WO2023071823A1 - 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
WO2023071823A1
WO2023071823A1 PCT/CN2022/125216 CN2022125216W WO2023071823A1 WO 2023071823 A1 WO2023071823 A1 WO 2023071823A1 CN 2022125216 W CN2022125216 W CN 2022125216W WO 2023071823 A1 WO2023071823 A1 WO 2023071823A1
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WIPO (PCT)
Prior art keywords
container
order
target
area
buffer
Prior art date
Application number
PCT/CN2022/125216
Other languages
English (en)
French (fr)
Inventor
王梦迪
马瑛蓬
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202122588185.0U external-priority patent/CN216835493U/zh
Priority claimed from CN202111248974.8A external-priority patent/CN116022492A/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 WO2023071823A1 publication Critical patent/WO2023071823A1/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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • the present application relates to the technical field of warehousing, in particular to a warehousing scheduling system and method.
  • the picked order containers need to be further processed, such as order combination, temporary storage, sorting, etc.
  • the follow-up processing of the order containers is completed by manual operation, which requires a large operating area and time-limited manual operations. It is low and the accuracy rate is low, and it is necessary to add a review link to ensure the accuracy rate.
  • the embodiment of the present application provides a warehouse scheduling system and method to solve the technical defects existing in the prior art.
  • a warehouse scheduling system includes a control server, a container pick-and-place device, and a cache area, and the cache area is provided with a plurality of cache carriers, wherein the cache The carrier is provided with at least one storage position, and each storage position can carry at least one order container capable of accommodating the order goods;
  • the control server is configured to determine the target container pick-and-place device, the first order container that has been picked and is to be buffered, the first buffer carrier to be buffered by the first order container, