set in the depth direction, and if the stock area 120 is densely stored, the storage positions of two or more containers can be set in the depth direction on each layer partition of the fixed shelf to improve storage efficiency.
  • the bottom layer of the fixed shelf 1301 is provided with a movable carrier 1302, and at least one movable carrier 1302 can also be placed on the bottom layer of the fixed shelf 1301 along the depth direction, that is, when each layer of the partition plate of the fixed shelf is in the depth direction
  • a movable carrier 1302 is also arranged in the depth direction on the bottom of the fixed shelf 1301; Two or more movable carriers 1302 are also arranged on the bottom of the fixed shelf 1301 along the depth direction.
  • the movable carrier 1302 includes at least one column 13021, and is provided with at least one laminate 13022 along the vertical direction of the column 13021, and a storage position for storing containers is provided on each laminate 13022. Further, the movable carrier 1302 includes at least two uprights 13021, the at least two uprights 13021 are arranged on the same side of the at least one laminate 13022, and the at least two uprights 13021 and the at least one The connection point of the laminate 13022 is offset by a predetermined distance from the end of the laminate 13022. As shown in FIG. The end predetermined distance.
  • Aisles are formed between a plurality of inventory holders 130 in the inventory area 120, and access equipment 140 and/or handling equipment 150 run in the aisles, and the access equipment 140 is used to store and retrieve containers on fixed shelves 1301, so
  • the handling equipment 150 is used to transport the movable shelf 1302.
  • the handling equipment 150 includes a shelf handling robot
  • the access equipment 140 includes a single-extension, double-extension or multi-extension container robot.
  • the forks of the stretch container robot can only be extended once to pick up goods from a row of shelves.
  • the forks of the double-stretch container robot can be stretched out in two sections. When stretching out, the goods in the second row can be picked up, and the forks of the multi-extension container robot can be stretched out in multiple sections.
  • the specific form of the access device 140 is related to the storage position of the fixed shelf 1301. If each shelf of the fixed shelf 1301 is provided with a container storage position in the depth direction, the access device 140 is a container robot with a single extension position. Each partition of the fixed shelf 1301 is provided with storage positions for two containers in the depth direction, and the access device 140 is a double-extended container robot. If each partition of the fixed shelf 1301 is provided with multiple containers in the depth direction storage position, the access device 140 is a multi-extended container robot.
  • a cache mechanism can also be provided on the access device, and the cache mechanism is used to cache at least one container. , the cache mechanism can enable the access device to access multiple containers at one time, so as to improve access efficiency.
  • the target location is a cache storage location located on a workstation; correspondingly, the control server 110 is also configured to determine the first target container At the storage position of the target fixed shelf, simultaneously determine a target access device for accessing the first target container, and send an access instruction to the target access device;
  • the target container handling device is further configured to, in response to the loading and unloading instruction, take out the first target container from the current storage location and place it in the cache storage location;
  • the target access device is positioned to move to the cache storage location in response to the access command, and retrieve the first target container from the cache storage location, and move to the target fixed shelf, and place the The first target container is placed on the storage position of the target fixed shelf.
  • the target access device can take out the first target container from the cache storage position of the workstation, and transport the first target container to a fixed shelf in the inventory area, and place the first target container In storage slots on fixed shelves.
  • the object access device may also take out the first object container from the storage position of the fixed shelf, transport the first target container to the workstation, and place it in the cache storage position of the workstation.
  • the target access device can also take out the first target container from the docking layer of the movable shelf, and place the first target container on the storage position of the fixed shelf, or place the first target container from the fixed shelf Take out the first target container from the storage position of the shelf, and place the first target container in the docking layer of the movable shelf.
  • the movable shelf shown in Figure 2 is a dense storage shelf, and the multiple grids in the movable shelf are containers, and the movable shelf is a dense storage shelf, and the gap between containers is very small.
  • the fork of the access device cannot be accommodated, therefore, the access device cannot directly obtain the container from the movable shelf and place it in the fixed shelf, nor can the access device directly take out the container in the fixed shelf and place it on the removable shelf.
  • the first target movable shelf In the mobile shelf, based on this, in the process of moving the first target container in the first target movable shelf to the fixed shelf, the first target movable shelf needs to be transported to the workstation, and the container handling equipment at the workstation A target container is taken out and placed in the cache storage position, and then the access device takes out the first target container from the cache storage position, and transports it to the fixed shelf, and places the first target container in the storage position located on the fixed shelf.
  • the cache storage location may be located on the cache shelf or on the cache roller table line. In this application, the specific location of the cache storage location is not limited.
  • the container is located in the fixed shelf 1301, and it is necessary to adjust the container in the fixed shelf 1301 to the storage position of the movable shelf.
  • the mobile shelf is a dense storage shelf, and the access equipment cannot directly place the container on the storage position of the mobile shelf.
  • the target position is a cache storage position located at the workstation
  • the control server is also configured to determine the third target container on the target fixed shelf, the current storage position of the third target container and the third target container. the storage position of the target container on the fourth target movable shelf, and at the same time determine the target access equipment for accessing the third target container and the fourth target handling equipment for carrying the fourth target movable shelf, and sending an access command to the target access device, sending a handling command to the fourth target handling device, and sending a loading and unloading command to the target container handling device;
  • the target access device is configured to move to the target fixed shelf in response to the access instruction, take out the third target container, transport the third target container to a destination, and store it in the Cache memory bits for the destination;
  • the fourth target transporting device is configured to transport a fourth target movable shelf to the destination in response to the transport instruction
  • the target container loading and unloading device is configured to, in response to the loading and unloading instruction, take out the third target container from the buffer storage location, and put the third target container into the fourth target handling device.
  • the fourth target is in a removable shelf.
  • Target access equipment 140 the fourth target handling equipment 150 for carrying the fourth target movable rack 1302 and the target container loading and unloading equipment 170 for loading and unloading the third target container, send access instructions to the target access equipment 140 , sending a transport instruction to the fourth target transport device 150 , and sending a loading and unloading command to the target container loading and unloading device 170 .
  • the target access device 140 moves to the target fixed shelf 1301, takes out the third target container from the current storage position, and transports the third target container to the workstation, and stores the target container in the cache memory of the workstation. in place.
  • the fourth target transport device 150 After receiving the transport instruction, the fourth target transport device 150 moves to the fourth target movable rack 1302, and transports the fourth target movable rack 1302 to the workstation.
  • the target container loading and unloading device 170 is located at the workstation.
  • the target access device 140 stores the third target container in the cache storage position of the workstation and the fourth target transport device 150 transports the fourth target movable shelf 1302 to the workstation, according to the loading and unloading instruction,
  • the third target container is taken out from the cache storage position, and placed in the target position of the fourth target movable shelf 1302 .
  • the movable shelf 1302 includes at least one connecting layer 130201, located Containers in the dock can be handled by access equipment or container handling equipment.
  • the connecting layer 130201 the movable shelf 1302 also includes a non-connecting layer 130202, and the containers in the non-connecting layer can only be operated by container handling equipment.
  • the handling equipment can carry the movable shelf with the target container to the workstation, and the container handling equipment can adjust the position of the target container within the range of the non-connecting layer 130202, or can adjust the position of the target container within the range of the connecting layer 130201.
  • the position of the target container can be adjusted between the docking layer 130201 and the non-connecting layer 130202 .
  • the movable shelf When the target container is on the non-connecting layer of the movable shelf and needs to be placed in the fixed shelf, the movable shelf can be transported to the workstation by the handling equipment, and the container handling equipment will take the target container from the non-connecting layer and place it on the connecting layer. In the storage position of the connecting layer, the movable shelf is moved to the bottom of the fixed shelf by the handling equipment, and the target container is taken out from the storage position of the connecting layer by the access device and placed on the target position of the fixed shelf.
  • the target container When the target container is in the fixed shelf and needs to be placed in the storage position of the non-connecting layer of the movable shelf, the target container can be taken out from the fixed shelf by the access device and placed on the connecting layer of the movable shelf.
  • the equipment transports the movable racks to the workstation, the container handling equipment takes out the target container from the connecting layer and places it in the target position of the non-connecting layer, and then the moving equipment moves the movable racks back to the storage area.
  • the connecting layer is set in the movable shelf, which is convenient for the access equipment to be taken out from the connecting layer or put into the container. During the container adjustment task, it avoids the access equipment going back and forth between the storage area and the workstation, which saves time and improves storage efficiency.
  • Fig. 7a shows a schematic diagram of the container handling equipment used in an embodiment of the present application.
  • the frame body 7 includes mutually perpendicular X-axis rails 71 and Y-axis rails 72, and the X-axis rails 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 respectively guided and matched with the ground rail structure and the sky rail structure, 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, which can move horizontally along the X-axis rails 71, and the two ends of the Y-axis rails 72 are respectively fixedly connected to the two X-axis moving plates superior.
  • the Y-axis track 72 is provided with a Y-axis moving plate, which 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 container loading and unloading equipment is arranged in the workstation area, and in response to the first container pick-and-place instruction, acquires the first order container, and places the first order container in the target storage position of the first buffer carrier through the pick-and-place container assembly.
  • the control server is configured to determine the target fixed shelf where the target container containing the order goods is currently located and the target shelf where the target container is to be placed according to the order task.
  • the mobile carrier, the target movable carrier has a storage position for placing the target container, and at the same time, determine the target access equipment for accessing the target container, and the target for carrying the target movable carrier.
  • handling equipment and the target container loading and unloading equipment for loading and unloading the target container and sending an access instruction to the target access device, sending a handling instruction to the target handling equipment, and sending a Loading and unloading instructions;
  • the target access device is configured to move to the target fixed shelf in response to the access instruction, take out the target container from the target fixed shelf and place it on the target movable carrier taking the target container from the storage position or from the storage position of the target movable carrier and placing it in the storage position of the target fixed shelf;
  • the target transporting device is configured to transport the target movable carrier on which the target container is placed to a destination in response to the transport instruction;
  • the target container handling device is located at the destination and is configured to, in response to the loading and unloading instruction, take out a target container from a target movable carrier carried by the target handling device or put a target container into the target handling device
  • the target to be transported can be in a mobile carrier.
  • the goods hit by the order are located in the target container of the fixed shelf, and the target container needs to be transported to the workstation for order picking.
  • the control server determines the target container in the target fixed shelf according to the order task, and the target container
  • the target movable carrier to be placed, simultaneously determine the target access equipment for accessing the target container, the target handling equipment for handling the target movable carrier, and the target container loading and unloading equipment for loading and unloading the target container, and send access instructions to the target access device .
  • the target access device moves to the target fixed shelf, and takes out the target container on the fixed shelf and places it in the storage position of the movable carrier. Or take the target container from the storage position of the movable carrier and place it in the storage position of the fixed shelf.
  • the target handling equipment transports the target movable carrier to the workstation, and the target container loading and unloading equipment is located at the workstation, and according to the loading and unloading instructions, the target container is transported from the target handling device
  • the target mobile carrier that has been transported is taken out, and the order picking is performed.
  • the target container can also be put back into the target mobile carrier by the container handling equipment.
  • the storage position of the target container on the target movable carrier may be based on the heat of the goods stored in the target container and/or the distance between the goods stored in the target container and the goods stored in other containers.
  • the degree of association determines the storage position of the target container on the target movable carrier.
  • control server is configured to schedule the access equipment to exchange the storage position of the first target container on the fixed shelf, and schedule the access equipment to store the first target container on the fixed shelf and the available exchanging storage positions between mobile carriers; and/or dispatching container handling equipment to exchange storage positions for the first target container in the movable carrier.
  • control server is configured to, in response to the tally task, dispatch the access device to adjust the first target container from the original storage position in the fixed shelf to another storage position or keep the original storage position.
  • the storage position remains unchanged; the dispatching access equipment adjusts the first target container from the original storage position in the fixed shelf to other storage positions in the movable carrier; the dispatching access device adjusts the first target container from the original storage position in the movable carrier
  • the original storage position is adjusted to other storage positions in the fixed shelf; and/or, the dispatching container handling equipment adjusts the first target container from the original storage position in the movable carrier to other storage positions or keeps the original storage position unchanged.
  • the movable carrier is a movable shelf
  • 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, at least one storage position is arranged on the partition of the movable shelf.
  • the movable carrier can also be a hybrid movable carrier, wherein the hybrid movable carrier can carry a first container capable of accommodating stored goods, a container capable of accommodating stored goods At least two of the second container and the stored cargo.
  • 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.
  • the adjustment of the container or goods can be realized by using loading and unloading equipment such as forklifts, robotic arms or manual operation.
  • FIG. 7b shows a schematic diagram of a first hybrid mobile vehicle provided by an embodiment of the present application.
  • 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 .
  • FIG. 8 shows a schematic diagram of a second hybrid mobile carrier provided by an embodiment of the present application.
  • 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.
  • FIG. 9 shows a schematic diagram of a third hybrid mobile carrier provided by an embodiment of the present application.
  • 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.
  • FIG. 10 shows a schematic diagram of a fourth hybrid mobile carrier provided by an embodiment of the present application.
  • 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.
  • the storage scheduling system provided in Embodiment 1 includes a control server, handling equipment, an inventory area, container handling equipment, and a workstation.
  • the inventory area includes a plurality of dense storage-type movable shelves, and each movable shelf includes at least one layer of partitions, at least A partition divides the movable shelf into at least two layers, each partition is provided with at least one storage position, and each storage position accommodates at least one container.
  • the control server determines that the target container is located on the target movable shelf according to the container adjustment task, and determines that the current storage position and the target position of the target container are both on the target movable shelf, and based on this, determines the target handling equipment and A target container loading and unloading device for loading and unloading a target container, and sending a transport instruction to the target container handling equipment, and sending a loading and unloading instruction to the target container loading and unloading equipment.
  • the target transporting device transports the target movable shelf on which the target container is placed to the workstation in response to the transport instruction.
  • the target container loading and unloading device is located at the workstation, and in response to the loading and unloading instruction, takes out the target container from the current storage position of the target movable shelf and places it at the target position of the target movable shelf.
  • the storage scheduling system provided in Embodiment 2 includes a control server, handling equipment, a stock area, container handling equipment, and a workstation.
  • the stock area includes a plurality of densely stored movable shelves, and each movable shelf includes at least one layer of partitions, at least A partition divides the movable shelf into at least two layers, each partition is provided with at least one storage position, and each storage position accommodates at least one container.
  • the control server determines that the target container is located on the target movable shelf according to the order task, and determines that the current storage position and the target position of the target container are both on the target movable shelf, and based on this, determines the target handling equipment and the user used to carry the target movable shelf A target container loading and unloading device that loads and unloads the target container, and sends a handling instruction to the target handling equipment, and sends a loading and unloading instruction to the target container handling equipment.
  • the target transporting device transports the target movable shelf on which the target container is placed to the workstation in response to the transport instruction.
  • the target container loading and unloading equipment is located at the workstation, and in response to the loading and unloading instruction, takes out the target container from the current storage position of the target movable shelf, performs the goods picking of the order task, and places the target container on the target movable shelf after the goods picking is completed.
  • the destination position of the shelf is located at the workstation, and in response to the loading and unloading instruction, takes out the target container from the current storage position of the target movable shelf, performs the goods picking of the order task, and places the target container on the target movable shelf after the goods picking is completed.
  • the storage scheduling system provided by Embodiment 3 includes a control server, handling equipment, a stock area, container handling equipment, and a workstation.
  • the stock area includes a plurality of dense storage-type movable shelves, and each movable shelf includes at least one layer of partitions, at least A partition divides the movable shelf into at least two layers, each partition is provided with at least one storage position, and each storage position accommodates at least one container.
  • the control server determines that the target container is located on the first target movable shelf according to the order task, and determines the current storage position of the target container on the first target movable shelf and the target position on the second target movable shelf, that is, the current storage position and the target position. The location is not in the same removable shelf. Based on this, the first target transport equipment for transporting the first target movable rack, the second target transport equipment for transporting the second target movable rack, and the target container handling equipment for loading and unloading the target container are determined, and sent to all The first target transport device sends a first transport command, sends a second transport command to the second target transport device, and sends a loading and unloading command to the target container loading and unloading device.
  • the first target transporting device transports the first target movable shelf on which the target containers are placed to the workstation in response to the first transport instruction.
  • the second target transporting device transports the second target movable rack to the workstation in response to the second transport instruction.
  • the target container handling device is located at the workstation, and in response to the loading and unloading instruction, takes out the target container from the current storage position on the first target movable rack and places it in the target position on the second target movable rack.
  • the storage scheduling system provided in Embodiment 4 includes a control server, handling equipment, a storage area, container handling equipment, and a loading and unloading area.
  • the storage area includes a plurality of dense storage-type movable shelves, and each movable shelf includes at least one layer of partitions. At least one layer of partition divides the movable shelf into at least two layers, each partition is provided with at least one storage position, and each storage position accommodates at least one container.
  • the control server determines that the target container is located in the loading and unloading area according to the loading task, and needs to transport the target container to the inventory area, and determine the storage position of the target position on the target movable shelf. Based on this, determine the target handling equipment and A target container loading and unloading device for loading and unloading a target container, and sending a transport instruction to the target container handling equipment, and sending a loading and unloading instruction to the target container loading and unloading equipment.
  • the target transporting device transports the target movable rack to the loading and unloading area in response to the transport instruction.
  • the target container loading and unloading device is located in the loading and unloading area, and in response to the loading and unloading instruction, takes out the target container from the current storage position in the loading and unloading area, and places it at the target position on the target movable shelf.
  • the storage scheduling system provided in Embodiment 5 includes a control server, access equipment, handling equipment, inventory areas, container handling equipment, and workstations, and the inventory area includes at least a plurality of fixed shelves and a plurality of intensive storage type movable shelves.
  • the fixed shelf includes at least one layer of partitions, the at least one layer of partitions divides the fixed shelf into at least two layers, the movable shelf is located at the bottom of the fixed shelf, and the partition of the fixed shelf is provided with At least one storage position, each storage position can accommodate at least one container;
  • 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 movable At least one storage position is provided on the partition of the shelf, and each storage position can accommodate at least one container.
  • the control server determines the target container.
  • the current storage position of the target container is on the target movable shelf, and the target position of the target container is on the fixed shelf. It is necessary to adjust the target container from the target movable shelf to the fixed shelf, and determine the movable
  • the target handling equipment for the shelf, the target access equipment for accessing the target container, and the target container loading and unloading equipment for loading and unloading the target container send access instructions to the target access equipment, send handling instructions to the target handling equipment, and send The target container handling equipment sends handling instructions.
  • the target transporting device moves to the target movable shelf in response to the transport instruction, and transports the target movable shelf to the workstation.
  • the target container handling device is located at the workstation, and takes the target container from the target movable rack in response to the loading and unloading command, and places it in the buffer storage location.
  • the target access device moves to the workstation in response to the access instruction, and after the target container is placed in the cache storage position, it takes out the target container from the cache storage position, transports the target container to the target fixed shelf, and places the target container on the target In the target position of the fixed shelf.
  • the warehouse scheduling system provided in Embodiment 6 includes a control server, access equipment, handling equipment, inventory areas, container handling equipment, and workstations.
  • the inventory area includes at least a plurality of fixed shelves and a plurality of intensive storage type movable shelves.
  • the fixed shelf includes at least one layer of partitions, the at least one layer of partitions divides the fixed shelf into at least two layers, the movable shelf is located at the bottom of the fixed shelf, and the partition of the fixed shelf is provided with At least one storage position, each storage position can accommodate at least one container;
  • 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 movable At least one storage position is provided on the partition of the shelf, and each storage position can accommodate at least one container.
  • the control server determines the target container.
  • the current storage position of the target container is in the fixed shelf, and the target position of the target container is in the target movable shelf. It is necessary to adjust the target container from the fixed shelf to the target movable shelf to determine the target for handling.
  • the target handling equipment for the movable shelf, the target access equipment for accessing the target container, and the target container loading and unloading equipment for loading and unloading the target container send access instructions to the target access equipment, and send handling instructions to the target handling equipment , to send a loading and unloading instruction to the target container handling equipment.
  • the target access device moves to the target fixed shelf in response to the access instruction, takes out the target container from the current storage position of the target fixed shelf, transports the target container to the workstation, and places the target container in the cache storage position at the workstation .
  • the target transporting device moves to the target movable shelf in response to the transport instruction, and transports the target movable shelf to the workstation.
  • the target container handling device is located at the workstation, and responds to the loading and unloading command to take the target container from the cache storage location and place it in the target movable rack.
  • the warehouse scheduling system provided in Embodiment 7 includes a control server, access equipment, handling equipment, inventory areas, container handling equipment, and workstations, and the inventory area includes at least a plurality of fixed shelves and a plurality of intensive storage type movable shelves.
  • the fixed shelf includes at least one layer of partitions, the at least one layer of partitions divides the fixed shelf into at least two layers, the movable shelf is located at the bottom of the fixed shelf, and the partition of the fixed shelf is provided with At least one storage position, each storage position can accommodate at least one container; 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 movable At least one storage position is provided on the partition of the shelf, each storage position can accommodate at least one container, and the movable shelf includes at least one connecting layer and a non-connecting layer except the connecting layer.
  • the control server determines the target container, the current storage position of the target container is in the storage position of the non-connecting layer of the target movable shelf, the target position of the target container is in the fixed shelf, and the target container needs to be adjusted from the target movable shelf to the fixed shelf wherein, determining the target handling equipment for transporting the target movable shelf, the target access equipment for accessing the target container, and the target container handling equipment for loading and unloading the target container, and sending an access instruction to the target access device, Send a handling instruction to the target handling equipment, and send a loading and unloading instruction to the target container handling equipment.
  • the target transporting device moves to the target movable shelf in response to the transport instruction, and transports the target movable shelf to the workstation.
  • the target container loading and unloading device is located at the workstation, and takes out the target container from the storage position of the non-connecting layer of the target movable rack in response to the loading and unloading instruction, and places it in the storage position of the connecting layer of the target movable rack.
  • the target transporting device responds to the transport instruction, and transports the target movable shelf to the bottom of the target fixed shelf after the target container is placed on the storage position of the connecting layer of the target movable shelf.
  • the target access device takes out the target container from the docking layer of the target movable shelf and places it in the target position of the target fixed shelf.
  • the warehouse dispatching system provided by Embodiment 8 includes a control server, access equipment, handling equipment, an inventory area, container handling equipment, and a workstation, and the inventory area includes at least a plurality of fixed shelves and a plurality of intensive storage-type movable shelves.
  • the fixed shelf includes at least one layer of partitions, the at least one layer of partitions divides the fixed shelf into at least two layers, the movable shelf is located at the bottom of the fixed shelf, and the partition of the fixed shelf is provided with At least one storage position, each storage position can accommodate at least one container; 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 movable At least one storage position is provided on the partition of the shelf, each storage position can accommodate at least one container, and the movable shelf includes at least one connecting layer and a non-connecting layer except the connecting layer.
  • the control server determines the target container, the current storage position of the target container is in the fixed shelf, the target position of the target container is in the storage position of the non-connecting layer of the target movable shelf, and the target container needs to be adjusted from the fixed shelf to the target movable In the rack, determine the target handling equipment for moving the target movable shelf, the target access equipment for accessing the target container, and the target container loading and unloading equipment for loading and unloading the target container, and send an access instruction to the target access device , sending a handling instruction to the target handling equipment, and sending a loading and unloading instruction to the target container handling equipment.
  • the target access device takes out the target container from the storage position of the target fixed shelf in response to the access instruction, and places the target container in the free storage position of the connecting layer of the target movable shelf.
  • the target transporting device moves to the target movable shelf in response to the transport instruction, and transports the target movable shelf to the workstation.
  • the target container loading and unloading device is located at the workstation, and takes out the target container from the storage position of the docking layer of the target movable rack in response to the loading and unloading command, and places it in the target position of the non-docking layer of the target movable rack.
  • the storage scheduling system provided in Embodiment 9 includes a control server, access equipment, handling equipment, inventory areas, container handling equipment, and workstations.
  • the inventory area includes at least a plurality of fixed shelves and a plurality of intensive storage type movable shelves.
  • the fixed shelf includes at least one layer of partitions, the at least one layer of partitions divides the fixed shelf into at least two layers, the movable shelf is located at the bottom of the fixed shelf, and the partition of the fixed shelf is provided with At least one storage position, each storage position can accommodate at least one container; 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 movable At least one storage position is provided on the partition of the shelf, each storage position can accommodate at least one container, and the movable shelf includes at least one connecting layer and a non-connecting layer except the connecting layer.
  • the control server determines the target container according to the order task.
  • the current storage position of the target container is in the fixed shelf, and the target position of the target container is in the storage position of the non-connecting layer of the target movable shelf. It is necessary to adjust the target container from the fixed shelf to In the target movable rack, determine the target handling equipment for carrying the target movable rack, the target access equipment for accessing the target container, and the target container loading and unloading equipment for loading and unloading the target container, and send to the target access device
  • An access command, a transport command is sent to the target transport device, and a loading and unloading command is sent to the target container loading and unloading device.
  • the target access device takes out the target container from the storage position of the target fixed shelf in response to the access instruction, and places the target container in the free storage position of the connecting layer of the target movable shelf.
  • the target transporting device moves to the target movable shelf in response to the transport instruction, and transports the target movable shelf to the workstation.
  • the target container loading and unloading equipment is located at the workstation.
  • the target container is taken out from the storage position of the connecting layer of the target movable shelf, and placed in the picking station corresponding to the order task to perform the order picking task. After the order picking task is completed , and then place the target container in the target position of the non-connecting layer of the target movable shelf.
  • the warehouse scheduling system includes a control server, handling equipment, an inventory area, and container handling equipment; wherein, the inventory area includes at least a plurality of movable shelves, and the movable shelves include at least one layer A partition, the at least one partition divides the movable shelf into at least two layers, and at least one storage position is arranged on the partition of the movable shelf, and each storage position can accommodate at least one container; the The control server is configured to determine the target container on the target movable shelf, the current storage location of the target container, and the target position, and simultaneously determine the target handling equipment used to carry the target movable shelf and the target container for loading and unloading the target container.
  • the target container handling equipment of the container and send a handling instruction to the target handling equipment, and send a loading and unloading instruction to the target container handling equipment;
  • the target handling equipment is configured to respond to the handling instruction, handling and placing the a target movable rack of a target container to a destination; said target container handling device being located at said destination and configured to remove said target container from said current storage location in response to said loading and unloading instruction and place it in said target location.
  • the warehouse dispatching system in the embodiment of the present application provides dense storage-type movable shelves, and container access equipment is set at the workstation. Through the intensive storage-type movable shelves and the container access equipment for operating the containers in the movable shelves, The space utilization rate of the storage area is improved, so that more goods can be stored in the storage area, and the cost of the overall storage scheduling system is saved.
  • FIG. 11 shows a flowchart of a warehouse scheduling method provided by an embodiment of the present application.
  • the method is applied to a warehouse scheduling system, and the system includes a control server, handling equipment, an inventory area and container handling equipment; wherein, the inventory area includes at least a plurality of movable carriers, and the movable carriers include at least one storage locations, each storage location can hold at least one container;
  • the methods include:
  • Step 1102 The control server determines the first target container on the first target movable carrier, the current storage location of the first target container, and the target position, and at the same time determines the The first target handling equipment and the target container handling equipment, and send a handling instruction to the first target handling equipment, and send a loading and unloading instruction to the target container handling equipment.
  • Step 1104 The first target transporting device transports the first target movable carrier on which the first target container is placed to a destination in response to the transport instruction.
  • Step 1106 The target container loading and unloading device is located at the destination, responds to the loading and unloading instruction, takes out the first target container from the current storage location, and places it at the target location.
  • the target location is a storage location of the first target movable carrier or a storage location of other movable carriers except the first target movable carrier.
  • the method also includes:
  • the control server is based on the temperature of the goods stored in the first target container, the degree of correlation between the goods stored in the first target container and the goods stored in other containers, and whether the task to be processed involves the first target container. Any one of the cargo stored in the target container and the distance between the target container handling device and each storage location on each mobile carrier at the destination determines a new storage location of the first target container.
  • the target location is a storage position of the second target movable carrier
  • the method also includes:
  • the control server determines the storage position of the first target container on the second target movable carrier, and at the same time determines the second target transport equipment for transporting the second target movable carrier, and sends the The second target handling device sends a handling instruction;
  • the second target transporting device transports the second target movable carrier to a destination in response to the transport instruction
  • the target container handling device takes out the first target container from the current storage position on the first target movable carrier, and places it on the second target movable carrier memory bits.
  • the method also includes:
  • the control server determines the storage position on the second target container and the third target movable carrier located in the loading and unloading area, and at the same time determines the third target transport equipment for transporting the third target movable carrier, and sends
  • the third target handling equipment sends a handling instruction, and sends a loading and unloading instruction to the target container handling equipment;
  • the third target transporting device is configured to transport the third target movable carrier to the loading and unloading area in response to the transporting instruction;
  • the target container loading and unloading device is located in the loading and unloading area, and is configured to take out the second target container from the loading and unloading area in response to the loading and unloading instruction, and place it on the storage device on the third target movable carrier. bit.
  • the method also includes:
  • the control server determines a new storage position of the second target container in response to at least one of a take-off task, a tally task, and a put-on task.
  • the method also includes:
  • the control server determines a new storage location of the first target container in response to at least one of a take-off task, a tally task, and a put-on task.
  • the system further includes: access equipment and a plurality of fixed shelves, the fixed shelves include at least one layer of partitions, and the at least one layer of partitions divides the fixed shelves Divided into at least two layers, the movable carrier is located at the bottom of the fixed shelf, at least one storage position is arranged on the partition of the fixed shelf, and each storage position can accommodate at least one container, and the target position is A cache memory location located at the workstation;
  • the method also includes:
  • the control server determines the storage position of the first target container on the target fixed shelf, and at the same time determines the target access device for accessing the first target container, and sends an access instruction to the target access device;
  • the target container handling device takes out the first target container from the current storage location in response to the loading and unloading instruction, and places it in the cache storage location;
  • the target access device moves to the cache storage position in response to the access instruction, and takes out the first target container from the cache storage position, and moves to the target fixed shelf, and stores the first target container The container is placed in the target fixed shelf storage location.
  • the system further includes: access equipment and a plurality of fixed shelves, the fixed shelves include at least one layer of partitions, and the at least one layer of partitions divides the fixed shelves Divided into at least two layers, the movable carrier is located at the bottom of the fixed shelf, at least one storage position is arranged on the partition of the fixed shelf, and each storage position can accommodate at least one container, and the target position is A cache memory location located at the workstation;
  • the method also includes:
  • the control server determines the third target container on the target fixed shelf, the current storage position of the third target container and the storage position of the third target container on the fourth target movable carrier, and simultaneously determines The target access device for accessing the third target container, the fourth target transport device for transporting the fourth target movable carrier, and sending an access command to the target access device, and sending an access command to the target
  • the fourth target handling equipment sends a handling instruction, and sends a loading and unloading instruction to the target container handling equipment;
  • the target access device moves to the target fixed shelf in response to the access instruction, takes out the third target container, transports the third target container to a destination, and stores the third target container in the destination cache storage bit;
  • the fourth object transporting device responds to the transport instruction, transporting the fourth target movable carrier to the destination;
  • the object container loading and unloading device responds to the loading and unloading instruction, taking out the third object container from the buffer storage location, and putting the third object container into the fourth object that can be handled by the fourth object handling device. in the mobile carrier.
  • the target container handling equipment is located at a workstation, the workstation is provided with a transmission line, and the picking station is located in the transmission path of the transmission line, and the transmission line includes a transmission line inlet and A transfer line outlet, the target container handling equipment is respectively arranged at the transfer line inlet and the transfer line outlet;
  • the method also includes:
  • a target container handling device located at the entrance of the transfer line, further configured to remove the first target container from the current storage location and place it on the transfer line;
  • a target container handling device located at the exit of the transfer line, further configured to remove the first target container from the exit of the transfer line and place it at the target location, the target position being a storage location of the first target movable carrier Or storage locations of other movable vehicles except the first target movable vehicle.
  • the method further includes:
  • the respective object handling devices transport the respective object movable carriers back to their original positions or other positions in the inventory area.
  • the method also includes:
  • the control server determines the new position of each target movable carrier according to any one of the temperature of each target movable carrier and the distance between each target movable carrier and an empty position in the storage area.
  • the movable shelf is a double-sided shelf
  • the method also includes:
  • the control server determines that the current storage position of the first target container and the target position are located on the opposite side of the first target movable shelf, and sends a shelf switching instruction to the target handling device;
  • the target handling equipment After the target container loading and unloading equipment takes out the first target container, the target handling equipment responds to the shelf switching instruction, and carries the first target movable shelf to perform a shelf switching operation;
  • the target container handling device places the target container at the target location.
  • FIG. 12 shows a flowchart of a storage scheduling method provided by an embodiment of the present application.
  • the method is applied to a warehouse scheduling system, and the system includes a control server, an access device, a handling device, an inventory area, and container handling equipment; wherein, the inventory area includes at least a plurality of fixed shelves and a plurality of movable carriers,
  • the fixed shelf includes at least one layer of partitions, the at least one layer of partitions divides the fixed shelf into at least two layers, the movable carrier is located at the bottom of the fixed shelf, and the partition of the fixed shelf
  • There is at least one storage position each storage position can accommodate at least one container;
  • the movable carrier includes at least one storage position, each storage position can accommodate at least one container;
  • the methods include:
  • Step 1202 According to the order task, the control server determines the target fixed shelf where the target container containing the ordered goods is currently located and the target movable carrier where the target container will be placed, and the target movable carrier is used to place the storage location of the target container, and simultaneously determine a target access device for accessing the target container, a target handling device for carrying the target movable carrier, and a target container for loading and unloading the target container loading and unloading equipment, and send access instructions to the target access equipment, send handling instructions to the target handling equipment, and send loading and unloading instructions to the target container handling equipment.
  • Step 1204 The target access device moves to the target fixed shelf in response to the access instruction, takes out the target container from the target fixed shelf and places it in the storage of the target movable carrier The target container is taken from the storage position of the target movable carrier and placed in the storage position of the target fixed shelf.
  • Step 1206 The target transporting device transports the target movable carrier on which the target container is placed to a destination in response to the transport instruction.
  • Step 1208 The target container handling equipment is located at the destination and responds to the loading and unloading instruction, taking out the target container from the target movable carrier carried by the target handling equipment or putting the target container into the target handling equipment for handling The target is in a movable vehicle.
  • the method also includes:
  • the control server dispatches the access device to exchange the storage position of the first target container in the fixed shelf, dispatches the access device to exchange the storage position of the first target container between the fixed shelf and the movable carrier, and/or schedules container loading and unloading
  • the device swaps the storage position of the first target container in the movable carrier.
  • the method also includes:
  • the control server dispatches the access device to adjust the first target container from the original storage position in the fixed shelf to other storage positions or keeps the original storage position unchanged; the dispatch access device adjusts the first target container from The original storage location in the fixed shelf is adjusted to other storage locations in the movable carrier; the scheduling access device adjusts the first target container from the original storage location in the movable carrier to other storage locations in the fixed shelf; and/ Or, the scheduling container handling equipment adjusts the first target container from the original storage position in the movable carrier to another storage position or keeps the original storage position unchanged.
  • FIG. 13 and FIG. 14 Another warehouse scheduling system provided by Embodiment 10, as shown in FIG. 13 and FIG. 14 , includes a movable carrier 1302 , a fixed shelf 1301 , an access device 140 and a first target handling device 150 .
  • the fixed shelf 1301 usually remains stationary, while the movable carrier 1302 moves under the drive of the first target transporting device 150 .
  • the fixed shelf 1301 and the bearing surface on which the fixed shelf 1301 is placed together form a receiving area 21 , and the receiving area 21 is configured to accommodate the movable carrier 1302 .
  • the access device 140 is configured to move the container between the fixed shelf 1301 and the movable carrier 1302; the first target handling device 150 is configured to move the container away from the movable carrier 1302 or onto the movable carrier 1302, Alternatively, move the movable carrier 1302 out of the storage area 21 or into the storage area 21 . Wherein, when the access device 140 is required to transport containers between the fixed shelf 1301 and the movable carrier 1302 , the movable carrier 1302 needs to be located in the accommodation area 21 .
  • the access device 140 and the first target transport device 150 form a working mode of up-storage and down-picking.
  • the first target handling device 150 will transport the container to the movable carrier 1302 located in the storage area 21, or move the container
  • the mobile carrier 1302 is transported to the storage area 21 , and then the access device 140 transports the container from the movable carrier 1302 to the fixed shelf 1301 , realizing storage of the container.
  • the access device 140 When there is a container that needs to be removed, the access device 140 will transfer the container from the fixed shelf 1301 to the movable carrier 1302, and then when the container that needs to be transferred can be removed by the first target transfer device 150, the first target The transporting device 150 can only transport the container; when the container to be transported cannot be transported by the first target transporting device 150 alone, the first target transporting device 150 can directly transport the movable carrier 1302 away.
  • the warehouse scheduling system of the present application can flexibly adjust the objects being transported according to the actual situation, which can not only meet the transporting requirements of different containers, but also improve the transporting efficiency.
  • the movable carrier 1302 includes a first support 11 and a comb member 12 arranged on the first support 11, the comb member 12 is configured to carry container.
  • the comb member 12 includes a comb frame and a plurality of comb teeth extending outward from the comb frame, gaps are formed between adjacent comb teeth, and the container straddles the gap between the comb teeth and is placed on the on the two comb teeth.
  • the first object handling device 150 is configured to pass under the comb member 12, and pass through the gap between two adjacent comb teeth of the comb member 12, lift the container on the comb member 12 and carry the container or, the first object handling device 150 is configured to carry the container into the gap between two adjacent comb teeth, place the container on the comb member 12 and then drive out.
  • FIG. 14 and FIG. 19 are both schematic diagrams of a state where the first target transport device 150 is carrying a container.
  • the first target transport device 150 passes under the comb-tooth member 12, and after reaching below the container, passes through the gap between two adjacent comb teeth of the comb-tooth member 12 to place the comb-tooth member 12 Lift the container on and move the container away.
  • the first target conveying device 150 is configured to drive the container into the gap between two adjacent comb teeth, place the container on the comb member 12 and then drive out. It can be seen that the combination of the comb member 12 and the first target transport device 150 can facilitate the placement and transport of the container.
  • the first container 51 with a larger width may span two gaps between the comb teeth and be placed on two non-adjacent comb teeth.
  • the first container 51 may include a container that spans two grooves or notches in FIG. 1 and also spans two grooves or notches in the longitudinal direction, and may also include a container that spans two grooves or notches in FIG. 20 , A container that spans only one groove or notch in the longitudinal direction.
  • the warehouse scheduling system may use at least two first target handling devices 150 to move the same container or the same movable carrier 1302 . That is, the same container or the same movable carrier is transported by using the synergy of at least two first target transport devices 150 .
  • the two first target handling devices 150 can carry the first container 51 and drive over the gap between two adjacent comb teeth, and place the first container 51 on the comb member 12 back out.
  • the warehouse scheduling system can use three or more first target handling devices 150 to handle the same container. In this way, when the size of the container is relatively large, two or more first target handling devices 150 can be used to carry the container away, so that the container can be kept in balance during handling, and the container can be prevented from slipping from the first target handling device 150 .
  • each first target handling device 150 can lift the bottom of the movable carrier 1302 at the same time to lift the movable carrier 1302. Carrier 1302, and then the movable carrier 1302 is transported away; each first target transport device 150 can also pass through the gap between two adjacent comb teeth of the comb member 12 at the same time, and abut against the first laminate 13, to lift the movable carrier 1302, and then carry the movable carrier 1302 away.
  • the movable carrier 1302 can be carried away by two or more first target handling equipment 150, thereby reducing the burden on the first target handling equipment. 150 handling capacity required.
  • the comb member 12 includes two sets of comb teeth extending in opposite directions, and each set of comb teeth is configured as a carrying container.
  • the first object handling device 150 can pick and place containers from two directions of the movable carrier 1302 , thereby improving the space utilization efficiency of the movable carrier 1302 .
  • the movable carrier 1302 includes at least two layers of comb members 12 arranged vertically, and the gaps between the comb teeth of each comb member 12 are aligned along the vertical direction.
  • the first target handling device 150 can pass under the comb member 12, and pass between the comb teeth of each layer of comb member 12 from the bottom. The gap between, will be positioned at the container on the comb member 12 of the upper floor and lift the container away.
  • the first object handling device 150 can enter from one side of the movable carrier 1302, and pass through the gap between the combs of the bottom and upper comb members 12 from the side. , and then the container is placed on the upper comb member 12.
  • the space utilization efficiency of the movable carrier 1302 can be effectively improved by arranging the multi-layer comb member 12 .
  • the movable carrier 1302 further includes a first layer 13 , the first layer 13 is arranged on the first support 11 and above the comb member 12 , and The first deck 13 is configured to carry at least one container. Since the gaps of the comb member 12 need to be set in conjunction with the container, for containers of different sizes, the widths of the corresponding gaps are different, and each gap can only store containers within the corresponding size range; therefore, the movable carrier of the present application 1302 adds the first layer 13, and the container that cannot be placed on the comb member 12 can be placed on the first layer 13; The movable carrier 1302 can be moved away directly, so that the handling requirements for different containers can also be met.
  • the movable carrier 1302 of the present application adapts the gap in the comb-tooth member 12 to the size of commonly used containers by arranging the comb-tooth member 12 and the first laminate 13, and places uncommonly used containers on The first layer 13 can not only meet the handling requirements for different containers, but also improve the handling efficiency.
  • the second container 52 needs to be placed on the comb member 12 of the movable carrier 1302 , and the second container 52 is transported away by a first target transporting device 150 .
  • the access device 140 also needs to place the first container 51 on the comb member 12 of the movable carrier 1302, and be carried by at least one first target
  • the device 150 transports the first container 51 away.
  • the access device 140 can place each container in any position of the movable carrier 1302, and then use at least A first object handling device 150 directly transports the movable carrier 1302 away.
  • the access device 140 is a yoke-type handling equipment
  • the first layer 13 has a groove for inserting the telescopic fork 32 of the yoke-type handling equipment or notch.
  • the yoke-type handling equipment includes a first body 31, a lifting mechanism and a telescopic fork 32; wherein, the lifting mechanism is arranged on the first body 31 and is configured to drive the telescopic fork 32 to move relatively; the telescopic fork 32 is then It is configured to expand and contract along the front and back directions, so as to achieve the purpose of taking or placing containers by cooperating with the lifting mechanism; wherein, the forward direction refers to the direction close to the shelf, and the backward direction refers to the direction away from the shelf.
  • the elevating mechanism drives the telescopic fork 32 up and down, so that the gap between the telescopic fork 32 and the comb teeth below the container, the groove or the gap on the first layer 13 Alignment, then telescopic fork 32 stretches out forward, to insert gap, groove or breach, lifting mechanism drives telescopic fork 32 to lift again, to separate container with comb member 12 or first floor board 13, telescopic fork 32 backward Retracting takes the container away from the movable carrier 1302.
  • the elevating mechanism drives the telescopic fork 32 up and down, so as to drive the telescopic fork 32 to a height higher than the comb member 12 or the first layer 13, and vertically with the gap, Groove or notch is aligned, and then the telescopic fork 32 stretches out forward to transfer the container to the top of the comb member 12 or the first layer 13, and the lifting mechanism drives the telescopic fork 32 to lift to drop the container on the comb.
  • the telescopic fork 32 On the member 12 or the first deck 13, the telescopic fork 32 is retracted backward, thereby completing the container placement work.
  • the comb member 12 and the first layer 13 of the above-mentioned movable carrier 1302 cooperate with the first target transport device 150 to facilitate the placement and transport of the container.
  • the fixed shelf 1301 includes a second bracket 22 and at least two second layer boards arranged at intervals on the second bracket 22 along the height direction. 23.
  • the second layer board 23 is configured as a carrying container, and the second layer board 23 has a groove or a gap for inserting the telescopic fork 32 of the fork arm type handling equipment.
  • the groove or notch on the second layer 23 has the same shape as the groove or the notch on the first layer 13, and the process of the fork-arm type handling equipment on the second layer 23 for handling the container is the same as that on the first layer.
  • the process of carrying the container on the plate 13 is the same, and will not be repeated here.
  • the yoke-type handling equipment has at least two telescopic forks 32, and the yoke-type handling equipment is configured such that two telescopic forks 32 jointly fork a first A container 51, or a second container 52 is picked up by a telescopic fork 32 alone.
  • the first container 51 is larger than the second container 52 in the width direction of the groove or notch (ie, the horizontal direction, or the direction parallel to the carrying surface).
  • the first container 51 can span at least two grooves or notches, and the second container 52 can only across a groove or gap.
  • the first container 51 When carrying the first container 51, it is jointly carried by two telescopic forks 32, and there are at least three telescopic forks 32 in the yoke type handling equipment, and the telescopic forks 32 used for carrying the first container 51 can be adjacent telescopic forks 32 , can also be non-adjacent telescopic forks 32.
  • the second container 52 When carrying the second container 52, it is carried by only one telescopic fork 32.
  • the first container 51 can span at least two grooves or gaps, while the second container 52 can only span one groove or gap, the containers can be arranged in sequence along the grooves or gaps, thereby realizing the unit of containers of different sizes storage.
  • the horizontal distances between two adjacent grooves or gaps on the first laminate 13 and the second laminate 23 are the same, which can make the entire laminate
  • the containers can be arranged closely to improve the space utilization efficiency of the laminates as much as possible.
  • the fork-arm type handling equipment is also configured such that two telescopic forks 32 respectively fork a second container 52 at the same time, and like this, the two telescopic forks 32 can work simultaneously without working separately, thereby The working efficiency of the telescopic fork 32 can be improved.
  • the access device is telescopic arm type handling equipment
  • the telescopic arm type handling equipment includes a first body, a lifting mechanism, a loading tray and two telescopic arms, and the lifting mechanism is arranged on the first body and is configured to drive the loading tray and the two telescopic arms up and down relative to the first body;
  • the two telescopic arms are arranged on the loading tray, and can be stretched along the front and rear directions;
  • the two telescopic arms are provided with front fingers and
  • the rear finger and the front finger are rotatably arranged at the front end of the telescopic arm, and are driven by the finger motor to rotate relative to the telescopic arm to the inside of the telescopic arm, or to the outside of the telescopic arm, and the rear finger is fixed.
  • orientation words "inner and outer” used in this paper are based on the space formed between the two telescopic arms, and are located in the space formed by the two telescopic arms. What is outside the formed space is outside.
  • the two telescopic arms When the access device takes out the container from the shelf, the two telescopic arms extend toward the shelf relative to the loading tray to both sides of the container inserted into the shelf, and then the finger motor drives the front dial to rotate to the inside of the telescopic arm to align with the container Rear ends offset. The two telescopic arms retract again relative to the loading tray to pull the container onto the loading tray.
  • the two telescopic arms extend toward the shelf relative to the loading tray until the rear finger pushes the container to the designated position on the shelf, and then shrinks the telescopic arm to the loading tray to Prepare the next pick-and-place container.
  • the second floor plate 23 can be a continuously extending plane without grooves or gaps, so that the two telescopic arms of the telescopic arm type handling device can also realize The purpose of holding and carrying the container from the left and right sides.
  • the telescopic arm handling equipment can set the distance between the two telescopic arms to be adjustable, so that the telescopic arm handling equipment can adjust the distance between the two telescopic arms according to the width of the container. The distance between them, and then clamp and carry the container from the left and right sides.
  • various handling equipment such as suction cup type handling equipment and conveyor belt type handling equipment can also be used, and the specific equipment structure and its handling process will not be repeated here.
  • the warehouse scheduling system includes at least two movable carriers 1302 placed side by side in the accommodation area 21, so that the same fixed shelf 1301 can be combined with at least two movable The carriers 1302 are used in conjunction with each other, so that the transportation needs can be met more flexibly.
  • the access device 140 may also include a traveling mechanism 33, so that the access device 140 can carry containers between the fixed shelf 1301 and the movable carrier 1302, and can also communicate with the fixed shelf from other positions. 1301 or between movable carriers 1302 for transporting containers.
  • the first object handling equipment 150 includes a second body, a second traveling mechanism, and a carrying plate, the carrying plate is movably arranged on the second body, and is configured to be opposite to the second The body is lifted, and the container is lifted through the gap between two adjacent comb teeth of the comb member 12 , or lowered relative to the second body, and the container on the carrier plate is placed on the comb member 12 .
  • the first target transporting device 150 further includes a lifting mechanism and a driving motor, the bottom end of the lifting mechanism is arranged on the second body, and the top end is provided with a carrying plate, and is configured to drive the carrying plate relative to the The second body is raised and lowered; the drive motor is configured to drive the lifting mechanism to drive the carrying tray to move up and down relative to the second body.
  • the lifting mechanism can be a hydraulic cylinder or an air cylinder.
  • the first object handling device 150 is configured to lift the movable carrier 1302.
  • the first object handling device 150 is configured to lift the movable The bottom of the carrier 1302 is moved to lift the movable carrier 1302 .
  • the first object handling device 150 is also configured to pass through the gap between two adjacent comb teeth of the comb member 12, and abut against the first layer 13, so as to Lift the movable carrier 1302.
  • the first object handling device 150 can lift the movable carrier 1302 in a variety of ways, all of which are convenient, and the corresponding method can be selected according to the specific structure of the movable carrier 1302, which improves the first Adaptability of the object handling device 150 .
  • both the movable carrier 1302 and the fixed shelf 1301 can store containers of various sizes in a mixed manner; Larger-sized containers can be handled, that is, the same access device 140 can realize mixed sorting of containers of different sizes.
  • the shelf in the present application can realize mixed storage of large and small containers, that is, different types of containers are stored in the same area, and there is no need to separately set up different types of shelves for storage.
  • the access device 140 of the present disclosure can be stored on the same fixed shelf 1301 or
  • the transportation and storage of containers of various sizes can be completed on the same movable carrier 1302 without cross-regional operation, thereby improving the operation efficiency.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

一种仓储调度系统，所述系统包括控制服务器（110）、搬运设备（150）、库存区域（120）和容器装卸设备（170）；库存区域（120）包括多个可移动载具（1302）；控制服务器（110），被配置为确定第一目标可移动载具上的第一目标容器、第一目标容器的当前存储位以及目标位置，同时确定用于搬运第一目标可移动载具的第一目标搬运设备和目标容器装卸设备，并向第一目标搬运设备发送搬运指令，向目标容器装卸设备发送装卸指令；第一目标搬运设备，被配置为响应于搬运指令，搬运放置有第一目标容器的第一目标可移动载具到目的地；目标容器装卸设备位于目的地，被配置为响应于装卸指令，从当前存储位取出第一目标容器，并放置在目标位置。还涉及一种仓储调度方法。该仓储调度系统及方法能提升库存区域的空间利用率。

Description

一种仓储调度系统及方法
本申请要求于2021年10月26日提交中国专利局、申请号为202111250791.X、发明名称为“一种仓储调度系统及方法”，2021年10月26日提交中国专利局、申请号为202122588751.8、发明名称为“一种仓储调度系统”以及2022年06月15日提交中国专利局、申请号为202221496414.4、发明名称为“仓储系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
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，仓储管理的处理能力也在经受严峻的考验。
电子商务的快速发展，一个仓库需要存储海量的商品种类以及商品库存量，即需要仓库能快速完成订单拣选，也需要提高仓储商品库存存储量，从而提高整个仓库的存储效率。为了提高仓库的存储效率，仓库规划时通常会划分出存储区用于存储大量的商品库存，另外还划分出拣选区用于基于“货到人”模式进行商品拣选，但是对于面积固定的仓库，无法兼顾存储区的存储效率和拣选区的拣选效率，一旦扩大存储区就要相对地压缩拣选区，虽然提升了存储区的商品存储效率，但是拣选区缩小就会影响拣选效率，反之，一旦扩大拣选区就要相应地压缩存储区，虽然提升了拣选区的拣选效率，但是存储区缩小同样也会影响其存储效率，即现有技术中无法平衡仓库的拣选、存储效率。
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、搬运设备、库存区域和容器装卸设备；其中，所述库存区域至少包括多个可移动载具，所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个容器；
所述控制服务器，被配置为确定第一目标可移动载具上的第一目标容器、所述第一目标容器的当前存储位以及目标位置，同时确定用于搬运所述第一目标可移动载具的第一目标搬运设备和目标容器装卸设备，并向所述第一目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令；
所述第一目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述第一目标容器的第一目标可移动载具到目的地；
所述目标容器装卸设备位于所述目的地，被配置为响应于所述装卸指令，从所述当前存储位取出所述第一目标容器，并放置在所述目标位置。
根据本申请实施例的第二方面，提供了一种仓储调度系统，所述系统包括控制服务器、存取设备、搬运设备、库存区域和容器装卸设备；其中，所述库存区域至少包括多个固定货架和多个可移动载具，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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；所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个容器；
所述控制服务器，被配置为根据订单任务确定容纳有订单货物的目标容器当前位于的目标固定货架以及所述目标即将放置于的目标可移动载具，所述目标可移动载具有用于放置所述目标的存储位，同时确定用于存取所述目标的目标存取设备、用于搬运所述目标可移动载具的目标搬运设备以及用于装卸所述目标货箱的目标货箱装卸设备，并向所述目标存取设备发送存取指令，向所述目标搬运设备发送搬运指令，向所述目标货箱装卸设备发送装卸指令；
所述目标存取设备，被配置为响应于所述存取指令，移动至所述目标固定货架处，从所述目标固定货架中取出所述目标并放置在所述目标可移动载具的存储位中或从所述目标可移动载具的存储位中取出所述目标并放置在所述目标固定货架的存储位中；
所述目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述目标的目标可移动载具到目的地；
所述目标容器装卸设备位于所述目的地，被配置为响应于所述装卸指令，从所述目标搬运设备搬运的目标可移动载具中取出目标或将目标放入所述目标搬运设备搬运的目标可移动载具中。
根据本申请实施例的第三方面，提供了一种仓储调度方法，所述方法应用于仓储调度系统，所述系统包括控制服务器、搬运设备、库存区域和容器装卸设备；其中，所述库存区域至少包括多个可移动载具，所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个；
所述方法包括：
所述控制服务器确定第一目标可移动载具上的第一目标容器、所述第一目标容器的当前存储位以及目标位置，同时确定用于搬运所述第一目标可移动载具的第一目标搬运设备和目标容器装卸设备，并向所述第一目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令；
所述第一目标搬运设备响应于所述搬运指令，搬运放置有所述第一目标容器的第一目标可移动载具到目的地；
所述目标容器装卸设备位于所述目的地响应于所述装卸指令，从所述当前存储位取出所述第一目标容器，并放置在所述目标位置。
根据本申请实施例的第四方面，提供了一种仓储调度方法，所述方法应用于仓储调度系统，所述系统包括控制服务器、存取设备、搬运设备、库存区域和容器装卸设备；其中，所述库存区域至少包括多 个固定货架和多个可移动载具，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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；所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个；
所述方法包括：
所述控制服务器根据订单任务确定容纳有订单货物的目标当前位于的目标固定货架以及所述目标即将放置于的目标可移动载具，所述目标可移动载具有用于放置所述目标的存储位，同时确定用于存取所述目标的目标存取设备、用于搬运所述目标可移动载具的目标搬运设备以及用于装卸所述目标货箱的目标货箱装卸设备，并向所述目标存取设备发送存取指令，向所述目标搬运设备发送搬运指令，向所述目标货箱装卸设备发送装卸指令；
所述目标存取设备响应于所述存取指令，移动至所述目标固定货架处，从所述目标固定货架中取出所述目标并放置在所述目标可移动载具的存储位中或从所述目标可移动载具的存储位中取出所述目标并放置在所述目标固定货架的存储位中；
所述目标搬运设备响应于所述搬运指令，搬运放置有所述目标的目标可移动载具到目的地；
所述目标容器装卸设备位于所述目的地响应于所述装卸指令，从所述目标搬运设备搬运的目标可移动载具中取出目标或将目标放入所述目标搬运设备搬运的目标可移动载具中。
根据本申请实施例的第五方面，提供了一种仓储调度系统，所述系统可移动载具；
固定货架，所述固定货架和承载所述固定货架的承载面共同围成容纳区，所述容纳区被构造为容纳所述可移动载具；
存取设备，被配置为在所述固定货架和所述可移动载具之间搬运容器；
第一目标搬运设备，被配置为将搬离所述可移动载具或搬运至所述可移动载具上；和/或，将所述可移动载具搬离所述容纳区或搬运至所述容纳区内。
本实施例提供一种仓储调度系统及方法，所述系统包括控制服务器、搬运设备、库存区域和容器装卸设备；其中，所述库存区域至少包括多个可移动载具，所述至少一个存储位，每个存储位可容纳至少一个；所述控制服务器，被配置为确定第一目标可移动载具上的第一目标容器、所述第一目标容器的当前存储位以及目标位置，同时确定用于搬运所述第一目标可移动载具的第一目标搬运设备和目标容器装卸设备，并向所述第一目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令；所述第一目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述第一目标容器的第一目标可移动载具到目的地；所述目标容器装卸设备位于所述目的地，被配置为响应于所述装卸指令，从所述当前存储位取出所述第一目标容器，并放置在所述目标位置。本申请实施例中的仓储调度系统，提供了密集存储型的可移动货架，在工作站设置了容器存取设备，通过密集存储型的可移动货架和操作可移动货架中的容器存取设备，提升了库存区域的空间利用率，使得库存区域可以存放更多的货物，节约了整体的仓储调度系统中的成本。
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密集存储型的可移动货架的示意图；
图3是本申请另一实施例提供的仓储调度系统的系统结构示意图；
图4是本申请一实施例提供的库存支架的正视图；
图5是本申请一实施例提供的库存支架的侧视图；
图6是本申请一实施例提供的包括接驳层的可移动货架的示意图；
图7a是本申请一实施例提供的容器装卸设备的示意图；
图7b是本申请一实施例提供的第一种混合货物载体的示意图；
图8是本申请一实施例提供的第二种混合货物载体的示意图；
图9是本申请一实施例提供的第三种混合货物载体的示意图；
图10是本申请一实施例提供的第四种混合货物载体的示意图；
图11是本申请一实施例提供的仓储调度方法的流程图；
图12是本申请另一实施例提供的仓储调度方法的流程图；
图13是本申请另一实施例提供的仓储调度系统的结构示意图；
图14是本申请实施例提供的第一目标搬运设备搬运第一容器时的立体示意图；
图15是本申请实施例提供的固定货架的结构示意图；
图16是本申请实施例提供的固定货架和可移动载具承载第一容器和第二容器时的立体示意图；
图17是本申请实施例提供的可移动载具的结构示意图；
图18是本申请实施例提供的可移动载具承载第一容器和第二容器时的立体示意图；
图19是本申请实施例提供的第一目标搬运设备搬运第二容器时的立体示意图；
图20是本申请实施例提供的存取设备搬运第一容器时的立体示意图；
图21是本申请实施例提供的存取设备搬运第二容器时的立体示意图；
图22是本申请实施例提供的第一目标搬运设备搬运可移动载具时的立体示意图；
图23是本申请实施例提供的第一目标搬运设备搬运可移动载具、第一容器和第二容器时的立体示意图。
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-库存支架，1301-固定货架，1302-可移动载具，13021-立柱，13022-层板，130201-接驳层，130202-非接驳层，1304-混合可移动载具，130401-第一存储位，130402-货格，130403-第二存储位，140-存取设备，150-搬运设备，160-工作站，170-容器装卸设备，7-架体，71-X轴轨道，72-Y轴轨道，2-取送容器组件，11-第 一支架，12-梳齿构件，13-第一层板，21-容纳区，22-第二支架，23-第二层板，31-第一机体，32-伸缩叉，33-行走机构，51-第一容器；52-第二容器。
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。
在本申请提供的一具体实施方式中，所述系统包括控制服务器、搬运设备、库存区域和物品装卸设备；其中，所述库存区域至少包括多个可移动载具，所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个物品；
所述控制服务器，被配置为确定第一目标可移动货架中的第一目标物品，同时确定第一目标物品的当前存储位以及目标位置，同时用于搬运所述第一目标可移动货架的第一目标搬运设备和目标物品装卸设备，向所述第一目标搬运设备发送搬运指令，向所述目标物品装卸设备发送装卸指令；
所述目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述第一目标物品的第一目标可移动货架到目的地，即工作站；
所述目标物品装卸设备位于所述目的地(工作站)，被配置为响应于所述装卸指令，从所述当前存储位中取出所述第一目标物品，并放置在所述目标位置中。
其中，目标位置为第一目标可移动载具的存储位或除第一目标可移动载具外的其他可移动载具的存储位。即目标物品装卸设备将第一目标物品从所述当前存储位取出之后，还可以放在第一目标可移动载具的存储位中，或放置在其他的可移动载具的存储位中。
在本申请提供的另一具体实施方式中，所述存储位可容纳的物品包括容器，所述控制服务器进一步配置为根据所述第一目标容器中存储的货物的热度、所述第一目标容器中存储的货物与其它容器中存储的货物之间的关联度、待处理任务是否涉及所述第一目标容器中存储的货物和所述目标容器装卸设备与位于目的地的各移动载具上各存储位的距离中的任意一种确定所述第一目标容器的新存储位。
在本申请提供的另一具体实施方式中，所述控制服务器进一步被配置响应于下架任务、理货任务和上架任务中的至少一种确定所述第一目标物品的新存储位。
在本申请提供的另一具体实施方式中，所述系统还包括：存取设备和多个固定货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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物品。
在本申请提供的另一具体实施方式中，所述物品装卸设备包括架体，所述架体上设置有取送物品组件和承载组件，所述取送物品组件被配置为在所述架体上移动；所述架体包括方向相互垂直的X轴轨道和Y轴轨道；所述Y轴轨道被构造为沿着X轴轨道运动，所述取送物品组件被构造为沿着Y轴轨道运动；所述取送物品组件可延沿Z轴方向从载具上取出物品并装载至所述承载组件上或者从所述承载组件卸载物品并放在可移动载具上。
在本申请提供的另一具体实施方式中，所述系统包括控制服务器、存取设备、搬运设备、库存区域和物品装卸设备；其中，所述库存区域至少包括多个固定货架和多个可移动载具，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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物品；所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个物品，其中，所述存储位可容纳的物品包括容器；
所述控制服务器，被配置为根据订单任务确定容纳有订单货物的目标容器当前位于的目标固定货架以及所述目标容器即将放置于的目标可移动载具，所述目标可移动载具有用于放置所述目标容器的存储位，同时确定用于存取所述目标容器的目标存取设备、用于搬运所述目标可移动载具的目标搬运设备以及用于装卸所述目标货箱的目标货箱装卸设备，并向所述目标存取设备发送存取指令，向所述目标搬运设备发送搬运指令，向所述目标货箱装卸设备发送装卸指令；
所述目标存取设备，被配置为响应于所述存取指令，移动至所述目标固定货架处，从所述目标固定货架中取出所述目标容器并放置在所述目标可移动载具的存储位中或从所述目标可移动载具的存储位中取出所述目标容器并放置在所述目标固定货架的存储位中；
所述目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述目标容器的目标可移动载具到目的地；
所述目标容器装卸设备位于所述目的地，被配置为响应于所述装卸指令，从所述目标搬运设备搬运的目标可移动载具中取出目标容器或将目标容器放入所述目标搬运设备搬运的目标可移动载具中。
在本申请提供的另一具体实施方式中，所述存储位可容纳的物品包括容器，所述可移动载具为混合可移动载具，其中，所述混合可移动载具可承载可容纳仓储货物的第一容器、可容纳仓储货物的第二容器和存储货物中的至少两种。
在本申请提供的另一具体实施方式中，还提供一种仓储调度方法，应用于仓储调度系统，所述系统 包括控制服务器、搬运设备、库存区域和物品装卸设备；其中，所述库存区域至少包括多个可移动载具，所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个物品；
所述方法包括：
所述控制服务器确定第一目标可移动载具上的第一目标物品、所述第一目标物品的当前存储位以及目标位置，同时确定用于搬运所述第一目标可移动载具的第一目标搬运设备和目标物品装卸设备，并向所述第一目标搬运设备发送搬运指令，向所述目标物品装卸设备发送装卸指令；
所述第一目标搬运设备响应于所述搬运指令，搬运放置有所述第一目标物品的第一目标可移动载具到目的地；
所述目标物品装卸设备位于所述目的地响应于所述装卸指令，从所述当前存储位取出所述第一目标物品，并放置在所述目标位置。
在本申请提供的另一具体实施方式中，所述存储位可容纳的物品包括容器，所述方法还包括：
所述控制服务器根据所述第一目标容器中存储的货物的热度、所述第一目标容器中存储的货物与其它容器中存储的货物之间的关联度、待处理任务是否涉及所述第一目标容器中存储的货物和所述目标容器装卸设备与位于目的地的各移动载具上各存储位的距离中的任意一种确定所述第一目标容器的新存储位。
在本申请提供的另一具体实施方式中，还提供一种仓储调度方法，应用于仓储调度系统，所述系统包括控制服务器、存取设备、搬运设备、库存区域和物品装卸设备；其中，所述库存区域至少包括多个固定货架和多个可移动载具，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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物品；所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个物品，其中，所述存储位可容纳的物品包括容器；
所述方法包括：
所述控制服务器根据订单任务确定容纳有订单货物的目标容器当前位于的目标固定货架以及所述目标容器即将放置于的目标可移动载具，所述目标可移动载具有用于放置所述目标容器的存储位，同时确定用于存取所述目标容器的目标存取设备、用于搬运所述目标可移动载具的目标搬运设备以及用于装卸所述目标货箱的目标货箱装卸设备，并向所述目标存取设备发送存取指令，向所述目标搬运设备发送搬运指令，向所述目标货箱装卸设备发送装卸指令；
所述目标存取设备响应于所述存取指令，移动至所述目标固定货架处，从所述目标固定货架中取出所述目标容器并放置在所述目标可移动载具的存储位中或从所述目标可移动载具的存储位中取出所述目标容器并放置在所述目标固定货架的存储位中；
所述目标搬运设备响应于所述搬运指令，搬运放置有所述目标容器的目标可移动载具到目的地；
所述目标容器装卸设备位于所述目的地响应于所述装卸指令，从所述目标搬运设备搬运的目标可移动载具中取出目标容器或将目标容器放入所述目标搬运设备搬运的目标可移动载具中。
在本申请提供的另一具体实施方式中，提供了一种仓储调度系统，所述系统包括：
可移动载具；
固定货架，所述固定货架和承载所述固定货架的承载面共同围成容纳区，所述容纳区被构造为容纳所述可移动载具；
存取设备，被配置为在所述固定货架和所述可移动载具之间搬运物品；
第一目标搬运设备，被配置为将物品搬离所述可移动载具或搬运至所述可移动载具上；和/或，将所述可移动载具搬离所述容纳区或搬运至所述容纳区内。
需要说明的是，上述实施例中可移动载具中的存储位可容纳至少一个物品，其中，物品可包括容器或者是货物，其中，第一目标物品可包括第一目标容器，第二目标物品可包括第二目标容器，第三目标物品可包括第三目标容器；同时，目标物品装卸设备可用于装卸容器或者货物，该实施例中还可提及取送物品组件，其中，取送物品组件可用于取送容器或者货物，本实施例对此不作具体限定。
另外，为了便于理解，在下述实施例中均以物品描述成容器为例，对仓储调度系统的过程进行详细说明，其中，物品装卸设备描述为容器装卸设备、取送物品组件描述为取送容器组件、装卸物品以及取送物品均描述为装卸容器以及取送容器。
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和容器装卸设备170。所述库存区域中包括多个可移动载具1302，多个可移动载具1302之间形成通道，在通道中运行有一个或多个搬运设备150，在库存区域外设置有多个工作站160，工作站设置有容器装卸设备170。
控制服务器110与搬运设备150、容器装卸设备170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，可以通过无线与搬运设备150、容器装卸设备170、工作站160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1302，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1302可以是可移动货架1302，可移动货架1302包括至少一层层板，所述至少一层层板将可移动货架1302分割为至少两层，所述可移动货架1302的层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，所述容器可以是货箱。
在库存区域120的多个可移动货架1302之间形成通道，在通道中运行有搬运设备150，所述搬运设 备150用于搬运所述可移动货架1302，具体的，所述搬运设备150包括货架搬运机器人。
可移动货架1302可以为密集存储货架，也可以为非密集存储货架，参见图2，图2示出了本申请实施例提供的密集存储的可移动货架的示意图，如图2所示，可移动货架中的多个格子用于存储容器，所述可移动货架为密集存储货架，容器与容器之间缝隙很小。
所述工作站160为货物拣选区，在可移动货架1302被搬运至工作站160后，在工作站160由人工或自动化设备从可移动货架1302上的容器中拣选订单任务所需的商品，所述自动化设备包括自动化机械臂。
在本申请提供的一具体实施方式中，控制服务器，被配置为确定第一目标可移动货架中的第一目标容器，同时确定第一目标容器的当前存储位以及目标位置，同时用于搬运所述第一目标可移动货架的第一目标搬运设备和目标容器装卸设备，向所述第一目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令；
所述目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述第一目标容器的第一目标可移动货架到目的地，即工作站；
所述目标容器装卸设备位于所述目的地(工作站)，被配置为响应于所述装卸指令，从所述当前存储位中取出所述第一目标容器，并放置在所述目标位置中。
其中，目标位置为第一目标可移动载具的存储位或除第一目标可移动载具外的其他可移动载具的存储位。即目标容器装卸设备将第一目标容器从所述当前存储位取出之后，还可以放在第一目标可移动载具的存储位中，或放置在其他的可移动载具的存储位中。
更进一步的，控制服务器进一步配置为所述控制服务器进一步配置为根据所述第一目标容器中存储的货物的热度、所述第一目标容器中存储的货物与其它容器中存储的货物之间的关联度、待处理任务是否涉及所述第一目标容器中存储的货物和所述目标容器装卸设备与位于目的地的各移动载具上各存储位的距离中的任意一种确定所述第一目标容器的新存储位。
需要注意的是，本申请中的可移动货架中货物的热度是指货物的出货量或出货频次，货物的热度值高是指容器中货物的出货量大或者出货频次高，如果容器中放置多个SKU货物，则根据多个SKU货物的出货量或出货频次的加权求和值确定货物的热度。货物之间的关联度具体是指在订单任务中，货物一同被选中的频次，例如美甲油和卸甲油，通常会出现在同一个订单中，则这两个货物之间的关联度就会比较高。
待处理任务具体包括下架任务(订单预命中)、上架任务(上架预命中)、理货任务(理货预命中)等，其中，预命中原则为若未来将要处理的任务中涉及到该货物，可以将预命中的货物提前调整位置，放在某些特定的货架上，集中起来，便于待处理任务可以快速处理，节省调度时间，提高了仓储调度系统的调度效率。
根据货物的热度来确定第一目标容器的目标位置，便于在货物拣选任务中将热度高的容器放置在便于出货的存储位；根据货物之间的关联度确定第一目标容器的目标位置，便于在货物拣选任务中可以减少可移动货架的移动次数，并便于货物的拣选。
容器装卸设备为自动化将容器从可移动货架中搬运出来、或将容器放置到可移动货架中的设备。所述容器装卸设备通过吸取、推动、夹取、抓取、钩取、抱起、抬升方式中的至少一种从所述可移动载具中取出容器或者将容器放在所述可移动载具中。
容器装卸设备包括第一传感器，第一传感器用于在容器装卸设备可移动货架上取出容器时确定该可移动货架的存储位是否有容器和/或在向可移动货架的存储位放置容器时确定该可移动货架的存储位是否为空。
容器装卸设备还包括第二传感器，第二传感器用于确定容器装卸设备与可移动货架上的容器之间的位姿偏差。在所述位姿偏差大于或等于预设容忍阈值的情况下，所述容器装卸设备基于所述位姿偏差调整自身的位姿，使得调整后的所述容器装卸设备与所述第一容器之间的位姿偏差小于预设容忍阈值。
在实际应用中，第一传感器和第二传感器可以为同一个传感器，也可以为不同的传感器。两者均可以为视觉传感器、深度信息传感器或3D传感器，例如2D摄像头、3D摄像头等等。
在本申请提供的一具体实施方式中，目标容器装卸设备位于工作站160中，在工作站160中设置有传输线，拣选工作位于传输线的传输路径中，该传输线有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目标容器装卸设备。位于传输线入口的目标容器装卸设备，从所述当前存储位中取出第一目标容器，并放置在传输线上；位于传输线出口的目标容器装卸设备从传输线出口中取出第一目标容器，并放置在目标位置，其中，所述目标位置为第一目标可移动货架的存储位或除第一目标可移动货架外的其他可移动货架的存储位。
在实际应用中，目标容器不仅可以在同一个可移动货架上进行位置调整，还可以在不同的可移动货架上进行调整，即目标位置与当前存储位既可以是同一个可移动货架，也可以是不同的可移动货架。
在本申请提供的另一具体实施方式中，所述目标位置为第二目标可移动载具的存储位，相应的，所述控制服务器110，还被配置为确定所述第一目标容器在所述第二目标可移动载具上的存储位，同时确定用于搬运所述第二目标可移动载具的第二目标搬运设备，向所述第二目标搬运设备发送搬运指令；
所述第二目标搬运设备，被配置为响应于所述搬运指令，搬运所述第二目标可移动载具到目的地；
所述目标容器装卸设备，进一步被配置为响应于所述装卸指令，从所述第一目标可移动载具上的当前存储位取出所述第一目标容器，并放置在所述第二目标可移动载具上的存储位。
其中，第一目标可移动载具具体是指第一目标容器当前所处的可移动载具，第二目标可移动载具具体是指第一目标容器需要被移动到的可移动载具，即需要将位于第一目标可移动载具上的第一目标容器移动至第二目标可移动载具上，控制服务器在确定第一目标可移动载具和第二可移动载具后，还需要确定用于移动所述第一目标容器的目标容器装卸设备，并向所述第一目标搬运设备和所述第二目标搬运设 备发送搬运指令，向所述目标容器装卸设备发送装卸指令。
第一目标搬运设备根据搬运指令将第一目标可移动载具移动至工作站160，第二目标搬运设备根据搬运指令将第二目标可移动载具移动至工作站160，目标容器装卸设备在第一目标可移动载具和第二目标可移动载具抵达工作站160后，根据装卸指令，从第一目标可移动载具上的当前存储位取出第一目标容器，并将目标容器放置在第二目标可移动载具的存储位上。
在实际应用中，目标容器装卸设备除了在可移动载具之间调换目标容器的位置之外，还可以将装卸区的容器放置在可移动载具中，装卸区具体是指在完成下架任务、理货任务或上架任务之后，用于放置容器的区域，容器在装载区完成相应任务后，需要放回库存区域，在目标容器完成订单任务、上货任务、盘点任务、容器调整任务之后，由可移动载具将容器搬运会仓储区域。
基于此，在本申请提供的一具体实施方式中，所述控制服务器，还被配置为确定位于装卸区的第二目标容器和所述第三目标可移动载具上的存储位，同时确定用于搬运所述第三目标可移动载具的第三目标搬运设备，并向所述第三目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令；
所述第三目标搬运设备，被配置为响应于所述搬运指令，搬运所述第三目标可移动载具到所述装卸区；
所述目标容器装卸设备位于所述装卸区，被配置为响应于所述装卸指令，从所述装卸区取出所述第二目标容器，并放置在所述第三目标可移动载具上的存储位。
所述控制服务器进一步被配置为响应于下架任务、理货任务和上架任务中的至少一种确定所述第二目标容器的新存储位。
需要注意的是，用于放置第一目标容器的第二目标可移动载具和/或用于将装卸区的第二目标容器搬运回库存区域的第三目标可移动载具，可以是根据容器的热度或容器中货物的关联度从库存区域搬运过来的部分存储位为空的货架，也可以是所有存储位中均没有容器的空货架，在本申请中，对此不做限定。
在实际应用中，控制服务器110进一步被配置响应于下架任务、理货任务和上架任务中的至少一种确定所述第一目标容器的新存储位。
在本申请提供的一具体实施方式中，以预设容器调整触发条件为用于拣选订单的订单任务为例，控制服务器，还被配置为根据订单任务确定第一目标容器、第一目标容器在第一目标可移动载具上的当前存储位和第一目标容器在第二目标可移动载具上的目标位置，其中，第一目标容器在第二目标可移动载具上的目标位置是根据第一目标容器中货物的热度和/或与第二目标可移动载具上货物之间的关联度来确定的。
在本申请提供的另一具体实施方式中，以预设容器调整触发条件为用于调整容器位置的容器调整任务为例，每隔一段时间，需要将量库存区域中的容器进行调整，根据这段时间内的货物出货的热度和/或货物之间的关联度来确定哪些容器需要进行调整，以及如何进行调整，在某个时间段专门用来进行容器位置之间的调整，完成容器调整任务。
在预设容器调整触发条件为用于拣选订单的订单任务的情况下，目标容器在执行完订单拣选之后，目标容器以放回到原来的可移动载具中，也可以放到不同的可移动载具中，控制服务器根据订单任务确定目标容器后，即可以确定第一目标容器在第一目标可移动载具上的当前存储位和目标位置；也可以确定第一目标容器在第一目标可移动载具的当前存储位和第二可移动载具的目标位置。
另外，在第一目标可移动载具上的当前存储位中将第一目标容器移走之后，控制服务器，还被配置为根据订单任务确定第二目标容器、所述第二目标容器在所述第一目标可移动载具上的当前存储位为所述第二目标容器的目标位置。即在将第一目标容器从第一目标可移动载具上的当前存储位取出之后，还可以确定第二目标容器，并将第二目标容器放置在空闲出来的所述第一目标可移动载具上的当前存储位，以此实现根据订单任务实现容器位置进行调整的目的。
在本申请提供的又一具体实施方式中，所述可移动载具可以是双面可移动货架；
所述控制服务器，进一步被配置为确定所述第一目标容器的当前存储位以及目标位置位于所述第一目标可移动货架的对立面，并向所述目标搬运设备发送货架转面指令；
所述目标搬运设备，还被配置为在所述目标容器装卸设备取出所述第一目标容器后，响应于所述货架转面指令，搬运所述第一目标可移动货架执行货架转面操作；
所述目标容器装卸设备，还被配置为将所述目标容器放置在所述目标位置。
当可移动货架为双面货架的情况下，有可能会出现目标容器的当前存储位与目标位置在双面货架的对立面，在此情况下，还需要向目标搬运设备发送货架转面指令，目标搬运设备将目标可移动货架搬运至工作站后，由目标容器设备从当前存储位取出目标容器后，执行货架转面指令，搬运目标可移动货架执行货架转面的操作，在完成转面之后，将目标容器放置在目标位置中。
在可移动载具在工作站完成定订单任务、上货任务、容器调整任务等任务之后，还会由搬运设备搬运回库存区域，具体的，各目标搬运设备，还被配置为将所述各目标可移动载具搬运回所述库存区域的原位置或其他位置。更进一步的，控制服务器进一步配置为根据各目标可移动载具的热度和所述各目标可移动载具与所述存储区域中空闲位置的距离中的任意一种确定所述各目标可移动载具的新位置。其中，所述其他位置与所述目的地的距离与所述第一目标可移动货架的热度值正相关。例如，可移动载具的热度值越高，则距离工作站的距离越近；反之，可移动载具的热度值越低，则距离工作站的距离越远。可移动载具的热度值的具体根据可移动载具中容器的热度值确定，容器的热度值参见上述实施例的具体描述，在此不在赘述。将可移动载具搬运回库存区域的新位置时，还可以是根据可移动载具与存储区中空闲位置的距离来确定目标可移动载具的新位置。将可移动载具搬运至存储区域中最近的空闲位置，提高可移动载具的搬运效率。
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，该系统包括一个或多个控制服 务器110，库存区域120，所述库存区域中包括多个库存支架130，多个库存支架130之间形成通道，在通道中运行有一个或多个搬运设备150、一个或多个存取设备140，在库存区域120外设置有多个工作站160，工作站设置有容器装卸设备170。
控制服务器110，与存取设备140、搬运设备150、容器装卸设备170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，可以通过无线与存取设备140、搬运设备150、容器装卸设备170、工作站160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中设置有多个库存支架130，库存货架130包括固定货架1301和可移动载具1302，所述固定货架1301和可移动载具1302包括至少一层隔板，所述至少一层隔板将固定货架1301和可移动载具1302分割为至少两层，所述可移动载具1302位于所述固定货架1301的底层，所述固定货架1301除底层外的其他层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。可移动载具包括可移动货架。
参见图4，图4示出了本申请一实施例提供的库存支架130的正视图，如图4所示，库存支架130包括固定货架1301和可移动载具1302，存取设备140用于在固定货架1301和可移动载具1302中存取容器，搬运设备150用于搬运可移动载具1302。
参见图5，图5示出了本申请实施例提供的库存支架130的侧视图，如图5所示，可移动载具1302位于固定货架1301的底层，所述固定货架1301除底层外的其他层放置容纳有库存货物的容器，所述固定货架的每层隔板在纵深方向上设置有至少一个容器存储的存储位，即当库存区域120为非密集存储时，固定货架的每层隔板在纵深方向上可以设置一个容器的存储位，若库存区域120为密集存储时，固定货架的每层隔板在纵深方向设可以设置两个或多个容器的存储位，以提高存储效率。
相应的，固定货架1301的底层设置有可移动载具1302，在固定货架1301的底层沿纵深方向上也可以放置至少一个可移动载具1302，即当固定货架的每层隔板在纵深方向上设置一个容器的存储位时，在固定货架1301的底层沿纵深方向上也设置一个可移动载具1302；当固定货架的每层隔板在纵深方向设置两个或多个容器的存储位时，在固定货架1301的底层沿纵深方向上也设置两个或多个可移动载具1302。
所述可移动载具1302包括至少一个立柱13021，并在沿立柱13021竖直方向设置有至少一个层板13022，在每个层板13022上设置有供容器存储的存储位。进一步的，所述可移动载具1302包括至少两个立柱13021，所述至少两个立柱13021设置在所述至少一个层板13022的同一侧，且所述至少两个立柱13021与所述至少一个层板13022的连接点偏移所述层板13022的端头预定距离，如图5所示，立柱13021与层板13022的连接点在层板13022的同一侧，且连接点偏移层板13022的端头预定距离。
在库存区域120的多个库存支架130之间形成通道，在通道中运行有存取设备140和/或搬运设备150，所述存取设备140用于在固定货架1301上存放、获取容器，所述搬运设备150用于搬运所述可移动货架1302，具体的，所述搬运设备150包括货架搬运机器人，所述存取设备140包括单伸位、双伸位或多伸位的容器机器人，单伸位容器机器人的货叉只能伸出一次，取一排货架的货物，双伸位容器机器人的货叉可以分两段伸出，第一段伸出时可以取第一排货物，第二段伸出时可以取第二排的货物，多伸位容器机器人的货叉可以分多段伸出。存取设备140的具体形式与固定货架1301的存储位相关，若固定货架1301的每层隔板在纵深方向上设置一个容器的存储位，则存取设备140为单伸位的容器机器人，若固定货架1301的每层隔板在纵深方向上设置两个容器的存储位，则存取设备140为双伸位的容器机器人，若固定货架1301的每层隔板在纵深方向上设置多个容器的存储位，则存取设备140为多伸位的容器机器人，在实际应用中，为了提高存取效率，还可以在存取设备上设置有缓存机构，所述缓存机构用于缓存至少一个容器，所述缓存机构可以使得存取设备一次存取多个容器，以提高存取效率。
在本申请提供的基于图3所示应用场景的具体实施例中，所述目标位置为位于工作站的缓存存储位；相应的，所述控制服务器110，还被配置为确定所述第一目标容器在目标固定货架的存储位，同时确定用于存取所述第一目标容器的目标存取设备，并向所述目标存取设备发送存取指令；
所述目标容器装卸设备，进一步被配置为响应于所述装卸指令，从所述当前存储位取出所述第一目标容器，并放置在所述缓存存储位；
所述目标存取设备，被位置为响应于所述存取指令，移动至所述缓存存储位，并从所述缓存存储位取出所述第一目标容器，并移动至目标固定货架，将所述第一目标容器放置在所述目标固定货架的存储位。
在本申请提供的一具体实施方式中，目标存取设备可以从工作站的缓存存储位中取出第一目标容器，并将第一目标容器搬运至库存区域的固定货架处，将第一目标容器放置在固定货架的存储位中。
在本申请提供的另一具体实施方式中，目标存取设备还可以从固定货架的存储位中取出第一目标容器，并将第一目标容器搬运至工作站，放置在工作站的缓存存储位中。
在本申请提供的另一具体实施方式中，目标存取设备还可以从可移动货架的接驳层中取出第一目标容器，并将第一目标容器放置在固定货架的存储位，或从固定货架的存储位中取出第一目标容器，并将第一目标容器放置可移动货架的接驳层中。
如图2所示的可移动货架为密集存储货架，可移动货架中的多个格子为容器，所述可移动货架为密集存储货架，容器与容器之间缝隙很小。无法容纳存取设备的货叉，因此，无法直接由存取设备直接从可移动货架中获取容器并放置在固定货架中，也无法由存取设备直接将固定货架中的容器取出并放置在可移动货架中，基于此，在将第一目标可移动货架中的第一目标容器移动至固定货架的过程中，需要将第一目标可移动货架搬运至工作站，在工作站处由容器装卸设备将第一目标容器取出并放置在缓存存储 位中，再由存取设备从缓存存储位中取出第一目标容器，并搬运到固定货架处，将第一目标容器放置在位于固定货架的存储位中。
需要注意的是，在工作站中，缓存存储位可以是位于缓存货架中，也可以是位于缓存辊道线上，在本申请中，对缓存存储位的具体位置不做限定。
在本申请提供的又一具体实施中，还存在一种场景，即容器位于固定货架1301中，需要将固定货架1301中的容器调整到可移动货架的存储位中，同样由于本申请提供的可移动货架为密集存储货架，存取设备无法直接将容器放置在可移动货架的存储位上。
基于此，所述目标位置为位于工作站的缓存存储位，控制服务器，还被配置为确定所述目标固定货架上的第三目标容器，所述第三目标容器的当前存储位和所述第三目标容器在第四目标可移动货架上的存储位，同时确定用于存取所述第三目标容器的目标存取设备、用于搬运所述第四目标可移动货架的第四目标搬运设备，并向所述目标存取设备发送存取指令，向所述第四目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令；
所述目标存取设备，被配置为响应于所述存取指令，移动至所述目标固定货架，取出所述第三目标容器，并将所述第三目标容器搬运至目的地，存放至所述目的地的缓存存储位；
所述第四目标搬运设备，被配置为响应于所述搬运指令，搬运第四目标可移动货架到所述目的地；
所述目标容器装卸设备，被配置为响应于所述装卸指令，从所述缓存存储位取出所述第三目标容器，并将所述第三目标容器放入所述第四目标搬运设备搬运的第四目标可移动货架中。
在此场景下，控制服务器确定第三目标容器在固定货架1301上的情况下，确定第三目标容器的需要放置在第四目标可移动货架1302中，即确定用于存取第三目标容器的目标存取设备140，用于搬运所述第四目标可移动货架1302的第四目标搬运设备150和用于装卸第三目标容器的目标容器装卸设备170，向目标存取设备140发送存取指令，向第四目标搬运设备150发送搬运指令，向目标容器装卸设备170发送装卸指令。
目标存取设备140在接收到存取指令后，移动至目标固定货架1301处，从当前存储位中取出第三目标容器，并搬运第三目标容器到工作站，将目标容器存放至工作站的缓存存储位中。
第四目标搬运设备150在接收到搬运指令后，移动至第四目标可移动货架1302处，将第四目标可移动货架1302搬运至工作站。
目标容器装卸设备170位于工作站，当目标存取设备140将第三目标容器存放至工作站的缓存存储位且第四目标搬运设备150将第四目标可移动货架1302搬运至工作站后，根据装卸指令，从缓存存储位中取出第三目标容器，并将第三目标容器放置在第四目标可移动货架1302的目标位置中。
通过上述实施例可以发现，无论是将固定货架的容器放置在可移动货架，还是将可移动货架中的容器放置在固定货架中，均需要存取设备将容器、搬运设备将可移动货架搬运至工作站，目标容器装卸设备需要等待两个设备将各自需要搬运的容器或可移动货架搬运到指定位置后才可以执行装卸指令，费时费力，基于此，为了提高工作效率，本申请还提出了另外一种可移动货架，参见图6，图6示出了本申请另一实施例提供的可移动货架的示意图，如图6所示，可移动货架1302中包括至少一层接驳层130201，位于接驳层中的容器可以被存取设备或容器装卸设备操作。可移动货架1302中除了接驳层130201之外还包括非接驳层130202，非接驳层中的容器只能被容器装卸设备操作。
搬运设备可以搬运放置有目标容器的可移动货架到工作站，容器装卸设备将目标容器在非接驳层130202范围内进行调整位置，也可以将目标容器在接驳层130201范围内进行调整位置，也可以将目标容器在接驳层130201与非接驳层130202之间调整位置。
当目标容器在可移动货架的非接驳层，需要放置在固定货架中时，可以由搬运设备将可移动货架搬运至工作站，容器装卸设备将目标容器从非接驳层中取出并放置在接驳层的存储位中，再由搬运设备将可移动货架搬到固定货架底层，由存取设备从接驳层的存储位中取出目标容器并放置在固定货架的目标位置。
当目标容器在固定货架中，需要放置在可移动货架的非接驳层的存储位中，可以由存取设备从固定货架中取出目标容器，并放置在可移动货架的接驳层，由搬运设备将可移动货架搬运至工作站，容器装卸设备将目标容器从接驳层中取出，并放置在非接驳层的目标位置中，再由搬运设备将可移动货架搬回库存区域。
在可移动货架中设置接驳层，便于存取设备从接驳层中取出或放入容器，在容器调整任务中，避免了存取设备在库存区域与工作站之间往返，节省了时间，提升了存储效率。
参见图7a，图7a示出了本申请一实施例体用的容器装卸设备的示意图，如图7a所述，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。
容器装卸设备设置于工作站区域，响应于第一容器取放指令，获取第一订单容器，并将第一订单容器通过取放容器组件放置在第一缓存载具的目标存储位中。
本申请提供的基于图3应用场景的订单任务中，所述控制服务器，被配置为根据订单任务确定容纳有订单货物的目标容器当前位于的目标固定货架以及所述目标容器即将放置于的目标可移动载具，所述目标可移动载具有用于放置所述目标容器的存储位，同时确定用于存取所述目标容器的目标存取设备、用于搬运所述目标可移动载具的目标搬运设备以及用于装卸所述目标货箱的目标货箱装卸设备，并向所述目标存取设备发送存取指令，向所述目标搬运设备发送搬运指令，向所述目标货箱装卸设备发送装卸指令；
所述目标存取设备，被配置为响应于所述存取指令，移动至所述目标固定货架处，从所述目标固定货架中取出所述目标容器并放置在所述目标可移动载具的存储位中或从所述目标可移动载具的存储位中取出所述目标容器并放置在所述目标固定货架的存储位中；
所述目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述目标容器的目标可移动载具到目的地；
所述目标容器装卸设备位于所述目的地，被配置为响应于所述装卸指令，从所述目标搬运设备搬运的目标可移动载具中取出目标容器或将目标容器放入所述目标搬运设备搬运的目标可移动载具中。
在实际应用中，在订单任务中，订单命中的货物位于固定货架的目标容器中，需要将目标容器搬运至工作站进行订单拣选，控制服务器根据订单任务确定目标固定货架中的目标容器，以及目标容器即将放置的目标可移动载具，同时确定存取目标容器的目标存取设备、搬运目标可移动载具的目标搬运设备、装卸目标容器的目标容器装卸设备，向目标存取设备发送存取指令、向目标搬运设备发送搬运指令，向目标容器装卸设备发送装卸指令。
目标存取设备移动至目标固定货架，将固定货架上的目标容器取出并放置在可移动载具的存储位中。或从可移动载具的存储位中取出目标容器并放置在固定货架的存储位中。
目标搬运设备在目标存取设备将目标容器放置在可移动载具的存储位后，将目标可移动载具搬运至工作站，目标容器装卸设备位于工作站，根据装卸指令，将目标容器从目标搬运设备搬运过来的目标可移动载具中取出，并执行订单的拣选，在完成订单任务后，还可以由容器装卸设备将目标容器放回到目标可移动载具中。
在实际应用中，目标容器在目标可移动载具上的存储位可以根据所述目标容器中存储的货物的热度和/或所述目标容器中存储的货物与其它容器中存储的货物之间的关联度确定所述目标容器在所述目标可移动载具上的存储位。关于目标容器中货物的热度、目标容器中货物与其他容器中存储货物之间的关联度的相关内容，详见上述实施例的相关描述，在此不再赘述。
在本申请提供的一具体实施方式中，所述控制服务器，被配置为调度存取设备将第一目标容器在固定货架中调换存储位、调度存取设备将第一目标容器在固定货架与可移动载具间调换存储位；和/或，调度容器装卸设备将第一目标容器在可移动载具中调换存储位。
在本申请提供的一具体实施方式中，所述控制服务器，被配置为响应于理货任务，调度存取设备将第一目标容器从固定货架中的原存储位调整至其他存储位或保持原存储位不变；调度存取设备将第一目标容器从固定货架中的原存储位调整至可移动载具中的其他存储位；调度存取设备将第一目标容器从可移动载具中的原存储位调整至固定货架中的其他存储位；和/或,调度容器装卸设备将第一目标容器从可移动载具中的原存储位调整至其他存储位或保持原存储位不变。
在本申请提供的一具体实施方式中，所述可移动载具为可移动货架，所述可移动货架包括至少一层隔板，所述至少一层隔板将所述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。
在本申请提供的一具体实施方式中，所述可移动载具还可以为混合可移动载具，其中，所述混合可移动载具可承载可容纳仓储货物的第一容器、可容纳仓储货物的第二容器和存储货物中的至少两种。
为了进一步提高拣选效率，本申请提供的仓储调度系统还提供了混合可移动载具1304，混合可移动载具1304位于库存区域，其中，所述混合可移动载具可承载可容纳仓储货物的第一容器、可容纳仓储货物的第二容器和存储货物中的至少两种。对于混合可移动载具上的第二容器或货物可以使用叉车、机械臂等装卸设备或人工操作来实现容器或货物的调整。
参见图7b，图7b示出了本申请一实施例提供的第一种混合可移动载具的示意图。如图7b所示，混合可移动载具1304中包括了第一存储位130401和货格130402，其中，第一存储位130401中放置第一容器；货格130402中放置散装货物。
参见图8，图8示出了本申请一实施例提供的第二种混合可移动载具的示意图，如图8所示，混合可移动载具1304中包括了第二存储位130403和货格130402，其中，第二存储位130403中放置承载托 盘，承载托盘中承载仓储货物；货格130402中放置散装货物。
参见图9，图9示出了本申请一实施例提供的第三种混合可移动载具的示意图，如图9所示，混合可移动载具1304中包括了第一存储位130401和第二存储位130403，其中，第一存储位130401中放置第一容器；第二存储位130403中放置承载托盘，承载托盘中承载仓储货物。
参见图10，图10示出了本申请一实施例提供的第四种混合可移动载具的示意图，如图10所示，混合可移动载具1304中包括了第一存储位130401、货格130402和第二存储位130403，其中，第一存储位130401中放置第一容器；第二存储位130403中放置承载托盘，承载托盘中承载仓储货物；货格130402中放置散装货物。
下面结合具体场景对本申请提供的仓储系统做进一步解释说明：
实施例1
实施例1提供的仓储调度系统包括控制服务器、搬运设备、库存区域、容器装卸设备、工作站，库存区域包括多个密集存储型的可移动货架，每个可移动货架包括至少一层隔板，至少一层隔板将可移动货架分割为至少两层，每个隔板上设置有至少一个存储位，每个存储位容纳至少一个容器。
控制服务器根据容器调整任务确定目标容器位于目标可移动货架上，并确定目标容器的当前存储位和目标位置均在目标可移动货架，基于此，确定用于搬运目标可移动货架的目标搬运设备和用于装卸目标容器的目标容器装卸设备，并向所述目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令。
目标搬运设备响应于所述搬运指令，搬运放置有所述目标容器的目标可移动货架到工作站。
目标容器装卸设备位于工作站，响应于所述装卸指令，从目标可移动货架的当前存储位取出所述目标容器，并放置在目标可移动货架的目标位置。
实施例2
实施例2提供的仓储调度系统包括控制服务器、搬运设备、库存区域、容器装卸设备、工作站，库存区域包括多个密集存储型的可移动货架，每个可移动货架包括至少一层隔板，至少一层隔板将可移动货架分割为至少两层，每个隔板上设置有至少一个存储位，每个存储位容纳至少一个容器。
控制服务器根据订单任务确定目标容器位于目标可移动货架上，并确定目标容器的当前存储位和目标位置均在目标可移动货架，基于此，确定用于搬运目标可移动货架的目标搬运设备和用于装卸目标容器的目标容器装卸设备，并向所述目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令。
目标搬运设备响应于所述搬运指令，搬运放置有所述目标容器的目标可移动货架到工作站。
目标容器装卸设备位于工作站，响应于所述装卸指令，从目标可移动货架的当前存储位取出所述目标容器，执行订单任务的货物拣选，在货物拣选完成后，将目标容器放置在目标可移动货架的目标位置。
实施例3
实施例3提供的仓储调度系统包括控制服务器、搬运设备、库存区域、容器装卸设备、工作站，库存区域包括多个密集存储型的可移动货架，每个可移动货架包括至少一层隔板，至少一层隔板将可移动货架分割为至少两层，每个隔板上设置有至少一个存储位，每个存储位容纳至少一个容器。
控制服务器根据订单任务确定目标容器位于第一目标可移动货架上，并确定目标容器在第一目标可移动货架的当前存储位和位于第二目标可移动货架的目标位置，即当前存储位和目标位置不在同一个可移动货架中。基于此，确定用于搬运第一目标可移动货架的第一目标搬运设备、用于搬运第二目标可移动货架的第二目标搬运设备和用于装卸目标容器的目标容器装卸设备，并向所述第一目标搬运设备发送第一搬运指令，想第二目标搬运设备发送第二搬运指令，向所述目标容器装卸设备发送装卸指令。
第一目标搬运设备响应于第一搬运指令，搬运放置有目标容器的第一目标可移动货架到工作站。
第二目标搬运设备响应于与第二搬运指令，搬运第二目标可移动货架到工作站。
目标容器装卸设备位于工作站，响应于所述装卸指令，从第一目标可移动货架上的当前存储位取出所述目标容器，并放置在所述第二目标可移动货架上的目标位置中。
实施例4
实施例4提供的仓储调度系统包括控制服务器、搬运设备、库存区域、容器装卸设备、装卸区，库存区域包括多个密集存储型的可移动货架，每个可移动货架包括至少一层隔板，至少一层隔板将可移动货架分割为至少两层，每个隔板上设置有至少一个存储位，每个存储位容纳至少一个容器。
控制服务器根据上货任务确定目标容器位于装卸区，需要将目标容器搬运到库存区域，确定目标位置在目标可移动货架的存储位，基于此，确定用于搬运目标可移动货架的目标搬运设备和用于装卸目标容器的目标容器装卸设备，并向所述目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令。
目标搬运设备响应于所述搬运指令，搬运所述目标可移动货架到装卸区。
目标容器装卸设备位于装卸区，响应于所述装卸指令，从装卸区的当前存储位取出所述目标容器，并放置在所述目标可移动货架上的目标位置。
实施例5
实施例5提供的仓储调度系统包括控制服务器、存取设备、搬运设备、库存区域、容器装卸设备、工作站，所述库存区域至少包括多个固定货架和多个密集存储型可移动货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动货架位于所述固定货架的底层，所述固定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；所述可移动货架包括至少一层隔板，所述至少一层隔板将所述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。
控制服务器确定目标容器，目标容器的当前存储位在目标可移动货架，目标容器的目标位置在固定货架，需要将目标容器从目标可移动货架中调整到固定货架中，确定用于搬运目标可移动货架的目标搬 运设备、用于存取目标容器的目标存取设备和用于装卸所述目标容器的目标容器装卸设备，向目标存取设备发送存取指令，向目标搬运设备发送搬运指令，向目标容器装卸设备发送装卸指令。
目标搬运设备响应于所述搬运指令，移动至目标可移动货架，将目标可移动货架搬运至工作站。
目标容器装卸设备位于工作站，响应于装卸指令从目标可移动货架中取出目标容器，并放置在缓存存储位中。
目标存取设备响应于存取指令，移动至工作站，在目标容器放置在缓存存储位后，从缓存存储位中取出目标容器，并将目标容器搬运至目标固定货架处，将目标容器放置在目标固定货架的目标位置中。
实施例6
实施例6提供的仓储调度系统包括控制服务器、存取设备、搬运设备、库存区域、容器装卸设备、工作站，所述库存区域至少包括多个固定货架和多个密集存储型可移动货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动货架位于所述固定货架的底层，所述固定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；所述可移动货架包括至少一层隔板，所述至少一层隔板将所述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。
控制服务器确定目标容器，目标容器的当前存储位在固定货架中，目标容器的目标位置在目标可移动货架中，需要将目标容器从固定货架中调整到目标可移动货架中，确定用于搬运目标可移动货架的目标搬运设备、用于存取目标容器的目标存取设备和用于装卸所述目标容器的目标容器装卸设备，向目标存取设备发送存取指令，向目标搬运设备发送搬运指令，向目标容器装卸设备发送装卸指令。
目标存取设备响应于存取指令，移动至目标固定货架，从目标固定货架的当前存储位中取出目标容器，并将目标容器搬运至工作站，并将目标容器放置在工作站处的缓存存储位中。
目标搬运设备响应于所述搬运指令，移动至目标可移动货架，将目标可移动货架搬运至工作站。
目标容器装卸设备位于工作站，响应于装卸指令从缓存存储位中取出目标容器，并放置在目标可移动货架中。
实施例7
实施例7提供的仓储调度系统包括控制服务器、存取设备、搬运设备、库存区域、容器装卸设备、工作站，所述库存区域至少包括多个固定货架和多个密集存储型可移动货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动货架位于所述固定货架的底层，所述固定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；所述可移动货架包括至少一层隔板，所述至少一层隔板将所述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，所述可移动货架中包括至少一层接驳层和除接驳层之外的非接驳层。
控制服务器确定目标容器，目标容器的当前存储位在目标可移动货架的非接驳层的存储位中，目标容器的目标位置在固定货架，需要将目标容器从目标可移动货架中调整到固定货架中，确定用于搬运目标可移动货架的目标搬运设备、用于存取目标容器的目标存取设备和用于装卸所述目标容器的目标容器装卸设备，向目标存取设备发送存取指令，向目标搬运设备发送搬运指令，向目标容器装卸设备发送装卸指令。
目标搬运设备响应于所述搬运指令，移动至目标可移动货架，将目标可移动货架搬运至工作站。
目标容器装卸设备位于工作站，响应于装卸指令从目标可移动货架的非接驳层的存储位中取出目标容器，并放置在目标可移动货架的接驳层的存储位中。
目标搬运设备响应于所述搬运指令，在目标容器放置在目标可移动货架的接驳层的存储位后，将目标可移动货架搬运至目标固定货架底层。
目标存取设备响应于存取指令，从目标可移动货架的接驳层中取出所述目标容器，并放置在目标固定货架的目标位置中。
实施例8
实施例8提供的仓储调度系统包括控制服务器、存取设备、搬运设备、库存区域、容器装卸设备、工作站，所述库存区域至少包括多个固定货架和多个密集存储型可移动货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动货架位于所述固定货架的底层，所述固定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；所述可移动货架包括至少一层隔板，所述至少一层隔板将所述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，所述可移动货架中包括至少一层接驳层和除接驳层之外的非接驳层。
控制服务器确定目标容器，目标容器的当前存储位在固定货架中，目标容器的目标位置在目标可移动货架的非接驳层的存储位中，需要将目标容器从固定货架中调整到目标可移动货架中，确定用于搬运目标可移动货架的目标搬运设备、用于存取目标容器的目标存取设备和用于装卸所述目标容器的目标容器装卸设备，向目标存取设备发送存取指令，向目标搬运设备发送搬运指令，向目标容器装卸设备发送装卸指令。
目标存取设备响应于存取指令，从目标固定货架的存储位中取出目标容器，并将所述目标容器放置在目标可移动货架接驳层的空闲存储位中。
目标搬运设备响应于所述搬运指令，移动至目标可移动货架，将目标可移动货架搬运至工作站。
目标容器装卸设备位于工作站，响应于装卸指令从目标可移动货架的接驳层的存储位中取出目标容器，并放置在目标可移动货架的非接驳层的目标位置中。
实施例9
实施例9提供的仓储调度系统包括控制服务器、存取设备、搬运设备、库存区域、容器装卸设备、 工作站，所述库存区域至少包括多个固定货架和多个密集存储型可移动货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动货架位于所述固定货架的底层，所述固定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；所述可移动货架包括至少一层隔板，所述至少一层隔板将所述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，所述可移动货架中包括至少一层接驳层和除接驳层之外的非接驳层。
控制服务器根据订单任务确定目标容器，目标容器的当前存储位在固定货架中，目标容器的目标位置在目标可移动货架的非接驳层的存储位中，需要将目标容器从固定货架中调整到目标可移动货架中，确定用于搬运目标可移动货架的目标搬运设备、用于存取目标容器的目标存取设备和用于装卸所述目标容器的目标容器装卸设备，向目标存取设备发送存取指令，向目标搬运设备发送搬运指令，向目标容器装卸设备发送装卸指令。
目标存取设备响应于存取指令，从目标固定货架的存储位中取出目标容器，并将所述目标容器放置在目标可移动货架接驳层的空闲存储位中。
目标搬运设备响应于所述搬运指令，移动至目标可移动货架，将目标可移动货架搬运至工作站。
目标容器装卸设备位于工作站，响应于装卸指令从目标可移动货架的接驳层的存储位中取出目标容器，并放置在订单任务对应的拣选工位中执行订单拣选任务，在完成订单拣选任务后，再将目标容器放置在目标可移动货架的非接驳层的目标位置中。
本申请实施例提供的仓储调度系统，所述系统包括控制服务器、搬运设备、库存区域和容器装卸设备；其中，所述库存区域至少包括多个可移动货架，所述可移动货架包括至少一层隔板，所述至少一层隔板将所述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；所述控制服务器，被配置为确定目标可移动货架上的目标容器、所述目标容器的当前存储位以及目标位置，同时确定用于搬运所述目标可移动货架的目标搬运设备和用于装卸所述目标容器的目标容器装卸设备，并向所述目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令；所述目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述目标容器的目标可移动货架到目的地；所述目标容器装卸设备位于所述目的地，被配置为响应于所述装卸指令，从所述当前存储位取出所述目标容器，并放置在所述目标位置。本申请实施例中的仓储调度系统，提供了密集存储型的可移动货架，在工作站设置了容器存取设备，通过密集存储型的可移动货架和操作可移动货架中容器的容器存取设备，提升了库存区域的空间利用率，使得库存区域可以存放更多的货物，节约了整体的仓储调度系统中的成本。
参见图11，图11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调度系统，所述系统包括控制服务器、搬运设备、库存区域和容器装卸设备；其中，所述库存区域至少包括多个可移动载具，所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个容器；
所述方法包括：
步骤1102：所述控制服务器确定第一目标可移动载具上的第一目标容器、所述第一目标容器的当前存储位以及目标位置，同时确定用于搬运所述第一目标可移动载具的第一目标搬运设备和目标容器装卸设备，并向所述第一目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令。
步骤1104：所述第一目标搬运设备响应于所述搬运指令，搬运放置有所述第一目标容器的第一目标可移动载具到目的地。
步骤1106：所述目标容器装卸设备位于所述目的地响应于所述装卸指令，从所述当前存储位取出所述第一目标容器，并放置在所述目标位置。
在本申请提供的一可选实施方式中，所述目标位置为第一目标可移动载具的存储位或除第一目标可移动载具外的其他可移动载具的存储位。
在本申请提供的一可选实施方式中，所述方法还包括：
所述控制服务器根据所述第一目标容器中存储的货物的热度、所述第一目标容器中存储的货物与其它容器中存储的货物之间的关联度、待处理任务是否涉及所述第一目标容器中存储的货物和所述目标容器装卸设备与位于目的地的各移动载具上各存储位的距离中的任意一种确定所述第一目标容器的新存储位。
在本申请提供的一可选实施方式中，所述目标位置为第二目标可移动载具的存储位；
所述方法还包括：
所述控制服务器确定所述第一目标容器在所述第二目标可移动载具上的存储位，同时确定用于搬运所述第二目标可移动载具的第二目标搬运设备，向所述第二目标搬运设备发送搬运指令；
所述第二目标搬运设备响应于所述搬运指令，搬运所述第二目标可移动载具到目的地；
所述目标容器装卸设备响应于所述装卸指令，从所述第一目标可移动载具上的当前存储位取出所述第一目标容器，并放置在所述第二目标可移动载具上的存储位。
在本申请提供的一可选实施方式中，所述方法还包括：
所述控制服务器确定位于装卸区的第二目标容器和第三目标可移动载具上的存储位，同时确定用于搬运所述第三目标可移动载具的第三目标搬运设备，并向所述第三目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令；
所述第三目标搬运设备，被配置为响应于所述搬运指令，搬运所述第三目标可移动载具到所述装卸区；
所述目标容器装卸设备位于所述装卸区，被配置为响应于所述装卸指令，从所述装卸区取出所述第二目标容器，并放置在所述第三目标可移动载具上的存储位。
在本申请提供的一可选实施方式中，所述方法还包括：
所述控制服务器响应于下架任务、理货任务和上架任务中的至少一种确定所述第二目标容器的新存储位。
在本申请提供的一可选实施方式中，所述方法还包括：
所述控制服务器响应于下架任务、理货任务和上架任务中的至少一种确定所述第一目标容器的新存储位。
在本申请提供的一可选实施方式中，所述系统还包括：存取设备和多个固定货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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，所述目标位置为位于工作站的缓存存储位；
所述方法还包括：
所述控制服务器确定所述第一目标容器在目标固定货架的存储位，同时确定用于存取所述第一目标容器的目标存取设备，并向所述目标存取设备发送存取指令；
所述目标容器装卸设备响应于所述装卸指令，从所述当前存储位取出所述第一目标容器，并放置在所述缓存存储位；
所述目标存取设备响应于所述存取指令，移动至所述缓存存储位，并从所述缓存存储位取出所述第一目标容器，并移动至目标固定货架，将所述第一目标容器放置在所述目标固定货架的存储位。
在本申请提供的一可选实施方式中，所述系统还包括：存取设备和多个固定货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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，所述目标位置为位于工作站的缓存存储位；
所述方法还包括：
所述控制服务器确定所述目标固定货架上的第三目标容器，所述第三目标容器的当前存储位和所述第三目标容器在第四目标可移动载具上的存储位，同时确定用于存取所述第三目标容器的目标存取设备、用于搬运所述第四目标可移动载具的第四目标搬运设备，并向所述目标存取设备发送存取指令，向所述第四目标搬运设备发送搬运指令，向所述目标容器装卸设备发送装卸指令；
所述目标存取设备响应于所述存取指令，移动至所述目标固定货架，取出所述第三目标容器，并将所述第三目标容器搬运至目的地，存放至所述目的地的缓存存储位；
所述第四目标搬运设备响应于所述搬运指令，搬运第四目标可移动载具到所述目的地；
所述目标容器装卸设备响应于所述装卸指令，从所述缓存存储位取出所述第三目标容器，并将所述第三目标容器放入所述第四目标搬运设备搬运的第四目标可移动载具中。
在本申请提供的一可选实施方式中，其特征在于，所述目标容器装卸设备位于工作站，所述工作站设置传输线，拣选工位位于所述传输线的传输路径中，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所述目标容器装卸设备；
所述方法还包括：
位于所述传输线入口的目标容器装卸设备，进一步被配置为从所述当前存储位中取出所述第一目标容器并放在所述传输线上；
位于所述传输线出口的目标容器装卸设备，进一步被配置为从所述传输线出口取出所述第一目标容器并放在所述目标位置，所述目标位置为第一目标可移动载具的存储位或除第一目标可移动载具外的其他可移动载具的存储位。
在本申请提供的一可选实施方式中，其特征在于，所述方法还包括：
所述各目标搬运设备将所述各目标可移动载具搬运回所述库存区域的原位置或其他位置。
在本申请提供的一可选实施方式中，所述方法还包括：
所述控制服务器根据各目标可移动载具的热度和所述各目标可移动载具与所述存储区域中空闲位置的距离中的任意一种确定所述各目标可移动载具的新位置。
在本申请提供的一可选实施方式中，所述可移动货架是双面货架；
所述方法还包括：
所述控制服务器确定所述第一目标容器的当前存储位以及目标位置位于所述第一目标可移动货架的对立面，并向所述目标搬运设备发送货架转面指令；
所述目标搬运设备在所述目标容器装卸设备取出所述第一目标容器后，响应于所述货架转面指令，搬运所述第一目标可移动货架执行货架转面操作；
所述目标容器装卸设备将所述目标容器放置在所述目标位置。
参见图12，图12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调度系统，所述系统包括控制服务器、存取设备、搬运设备、库存区域和容器装卸设备；其中，所述库存区域至少包括多个固定货架和多个可移动载具，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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；所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个容器；
所述方法包括：
步骤1202：所述控制服务器根据订单任务确定容纳有订单货物的目标容器当前位于的目标固定货架以及所述目标容器即将放置于的目标可移动载具，所述目标可移动载具有用于放置所述目标容器的存储位，同时确定用于存取所述目标容器的目标存取设备、用于搬运所述目标可移动载具的目标搬运设备以及用于装卸所述目标货箱的目标货箱装卸设备，并向所述目标存取设备发送存取指令，向所述目标搬运设备发送搬运指令，向所述目标货箱装卸设备发送装卸指令。
步骤1204：所述目标存取设备响应于所述存取指令，移动至所述目标固定货架处，从所述目标固定货架中取出所述目标容器并放置在所述目标可移动载具的存储位中或从所述目标可移动载具的存储位中取出所述目标容器并放置在所述目标固定货架的存储位中。
步骤1206：所述目标搬运设备响应于所述搬运指令，搬运放置有所述目标容器的目标可移动载具到目的地。
步骤1208：所述目标容器装卸设备位于所述目的地响应于所述装卸指令，从所述目标搬运设备搬运的目标可移动载具中取出目标容器或将目标容器放入所述目标搬运设备搬运的目标可移动载具中。
在本申请提供的一可选实施方式中，所述方法还包括：
所述控制服务器调度存取设备将第一目标容器在固定货架中调换存储位、调度存取设备将第一目标容器在固定货架与可移动载具间调换存储位，和/或，调度容器装卸设备将第一目标容器在可移动载具中调换存储位。
在本申请提供的一可选实施方式中，所述方法还包括：
所述控制服务器响应于理货任务，调度存取设备将第一目标容器从固定货架中的原存储位调整至其他存储位或保持原存储位不变；调度存取设备将第一目标容器从固定货架中的原存储位调整至可移动载具中的其他存储位；调度存取设备将第一目标容器从可移动载具中的原存储位调整至固定货架中的其他存储位；和/或,调度容器装卸设备将第一目标容器从可移动载具中的原存储位调整至其他存储位或保持原存储位不变。
实施例10
实施例10提供的另一种仓储调度系统，如图13和图14所示，包括可移动载具1302、固定货架1301、存取设备140和第一目标搬运设备150。
其中，在实际使用过程中，固定货架1301通常保持不动，而可移动载具1302则会在第一目标搬运设备150的带动下运动。如图15和图16所示，固定货架1301和承载固定货架1301的承载面共同围成容纳区21，容纳区21被构造为容纳可移动载具1302。
存取设备140被配置为在固定货架1301和可移动载具1302之间搬运容器；第一目标搬运设备150被配置为将容器搬离可移动载具1302或搬运至可移动载具1302上，或者，将可移动载具1302搬离容纳区21或搬运至容纳区21内。其中，在需要存取设备140在固定货架1301和可移动载具1302之间搬运容器时，可移动载具1302需要位于容纳区21内。
可以看出，存取设备140和第一目标搬运设备150构成了上存下拣的工作模式。具体的，在仓储调度系统的工作流程中，当有容器需要存储的时候，第一目标搬运设备150会将容器搬运至位于容纳区21的可移动载具1302上，或者将带有容器的可移动载具1302搬运至容纳区21，然后存取设备140将容器从可移动载具1302搬运至固定货架1301，实现了容器的存储。
当有容器需要搬走的时候，存取设备140会将容器从固定货架1301搬运至可移动载具1302，然后在需要搬运的容器可以由第一目标搬运设备150单独搬走时，第一目标搬运设备150可以仅搬运该容器；在需要搬运的容器不能由第一目标搬运设备150单独搬走时，第一目标搬运设备150可以直接将可移动载具1302搬走。
因此，本申请的仓储调度系统可以根据实际情况，灵活调整所搬运的物体，既可以满足对不同容器的搬运需求，又可以提高搬运效率。
在本申请的一个实施例中，如图17和图18所示，可移动载具1302包括第一支架11和设置在第一支架11上的梳齿构件12，梳齿构件12被构造为承载容器。具体的，梳齿构件12包括梳齿架和从梳齿架上向外延伸的多个梳齿，相邻的梳齿之间形成有间隙，容器则横跨梳齿之间的间隙，放置于两个梳齿上。
第一目标搬运设备150被配置为在梳齿构件12下方穿行，且穿过梳齿构件12的相邻两个梳齿之间的间隙，将梳齿构件12上的容器举起并将容器搬离；或者，第一目标搬运设备150被配置为携带容器驶入相邻两个梳齿之间的间隙，并将容器放置在梳齿构件12上后驶出。图14和图19均为第一目标搬运设备150携带容器状态下的示意图。
这样，在需要搬运容器时，第一目标搬运设备150在梳齿构件12下方穿行，到达容器下方之后，穿过梳齿构件12的相邻两个梳齿之间的间隙，将梳齿构件12上的容器举起并将容器搬离。在需要放下容器时，第一目标搬运设备150被配置为携带容器驶入相邻两个梳齿之间的间隙，并将容器放置在梳齿构件12上后驶出。可以看出，上述梳齿构件12和第一目标搬运设备150配合，能够很方便的实现容器的放置和搬运。
在本申请的一个实施例中，如图13所示，宽度较大的第一容器51可以横跨梳齿之间的两个间隙，放置于两个不相邻的梳齿上。而且，第一容器51可以包括图1中横跨两个凹槽或缺口，且在纵向上也跨越两个凹槽或缺口的容器，也可以包括图20中横跨两个凹槽或缺口，且在纵向上仅跨越一个凹槽或缺口的容器。
在本申请的一个实施例中，仓储调度系统可以利用至少两个第一目标搬运设备150搬运同一个容器或同一个可移动载具1302。即利用至少两个第一目标搬运设备150的协同作用，搬运同一个容器或同一个可移动载具。
在利用两个第一目标搬运设备150搬运同一个第一容器51时，可以使两个第一目标搬运设备150到达容器下方后，分别穿过第一容器51横跨的两个间隙，同时将梳齿构件12上的第一容器51举起并将容器搬离。在需要放下第一容器51时，两个第一目标搬运设备150可以携带第一容器51驶入相邻两个梳齿之间的间隙上方，并将第一容器51放置在梳齿构件12上后驶出。
在其他实施例中，仓储调度系统可以利用三个或更多第一目标搬运设备150搬运同一个容器。这样，在容器尺寸较大的情况下，可以利用两个或更多第一目标搬运设备150将容器搬运走，从而能够使容器 在搬运时保持平衡，避免容器从第一目标搬运设备150上滑落。
本申请的仓储调度系统利用至少两个第一目标搬运设备150搬运同一个可移动载具1302时，各个第一目标搬运设备150可以同时托举可移动载具1302的底部，以举起可移动载具1302，然后将可移动载具1302搬运走；各个第一目标搬运设备150还可以同时穿过梳齿构件12的相邻两个梳齿之间的间隙，并抵接于第一层板13，以举起可移动载具1302，然后将可移动载具1302搬运走。
这样，在可移动载具1302与其上方容器的重量较大的情况下，可以利用两个或更多第一目标搬运设备150将可移动载具1302搬运走，从而降低了对第一目标搬运设备150搬运能力的要求。
如图17所示，在本申请的一个实施例中，梳齿构件12包括沿相反方向延伸的两组梳齿，每组梳齿均被构造为承载容器。这样，第一目标搬运设备150可以从可移动载具1302的两个方向进行容器的取放，从而可以提高可移动载具1302的空间利用效率。
在本申请的一个实施例中，可移动载具1302包括垂直设置至少两层梳齿构件12，各个梳齿构件12的梳齿之间的间隙沿竖直方向对齐。
在需要取下上层(即非底层)的梳齿构件12上的容器时，第一目标搬运设备150可以在梳齿构件12下方穿行，且从底部穿过各层梳齿构件12的梳齿之间的间隙，将位于上层梳齿构件12上的容器举起并将容器搬离。
在需要将容器放置于上层梳齿构件12上时，第一目标搬运设备150可以从可移动载具1302的一侧进入，从侧面穿过底层和上层梳齿构件12的梳齿之间的间隙，然后将容器放置于上层梳齿构件12上。通过设置多层梳齿构件12可以有效提高可移动载具1302的空间利用效率。
如图17所示，在本申请的一个实施例中，可移动载具1302还包括第一层板13，第一层板13设置在第一支架11上且位于梳齿构件12的上方，且第一层板13被构造为用于承载至少一个容器。由于梳齿构件12的间隙需要配合容器设置，对于不同大小的容器，所对应的间隙的宽度不同，每个间隙，也只能存放对应大小范围内的容器；所以，本申请的可移动载具1302增设第一层板13，可以将不能放置于梳齿构件12上的容器放置于第一层板13上；当需要搬运放置于第一层板13上的容器时，第一目标搬运设备150可以直接将可移动载具1302搬走，从而也能满足对不同容器的搬运需求。
可以看出，本申请的可移动载具1302通过设置梳齿构件12和第一层板13，将梳齿构件12中的间隙与常用容器的大小相互适配，而将不常用的容器放置于第一层板13，既可以满足对不同容器的搬运需求，又可以提高搬运效率。
对于图17中设置有第一层板13的可移动载具1302，在本申请的仓储调度系统的工作过程中，如果一个订单仅对应一个宽度较小的第二容器52，那么存取设备140需要将该第二容器52放置于可移动载具1302的梳齿构件12上，并由一个第一目标搬运设备150将该第二容器52搬运走。
如果一个订单仅对应一个宽度较大的第一容器51，那么存取设备140也需要将该第一容器51放置于可移动载具1302的梳齿构件12上，并由至少一个第一目标搬运设备150将该第一容器51搬运走。
而当一个订单对应至少两个容器，且对应的所有容器都能放入同一个可移动载具1302时，存取设备140可以将各个容器放置于可移动载具1302的任意位置，然后利用至少一个第一目标搬运设备150直接将该可移动载具1302搬运走。
如图20和图21所示，在本申请的一个实施例中，存取设备140为叉臂式搬运设备，第一层板13上具有供叉臂式搬运设备的伸缩叉32插入的凹槽或缺口。具体的，该叉臂式搬运设备包括第一机体31、升降机构和伸缩叉32；其中，升降机构设置于第一机体31上，且被配置为带动伸缩叉32相对运动；伸缩叉32则被配置为沿前后方向伸缩，以通过与升降机构配合，实现拿取容器或放置容器的目的；其中，前向指的是靠近货架的方向，后向指的是远离货架的方向。
在需要将容器从可移动载具1302上带离时，升降机构带动伸缩叉32升降，以将伸缩叉32与容器下方的梳齿之间的间隙、第一层板13上的凹槽或缺口对齐，然后伸缩叉32向前伸出，以插入间隙、凹槽或缺口，升降机构再带动伸缩叉32提升，以将容器与梳齿构件12或第一层板13分离，伸缩叉32向后缩回，将容器从可移动载具1302上带离。
在需要将容器放置于可移动载具1302上时，升降机构带动伸缩叉32升降，以将伸缩叉32带动至高度高于梳齿构件12或第一层板13，且在纵向上与间隙、凹槽或缺口对齐的位置，然后伸缩叉32向前伸出，以将容器转移至梳齿构件12或第一层板13上方，升降机构再带动伸缩叉32提升，以将容器落在梳齿构件12或第一层板13上，伸缩叉32向后缩回，从而完成了容器放置工作。
可以看出，上述可移动载具1302的梳齿构件12和第一层板13与第一目标搬运设备150配合，能够很方便的实现容器的放置和搬运。
对应的，如图15和图16所示，在本申请的一个实施例中，固定货架1301包括第二支架22和沿高度方向依次间隔设置在第二支架22上的至少两个第二层板23，第二层板23被构造为承载容器，且第二层板23上具有供叉臂式搬运设备的伸缩叉32插入的凹槽或缺口。
其中，第二层板23上的凹槽或缺口与第一层板13上的凹槽或缺口形状相同，叉臂式搬运设备在第二层板23上搬运容器的过程与在在第一层板13上搬运容器的过程相同，在此不在赘述。
如图20和图21所示，在本申请的一个实施例中，叉臂式搬运设备具有至少两个伸缩叉32，叉臂式搬运设备被构造为由两个伸缩叉32共同叉取一个第一容器51，或者由一个伸缩叉32单独叉取一个第二容器52。其中，在凹槽或缺口的宽度方向(即水平方向，或平行于承载面的方向)上，第一容器51大于第二容器52。
对应的，如图17和图18所示，在第一层板13上设置有多个凹槽或缺口，第一容器51能够横跨至少两个凹槽或缺口，而第二容器52仅能够横跨一个凹槽或缺口。
在搬运第一容器51时，是由两个伸缩叉32共同搬运，在叉臂式搬运设备具有至少三个伸缩叉32，搬运第一容器51所用的伸缩叉32可以是相邻的伸缩叉32，也可以是不相邻的伸缩叉32。在搬运第二 容器52时，仅由一个伸缩叉32搬运。
由于第一容器51能够横跨至少两个凹槽或缺口，而第二容器52仅能够横跨一个凹槽或缺口，可以使容器沿凹槽或缺口顺次排列，从而实现不同大小容器的单元化存储。
如图15至图18所示，在本公开的一个实施例中，在第一层板13和第二层板23上的相邻两个凹槽或缺口的水平间距相同，可以使整个层板的容器可以紧贴排列，尽可能的提高层板的空间利用效率。
在本申请的一个实施例中，叉臂式搬运设备还被构造为由两个伸缩叉32同时分别叉取一个第二容器52，这样，两个伸缩叉32可以同时工作，不必分别工作，从而可以提高伸缩叉32的工作效率。
而在本申请的另一个实施例中，存取设备为伸缩臂式搬运设备，伸缩臂式搬运设备包括第一机体、升降机构、载物托盘和两个伸缩臂，升降机构设置于第一机体上，且被配置为带动载物托盘和两个伸缩臂相对第一机体升降；两个伸缩臂设置于载物托盘上，且能够沿前后方向伸缩；两个伸缩臂上设置有前拨指和后拨指，前拨指以可转动地方式设置于伸缩臂的前端，且由拨指电机驱动相对于伸缩臂转动至伸入伸缩臂内侧，或者转动至伸缩臂的外侧，后拨指则固设于伸缩臂的后方。需要说明的是，本文在此所使用的方位词“内和外”是两个伸缩臂之间形成的空间为基准设定的，位于两个伸缩臂形成的空间为内，位于两个伸缩臂形成的空间之外的为外。
当存取设备从货架上取出容器时，两个伸缩臂相对于载物托盘向货架方向伸出至插入货架上的容器两侧，然后拨指电机驱动前拨指向伸缩臂内侧转动至与容器的后端相抵。两个伸缩臂再次相对于载物托盘反向收缩以将容器拉动至载物托盘上。
当存取设备将容器放回货架时，两个伸缩臂相对于载物托盘向货架方向伸出至后拨指推动容器至货架上指定位置，然后再将伸缩臂收缩至载物托盘上，以备下一次取放容器。
对应的，当存取设备为伸缩臂式搬运设备时，第二层板23可以是连续延伸的平面，其上不设置凹槽或缺口，这样伸缩臂式搬运设备的两个伸缩臂也能实现从左右侧面夹持并搬运容器的目的。
当伸缩臂式搬运设备需要搬运宽度不同的容器时，伸缩臂式搬运设备可以将两个伸缩臂设置为间距可调，这样，伸缩臂式搬运设备就能根据容器的宽度调整两个伸缩臂之间的间距，再从左右侧面夹持并搬运容器。当然，在本申请的另一个实施例中，还可以采用吸盘式搬运设备、传送带式搬运设备等各种搬运设备，具体设备结构及其搬运过程在此不在赘述。
如图16所示，在本申请的一个实施例中，仓储调度系统包括并排摆放在容纳区21的至少两个可移动载具1302，这样，同一个固定货架1301可以和至少两个可移动载具1302相互搭配使用，从而可以更灵活地满足搬运需要。
在本申请的一个实施例中，存取设备140还可以包括行走机构33，从而使存取设备140能够在固定货架1301和可移动载具1302之间搬运容器，还能从其他位置与固定货架1301或可移动载具1302之间搬运容器。
在本申请的一个实施例中，第一目标搬运设备150包括第二机体、第二行走机构和承载盘，承载盘以可活动地方式设置在第二机体上，且被配置为相对于第二机体提升，穿过梳齿构件12的相邻两个梳齿之间的间隙将容器举起，或者相对于第二机体下降，将位于承载盘上的容器放置在梳齿构件12上。
在本申请的一个实施例中，第一目标搬运设备150还包括升降机构和驱动电机，升降机构的底端设置在第二机体上，顶端设置有承载盘，且被配置为带动承载盘相对于第二机体升降；驱动电机被配置为驱动升降机构带动承载盘相对于第二机体升降。其中，升降机构可以为液压缸或气缸。
第一目标搬运设备150举起可移动载具1302的方法可以有多种，在本公开的一个实施例中，如图22和图23所示，第一目标搬运设备150被配置为托举可移动载具1302的底部，以举起可移动载具1302。在本公开的另一个实施例中，第一目标搬运设备150还被配置为穿过梳齿构件12的相邻两个梳齿之间的间隙，并抵接于第一层板13，以举起可移动载具1302。
可以看出，第一目标搬运设备150可以利用多种方法举起可移动载具1302，各种方法都很方便，而且可以根据可移动载具1302的具体结构选择相应的方法，提高了第一目标搬运设备150的适应性。
综上所述，在本申请的仓储调度系统中，可移动载具1302和固定货架1301都可以混合存储各种不同尺寸的容器；同一个存取设备140既可以搬运尺寸较小的容器，也可以搬运尺寸较大的容器，即同一个存取设备140可以实现对不同尺寸容器的混合分拣。
这样，本申请中的货架可以实现大小容器的混合存储，即同一个区域里存储不同类型的容器，不用单独设置不同类型的货架进行存放，本公开的存取设备140可以在同一固定货架1301或同一个可移动载具1302上完成各种尺寸的容器的搬运存放工作，无需跨区域作业，从而提高了作业效率。
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，也不限制该实用新型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 (87)

  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、搬运设备、库存区域和物品装卸设备；其中，所述库存区域至少包括多个可移动载具，所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个物品；
    所述控制服务器，被配置为确定第一目标可移动载具上的第一目标物品、所述第一目标物品的当前存储位以及目标位置，同时确定用于搬运所述第一目标可移动载具的第一目标搬运设备和目标物品装卸设备，并向所述第一目标搬运设备发送搬运指令，向所述目标物品装卸设备发送装卸指令；
    所述第一目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述第一目标物品的第一目标可移动载具到目的地；
    所述目标物品装卸设备位于所述目的地，被配置为响应于所述装卸指令，从所述当前存储位取出所述第一目标物品，并放置在所述目标位置。
  2. 如权利要求1所述的仓储调度系统，其特征在于，所述目标位置为第一目标可移动载具的存储位或除第一目标可移动载具外的其他可移动载具的存储位。
  3. 如权利要求2所述的仓储调度系统，其特征在于，所述存储位可容纳的物品包括容器，所述控制服务器进一步配置为根据第一目标容器中存储的货物的热度、所述第一目标容器中存储的货物与其它容器中存储的货物之间的关联度、待处理任务是否涉及所述第一目标容器中存储的货物和目标容器装卸设备与位于目的地的各移动载具上各存储位的距离中的任意一种确定所述第一目标容器的新存储位。
  4. 如权利要求2所述的仓储调度系统，其特征在于，所述目标位置为第二目标可移动载具的存储位；
    所述控制服务器，还被配置为确定所述第一目标物品在所述第二目标可移动载具上的存储位，同时确定用于搬运所述第二目标可移动载具的第二目标搬运设备，向所述第二目标搬运设备发送搬运指令；
    所述第二目标搬运设备，被配置为响应于所述搬运指令，搬运所述第二目标可移动载具到目的地；
    所述目标物品装卸设备，进一步被配置为响应于所述装卸指令，从所述第一目标可移动载具上的当前存储位取出所述第一目标物品，并放置在所述第二目标可移动载具上的存储位。
  5. 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，还被配置为确定位于装卸区的第二目标物品和第三目标可移动载具上的存储位，同时确定用于搬运所述第三目标可移动载具的第三目标搬运设备，并向所述第三目标搬运设备发送搬运指令，向所述目
    标物品装卸设备发送装卸指令；
    所述第三目标搬运设备，被配置为响应于所述搬运指令，搬运所述第三目标可移动载具到所述装卸区；
    所述目标物品装卸设备位于所述装卸区，被配置为响应于所述装卸指令，从所述装卸区取出所述第二目标物品，并放置在所述第三目标可移动载具上的存储位。
  6. 如权利要求5所述的仓储调度系统，其特征在于，所述控制服务器进一步配置为响应于下架任务、理货任务和上架任务中的至少一种确定所述第二目标物品的新存储位。
  7. 如权利要求4或5所述的仓储调度系统，其特征在于，第二目标可移动载具和/或第三目标可移动载具为空货架。
  8. 如权利要求1所述的仓储调度系统，其特征在于，所述控制服务器进一步被配置响应于下架任务、理货任务和上架任务中的至少一种确定所述第一目标物品的新存储位。
  9. 如权利要求1所述的仓储调度系统，其特征在于，所述系统还包括：存取设备和多个固定货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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物品。
  10. 如权利要求9所述的仓储调度系统，其特征在于，所述目标位置为位于工作站的缓存存储位；
    所述控制服务器，还被配置为确定所述第一目标物品在目标固定货架的存储位，同时确定用于存取所述第一目标物品的目标存取设备，并向所述目标存取设备发送存取指令；
    所述目标物品装卸设备，进一步被配置为响应于所述装卸指令，从所述当前存储位取出所述第一目标物品，并放置在所述缓存存储位；
    所述目标存取设备，被位置为响应于所述存取指令，移动至所述缓存存储位，并从所述缓存存储位取出所述第一目标物品，并移动至目标固定货架，将所述第一目标物品放置在所述目标固定货架的存储位。
  11. 如权利要求9所述的仓储调度系统，其特征在于，所述目标位置为位于工作站的缓存存储位；
    所述控制服务器，还被配置为确定所述目标固定货架上的第三目标物品，所述第三目标物品的当前存储位和所述第三目标物品在第四目标可移动载具上的存储位，同时确定用于存取所述第三目标物品的目标存取设备、用于搬运所述第四目标可移动载具的第四目标搬运设备，并向所述目标存取设备发送存取指令，向所述第四目标搬运设备发送搬运指令，向所述目标物品装卸设备发送装卸指令；
    所述目标存取设备，被配置为响应于所述存取指令，移动至所述目标固定货架，取出所述第三目标物品，并将所述第三目标物品搬运至目的地，存放至所述目的地的缓存存储位；
    所述第四目标搬运设备，被配置为响应于所述搬运指令，搬运第四目标可移动载具到所述目的地；
    所述目标物品装卸设备，被配置为响应于所述装卸指令，从所述缓存存储位取出所述第三目标物品，并将所述第三目标物品放入所述第四目标搬运设备搬运的第四目标可移动载具中。
  12. 如权利要求1-11中任一项所述的仓储调度系统，其特征在于，所述物品装卸设备通过吸取、推动、夹取、抓取、钩取、抱起、抬升方式中的至少一种从所述可移动载具中取出物品或者将物品放在所述可移动载具中。
  13. 如权利要求1-11中任一项所述的仓储调度系统，其特征在于，所述可移动载具为可移动货架， 所述可移动货架包括至少一层层板，所述至少一层层板将所述可移动货架分割为至少两层，所述可移动货架的层板上设置有至少一个存储位。
  14. 如权利要求15所述的仓储调度系统，其特征在于，所述可移动货架包括至少一层接驳层，位于所述接驳层中的物品可被存取设备操作或者被所述物品装卸设备操作。
  15. 如权利要求14所述的仓储调度系统，其特征在于，所述可移动货架还包括除所述接驳层之外的非接驳层，位于所述非接驳层中的物品只被所述物品装卸设备操作。
  16. 如权利要求15所述的仓储调度系统，其特征在于，
    所述目标物品装卸设备，进一步被配置为将所述可移动货架上的物品在接驳层范围内、非接驳层范围内或者接驳层与非接驳层之间调换位置。
  17. 如权利要求13所述的仓储调度系统，其特征在于，所述物品装卸设备包括第一传感器，所述第一传感器用于在所述物品装卸设备从可移动货架上取出物品时确定所述可移动货架的存储位是否有物品和/或在向可移动货架的存储位放置物品时确定所述可移动货架的存储位是否为空。
  18. 如权利要求17所述的仓储调度系统，其特征在于，所述物品装卸设备还包括第二传感器，所述第二传感器用于确定所述物品装卸设备与所述可移动货架上的容器之间的位姿偏差。
  19. 如权利要求18所述的仓储调度系统，其特征在于，物品装卸设备还用于根据所述第二传感器确定出的所述物品装卸设备与对应的物品位之间的位姿偏差，调整所述物品装卸设备的位姿，消除所述位姿偏差。
  20. 如权利要求18或19所述的仓储调度系统，其特征在于，所述第一传感器和所述第二传感器为同一个传感器。
  21. 如权利要求18或19所述的仓储调度系统，其特征在于，所述第一传感器和所述第二传感器为视觉传感器、深度信息传感器或3D传感器。
  22. 如权利要求1-11中任意一项所述的仓储调度系统，其特征在于，所述目标物品装卸设备位于工作站，所述工作站设置传输线，拣选工位位于所述传输线的传输路径中，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所述目标物品装卸设备；
    位于所述传输线入口的目标物品装卸设备，进一步被配置为从所述当前存储位中取出所述第一目标物品并放在所述传输线上；
    位于所述传输线出口的目标物品装卸设备，进一步被配置为从所述传输线出口取出所述第一目标物品并放在所述目标位置，所述目标位置为第一目标可移动载具的存储位或除第一目标可移动载具外的其他可移动载具的存储位。
  23. 如权利要求1-11中任意一项所述的仓储调度系统，其特征在于，所述各目标搬运设备，还被配置为将所述各目标可移动载具搬运回所述库存区域的原位置或其他位置。
  24. 如权利要求23所述的仓储调度系统，其特征在于，所述控制服务器进一步配置为根据各目标可移动载具的热度和所述各目标可移动载具与所述存储区域中空闲位置的距离中的任意一种确定所述各目标可移动载具的新位置。
  25. 如权利要求9所述的仓储调度系统，其特征在于，所述固定货架的每层隔板在纵深方向上设置供至少一个物品存储的存储位。
  26. 如权利要求9所述的仓储调度系统，其特征在于，所述固定货架的底层沿纵深方向上放置至少一个可移动载具。
  27. 如权利要求9所述的仓储调度系统，其特征在于，所述存取设备上设置有缓存机构，所述缓存机构用于缓存至少一个物品。
  28. 如权利要求13所述的仓储调度系统，其特征在于，所述可移动货架包括至少一个立柱，并在沿立柱竖直方向设置有至少一个层板，每个层板上设置有供物品存储的存储位。
  29. 如权利要求28所述的仓储调度系统，其特征在于，所述可移动货架包括至少两个立柱，所述至少两个立柱设置在所述至少一个层板的同一侧，且所述至少两个立柱与所述至少一个层板的连接点偏移所述层板的端头预定距离。
  30. 如权利要求9述的仓储调度系统，其特征在于，所述存取设备包括单伸位、双伸位或多伸位的容器机器人。
  31. 如权利要求13所述的仓储调度系统，其特征在于，所述搬运设备包括货架搬运机器人。
  32. 如权利要求13所述的仓储调度系统，其特征在于，所述可移动货架是双面货架；
    所述控制服务器，进一步被配置为确定所述第一目标物品的当前存储位以及目标位置位于所述第一目标可移动货架的对立面，并向所述目标搬运设备发送货架转面指令；
    所述目标搬运设备，还被配置为在所述目标物品装卸设备取出所述第一目标物品后，响应于所述货架转面指令，搬运所述第一目标可移动货架执行货架转面操作；
    所述目标物品装卸设备，还被配置为将所述目标物品放置在所述目标位置。
  33. 如权利要求1所述的系统，其特征在于，所述物品装卸设备包括架体，所述架体上设置有取送物品组件和承载组件，所述取送物品组件被配置为在所述架体上移动；所述架体包括方向相互垂直的X轴轨道和Y轴轨道；所述Y轴轨道被构造为沿着X轴轨道运动，所述取送物品组件被构造为沿着Y轴轨道运动；所述取送物品组件可延沿Z轴方向从载具上取出物品并装载至所述承载组件上或者从所述承载组件卸载物品并放在可移动载具上。
  34. 如权利要求33所述的系统，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。
  35. 如权利要求33所述的系统，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送物品组件。
  36. 如权利要求33-35中任一项所述的系统，其特征在于，所述取送物品组件通过吸取、推动、夹取、抓取、钩取、抱起、抬升方式中的至少一种从所述可移动载具中取出物品或者将物品放在所述可移动载具中。
  37. 如权利要求9所述的系统，其特征在于，所述固定货架和承载所述固定货架的承载面共同围成容纳区，所述容纳区被构造为容纳所述可移动载具；
    所述存取设备，被配置为在所述固定货架和所述可移动载具之间搬运物品；
    所述第一目标搬运设备，进一步被配置为将物品搬离所述可移动载具或搬运至所述可移动载具上；和/或，将所述可移动载具搬离所述容纳区或搬运至所述容纳区内。
  38. 如权利要求37所述的系统，其特征在于，所述可移动载具包括第一支架和设置在所述第一支架上的梳齿构件，所述梳齿构件被构造为承载物品；
    所述第一目标搬运设备，被配置为在所述梳齿构件下方穿行，且穿过所述梳齿构件的相邻两个梳齿之间的间隙，将所述梳齿构件上的物品举起并将物品搬离；或者，所述第一目标搬运设备，被配置为携带物品驶入相邻两个梳齿之间的间隙，并将所述物品放置在所述梳齿构件上后驶出。
  39. 如权利要求38所述的系统，其特征在于，所述梳齿构件包括沿相反方向延伸的两组梳齿，每组梳齿均被构造为承载物品。
  40. 如权利要求38所述的系统，其特征在于，所述可移动载具包括垂直设置的至少两层所述梳齿构件，相邻两层所述梳齿构件的梳齿之间的间隙沿竖直方向对齐。
  41. 如权利要求38所述的系统，其特征在于，所述可移动载具还包括第一层板，所述第一层板设置在所述第一支架上且位于所述梳齿构件的上方，且所述第一层板被构造为用于承载至少一个物品。
  42. 如权利要求41所述的系统，其特征在于，所述存取设备为叉臂式搬运设备，所述第一层板上具有供所述叉臂式搬运设备的伸缩叉插入的凹槽或缺口。
  43. 如权利要求42所述的系统，其特征在于，所述固定货架包括第二支架和沿高度方向依次间隔设置在所述第二支架上的至少两个第二层板，所述第二层板被构造为承载物品，且所述第二层板上具有供所述叉臂式搬运设备的伸缩叉插入的凹槽或缺口。
  44. 如权利要求43所述的系统，其特征在于，所述第二层板具有沿水平方向依次间隔设置的多个所述凹槽或所述缺口，相邻两个所述凹槽或缺口的水平间距相同。
  45. 如权利要求43所述的系统，其特征在于，所述叉臂式搬运设备具有至少两个伸缩叉，所述叉臂式搬运设备被构造为由两个所述伸缩叉共同叉取一个第一物品，或者由一个所述伸缩叉单独叉取一个第二物品，或者由两个所述伸缩叉同时分别叉取一个第二物品，在所述凹槽或缺口的宽度方向上，所述第一物品大于所述第二物品。
  46. 如权利要求41所述的系统，其特征在于，所述存取设备为伸缩臂式搬运设备，所述伸缩臂式搬运设备具有载物托盘和相对于所述载物托盘沿前后方向伸缩的两个伸缩臂，且所述伸缩臂上设置有前拨指和后拨指，所述前拨指以可转动地方式设置在所述伸缩臂上；且，
    所述前拨指被配置为在所述伸缩臂收缩过程中将所述固定货架或所述可移动载具上的物品拉入所述载物托盘；
    所述后拨指被配置为在所述伸缩臂伸出过程中将所述载物托盘上的物品推入所述固定货架或所述可移动载具上。
  47. 如权利要求38至46任一项所述的系统，其特征在于，所述第一目标搬运设备包括：
    第二机体；
    第二行走机构，所述第二行走机构设置在所述第二机体上，且被配置为带动所述第二机体行走；
    承载盘，所述承载盘以可活动地方式设置在所述第二机体上，且被配置为相对于所述第二机体提升，穿过所述梳齿构件的相邻两个梳齿之间的间隙将物品举起，或者相对于所述第二机体下降，将位于所述承载盘上的所述物品放置在所述梳齿构件上。
  48. 如权利要求47所述的系统，其特征在于，所述第一目标搬运设备还包括：
    升降机构，所述升降机构的底端设置在所述第二机体上，顶端设置有所述承载盘，且被配置为带动所述承载盘相对于所述第二机体升降；
    驱动电机，所述驱动电机被配置为驱动所述升降机构带动所述承载盘相对于所述第二机体升降。
  49. 如权利要求38所述的系统，其特征在于，所述第一目标搬运设备被配置为托举所述可移动载具的底部，以举起所述可移动载具。
  50. 如权利要求41所述的系统，其特征在于，所述第一目标搬运设备还被配置为穿过所述梳齿构件的相邻两个梳齿之间的间隙，并抵接于所述第一层板，以举起所述可移动载具。
  51. 如权利要求37所述的系统，其特征在于，至少两个所述第一目标搬运设备被配置为搬运同一个容器或同一个所述可移动载具。
  52. 一种仓储调度系统，其特征在于，所述系统包括控制服务器、存取设备、搬运设备、库存区域和物品装卸设备；其中，所述库存区域至少包括多个固定货架和多个可移动载具，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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物品；所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个物品，其中，所述存储位可容纳的物品包括容器；
    所述控制服务器，被配置为根据订单任务确定容纳有订单货物的目标容器当前位于的目标固定货架以及所述目标容器即将放置于的目标可移动载具，所述目标可移动载具有用于放置所述目标容器的存储位，同时确定用于存取所述目标容器的目标存取设备、用于搬运所述目标可移动载具的目标搬运设备以及用于装卸所述目标货箱的目标货箱装卸设备，并向所述目标存取设备发送存取指令，向所述目标搬运设备发送搬运指令，向所述目标货箱装卸设备发送装卸指令；
    所述目标存取设备，被配置为响应于所述存取指令，移动至所述目标固定货架处，从所述目标固定货架中取出所述目标容器并放置在所述目标可移动载具的存储位中或从所述目标可移动载具的存储位中取出所述目标容器并放置在所述目标固定货架的存储位中；
    所述目标搬运设备，被配置为响应于所述搬运指令，搬运放置有所述目标容器的目标可移动载具到目的地；
    所述目标容器装卸设备位于所述目的地，被配置为响应于所述装卸指令，从所述目标搬运设备搬运的目标可移动载具中取出目标容器或将目标容器放入所述目标搬运设备搬运的目标可移动载具中。
  53. 如权利要求52所述的仓储调度系统，其特征在于，所述可移动载具为可移动货架，所述可移动货架包括至少一层隔板，所述至少一层隔板将所述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。
  54. 如权利要求52所述的仓储调度系统，其特征在于，所述控制服务器，被配置为调度存取设备将第一目标物品在固定货架中调换存储位、调度存取设备将第一目标物品在固定货架与可移动载具间调换存储位；和/或，调度物品装卸设备将第一目标物品在可移动载具中调换存储位。
  55. 如权利要求54所述的仓储调度系统，其特征在于，所述控制服务器，被配置为响应于理货任务，调度存取设备将第一目标物品从固定货架中的原存储位调整至其他存储位或保持原存储位不变；调度存取设备将第一目标物品从固定货架中的原存储位调整至可移动载具中的其他存储位；调度存取设备将第一目标物品从可移动载具中的原存储位调整至固定货架中的其他存储位；和/或,调度物品装卸设备将第一目标物品从可移动载具中的原存储位调整至其他存储位或保持原存储位不变。
  56. 如权利要求52所述的仓储调度系统，其特征在于，所述存储位可容纳的物品包括容器，所述可移动载具为混合可移动载具，其中，所述混合可移动载具可承载可容纳仓储货物的第一容器、可容纳仓储货物的第二容器和存储货物中的至少两种。
  57. 一种仓储调度方法，其特征在于，所述方法应用于仓储调度系统，所述系统包括控制服务器、搬运设备、库存区域和物品装卸设备；其中，所述库存区域至少包括多个可移动载具，所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个物品；
    所述方法包括：
    所述控制服务器确定第一目标可移动载具上的第一目标物品、所述第一目标物品的当前存储位以及目标位置，同时确定用于搬运所述第一目标可移动载具的第一目标搬运设备和目标物品装卸设备，并向所述第一目标搬运设备发送搬运指令，向所述目标物品装卸设备发送装卸指令；
    所述第一目标搬运设备响应于所述搬运指令，搬运放置有所述第一目标物品的第一目标可移动载具到目的地；
    所述目标物品装卸设备位于所述目的地响应于所述装卸指令，从所述当前存储位取出所述第一目标物品，并放置在所述目标位置。
  58. 如权利要求57所述的仓储调度方法，其特征在于，所述目标位置为第一目标可移动载具的存储位或除第一目标可移动载具外的其他可移动载具的存储位。
  59. 如权利要求58所述的仓储调度方法，其特征在于，所述存储位可容纳的物品包括容器，所述方法还包括：
    所述控制服务器根据所述第一目标容器中存储的货物的热度、所述第一目标容器中存储的货物与其它容器中存储的货物之间的关联度、待处理任务是否涉及所述第一目标容器中存储的货物和所述目标容器装卸设备与位于目的地的各移动载具上各存储位的距离中的任意一种确定所述第一目标容器的新存储位。
  60. 如权利要求58所述的仓储调度方法，其特征在于，所述目标位置为第二目标可移动载具的存储位；
    所述方法还包括：
    所述控制服务器确定所述第一目标物品在所述第二目标可移动载具上的存储位，同时确定用于搬运所述第二目标可移动载具的第二目标搬运设备，向所述第二目标搬运设备发送搬运指令；
    所述第二目标搬运设备响应于所述搬运指令，搬运所述第二目标可移动载具到目的地；
    所述目标物品装卸设备响应于所述装卸指令，从所述第一目标可移动载具上的当前存储位取出所述第一目标物品，并放置在所述第二目标可移动载具上的存储位。
  61. 如权利要求57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位于装卸区的第二目标物品和第三目标可移动载具上的存储位，同时确定用于搬运所述第三目标可移动载具的第三目标搬运设备，并向所述第三目标搬运设备发送搬运指令，向所述目标物品装卸设备发送装卸指令；
    所述第三目标搬运设备，被配置为响应于所述搬运指令，搬运所述第三目标可移动载具到所述装卸区；
    所述目标物品装卸设备位于所述装卸区，被配置为响应于所述装卸指令，从所述装卸区取出所述第二目标物品，并放置在所述第三目标可移动载具上的存储位。
  62. 如权利要求61所述的仓储调度方法，其特征在于，所述方法还包括：
    所述控制服务器响应于下架任务、理货任务和上架任务中的至少一种确定所述第二目标物品的新存储位。
  63. 如权利要求57所述的仓储调度方法，其特征在于，所述方法还包括：
    所述控制服务器响应于下架任务、理货任务和上架任务中的至少一种确定所述第一目标物品的新存储位。
  64. 如权利要求57所述的仓储调度方法，其特征在于，所述系统还包括：存取设备和多个固定货架， 所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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物品，所述目标位置为位于工作站的缓存存储位；
    所述方法还包括：
    所述控制服务器确定所述第一目标物品在目标固定货架的存储位，同时确定用于存取所述第一目标物品的目标存取设备，并向所述目标存取设备发送存取指令；
    所述目标物品装卸设备响应于所述装卸指令，从所述当前存储位取出所述第一目标物品，并放置在所述缓存存储位；
    所述目标存取设备响应于所述存取指令，移动至所述缓存存储位，并从所述缓存存储位取出所述第一目标物品，并移动至目标固定货架，将所述第一目标物品放置在所述目标固定货架的存储位。
  65. 如权利要求57所述的仓储调度方法，其特征在于，所述系统还包括：存取设备和多个固定货架，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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物品，所述目标位置为位于工作站的缓存存储位；
    所述方法还包括：
    所述控制服务器确定所述目标固定货架上的第三目标物品，所述第三目标物品的当前存储位和所述第三目标物品在第四目标可移动载具上的存储位，同时确定用于存取所述第三目标物品的目标存取设备、用于搬运所述第四目标可移动载具的第四目标搬运设备，并向所述目标存取设备发送存取指令，向所述第四目标搬运设备发送搬运指令，向所述目标物品装卸设备发送装卸指令；
    所述目标存取设备响应于所述存取指令，移动至所述目标固定货架，取出所述第三目标物品，并将所述第三目标物品搬运至目的地，存放至所述目的地的缓存存储位；
    所述第四目标搬运设备响应于所述搬运指令，搬运第四目标可移动载具到所述目的地；
    所述目标物品装卸设备响应于所述装卸指令，从所述缓存存储位取出所述第三目标物品，并将所述第三目标物品放入所述第四目标搬运设备搬运的第四目标可移动载具中。
  66. 如权利要求57-65中任意一项所述的仓储调度方法，其特征在于，所述目标物品装卸设备位于工作站，所述工作站设置传输线，拣选工位位于所述传输线的传输路径中，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所述目标物品装卸设备；
    所述方法还包括：
    位于所述传输线入口的目标物品装卸设备，进一步被配置为从所述当前存储位中取出所述第一目标物品并放在所述传输线上；
    位于所述传输线出口的目标物品装卸设备，进一步被配置为从所述传输线出口取出所述第一目标物品并放在所述目标位置，所述目标位置为第一目标可移动载具的存储位或除第一目标可移动载具外的其他可移动载具的存储位。
  67. 如权利要求57-65中任意一项所述的仓储调度方法，其特征在于，所述方法还包括：
    所述各目标搬运设备将所述各目标可移动载具搬运回所述库存区域的原位置或其他位置。
  68. 如权利要求67所述的仓储调度方法，其特征在于，所述方法还包括：
    所述控制服务器根据各目标可移动载具的热度和所述各目标可移动载具与所述存储区域中空闲位置的距离中的任意一种确定所述各目标可移动载具的新位置。
  69. 如权利要求57所述的仓储调度方法，其特征在于，所述可移动货架是双面货架；
    所述方法还包括：
    所述控制服务器确定所述第一目标物品的当前存储位以及目标位置位于所述第一目标可移动货架的对立面，并向所述目标搬运设备发送货架转面指令；
    所述目标搬运设备在所述目标物品装卸设备取出所述第一目标物品后，响应于所述货架转面指令，搬运所述第一目标可移动货架执行货架转面操作；
    所述目标物品装卸设备将所述目标物品放置在所述目标位置。
  70. 一种仓储调度方法，其特征在于，所述方法应用于仓储调度系统，所述系统包括控制服务器、存取设备、搬运设备、库存区域和物品装卸设备；其中，所述库存区域至少包括多个固定货架和多个可移动载具，所述固定货架包括至少一层隔板，所述至少一层隔板将所述固定货架分割为至少两层，所述可移动载具位于所述固定货架的底层，所述固定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物品；所述可移动载具包括至少一个存储位，每个存储位可容纳至少一个物品，其中，所述存储位可容纳的物品包括容器；
    所述方法包括：
    所述控制服务器根据订单任务确定容纳有订单货物的目标容器当前位于的目标固定货架以及所述目标容器即将放置于的目标可移动载具，所述目标可移动载具有用于放置所述目标容器的存储位，同时确定用于存取所述目标容器的目标存取设备、用于搬运所述目标可移动载具的目标搬运设备以及用于装卸所述目标货箱的目标货箱装卸设备，并向所述目标存取设备发送存取指令，向所述目标搬运设备发送搬运指令，向所述目标货箱装卸设备发送装卸指令；
    所述目标存取设备响应于所述存取指令，移动至所述目标固定货架处，从所述目标固定货架中取出所述目标容器并放置在所述目标可移动载具的存储位中或从所述目标可移动载具的存储位中取出所述目标容器并放置在所述目标固定货架的存储位中；
    所述目标搬运设备响应于所述搬运指令，搬运放置有所述目标容器的目标可移动载具到目的地；
    所述目标容器装卸设备位于所述目的地响应于所述装卸指令，从所述目标搬运设备搬运的目标可移动载具中取出目标容器或将目标容器放入所述目标搬运设备搬运的目标可移动载具中。
  71. 如权利要求70所述的仓储调度方法，其特征在于，所述方法还包括：
    所述控制服务器调度存取设备将第一目标物品在固定货架中调换存储位、调度存取设备将第一目标物品在固定货架与可移动载具间调换存储位，和/或，调度物品装卸设备将第一目标物品在可移动载具中调换存储位。
  72. 如权利要求70所述的仓储调度方法，其特征在于，所述方法还包括：
    所述控制服务器响应于理货任务，调度存取设备将第一目标物品从固定货架中的原存储位调整至其他存储位或保持原存储位不变；调度存取设备将第一目标物品从固定货架中的原存储位调整至可移动载具中的其他存储位；调度存取设备将第一目标物品从可移动载具中的原存储位调整至固定货架中的其他存储位；和/或，调度物品装卸设备将第一目标物品从可移动载具中的原存储位调整至其他存储位或保持原存储位不变。
  73. 一种仓储调度系统，其特征在于，包括：
    可移动载具；
    固定货架，所述固定货架和承载所述固定货架的承载面共同围成容纳区，所述容纳区被构造为容纳所述可移动载具；
    存取设备，被配置为在所述固定货架和所述可移动载具之间搬运物品；
    第一目标搬运设备，被配置为将物品搬离所述可移动载具或搬运至所述可移动载具上；和/或，将所述可移动载具搬离所述容纳区或搬运至所述容纳区内。
  74. 根据权利要求73所述的仓储调度系统，其特征在于，所述可移动载具包括第一支架和设置在所述第一支架上的梳齿构件，所述梳齿构件被构造为承载物品；
    所述第一目标搬运设备被配置为在所述梳齿构件下方穿行，且穿过所述梳齿构件的相邻两个梳齿之间的间隙，将所述梳齿构件上的物品举起并将物品搬离；或者，所述第一目标搬运设备被配置为携带物品驶入相邻两个梳齿之间的间隙，并将所述物品放置在所述梳齿构件上后驶出。
  75. 根据权利要求74所述的仓储调度系统，其特征在于，所述梳齿构件包括沿相反方向延伸的两组梳齿，每组梳齿均被构造为承载物品。
  76. 根据权利要求74所述的仓储调度系统，其特征在于，所述可移动载具包括垂直设置的至少两层所述梳齿构件，相邻两层所述梳齿构件的梳齿之间的间隙沿竖直方向对齐。
  77. 根据权利要求74所述的仓储调度系统，其特征在于，所述可移动载具还包括第一层板，所述第一层板设置在所述第一支架上且位于所述梳齿构件的上方，且所述第一层板被构造为用于承载至少一个物品。
  78. 根据权利要求77所述的仓储调度系统，其特征在于，所述存取设备为叉臂式搬运设备，所述第一层板上具有供所述叉臂式搬运设备的伸缩叉插入的凹槽或缺口。
  79. 根据权利要求78所述的仓储调度系统，其特征在于，所述固定货架包括第二支架和沿高度方向依次间隔设置在所述第二支架上的至少两个第二层板，所述第二层板被构造为承载物品，且所述第二层板上具有供所述叉臂式搬运设备的伸缩叉插入的凹槽或缺口。
  80. 如权利要求79所述的仓储调度系统，其特征在于，所述第二层板具有沿水平方向依次间隔设置的多个所述凹槽或所述缺口，相邻两个所述凹槽或缺口的水平间距相同。
  81. 根据权利要求79所述的仓储调度系统，其特征在于，所述叉臂式搬运设备具有至少两个伸缩叉，所述叉臂式搬运设备被构造为由两个所述伸缩叉共同叉取一个第一物品，或者由一个所述伸缩叉单独叉取一个第二物品，或者由两个所述伸缩叉同时分别叉取一个第二物品，在所述凹槽或缺口的宽度方向上，所述第一物品大于所述第二物品。
  82. 根据权利要求77所述的仓储调度系统，其特征在于，所述存取设备为伸缩臂式搬运设备，所述伸缩臂式搬运设备具有载物托盘和相对于所述载物托盘沿前后方向伸缩的两个伸缩臂，且所述伸缩臂上设置有前拨指和后拨指，所述前拨指以可转动地方式设置在所述伸缩臂上；且，
    所述前拨指被配置为在所述伸缩臂收缩过程中将所述固定货架或所述可移动载具上的物品拉入所述载物托盘；
    所述后拨指被配置为在所述伸缩臂伸出过程中将所述载物托盘上的物品推入所述固定货架或所述可移动载具上。
  83. 如权利要求74至82任一项所述的仓储调度系统，其特征在于，所述第一目标搬运设备包括：
    第二机体；
    第二行走机构，所述第二行走机构设置在所述第二机体上，且被配置为带动所述第二机体行走；
    承载盘，所述承载盘以可活动地方式设置在所述第二机体上，且被配置为相对于所述第二机体提升，穿过所述梳齿构件的相邻两个梳齿之间的间隙将物品举起，或者相对于所述第二机体下降，将位于所述承载盘上的所述物品放置在所述梳齿构件上。
  84. 如权利要求83所述的仓储调度系统，其特征在于，所述第一目标搬运设备还包括：
    升降机构，所述升降机构的底端设置在所述第二机体上，顶端设置有所述承载盘，且被配置为带动所述承载盘相对于所述第二机体升降；
    驱动电机，所述驱动电机被配置为驱动所述升降机构带动所述承载盘相对于所述第二机体升降。
  85. 如权利要求74所述的仓储调度系统，其特征在于，所述第一目标搬运设备被配置为托举所述可移动载具的底部，以举起所述可移动载具。
  86. 如权利要求77所述的仓储调度系统，其特征在于，所述第一目标搬运设备还被配置为穿过所述梳齿构件的相邻两个梳齿之间的间隙，并抵接于所述第一层板，以举起所述可移动载具。
  87. 如权利要求73所述的仓储调度系统，其特征在于，至少两个所述第一目标搬运设备被配置为搬运同一个物品或同一个所述可移动载具。
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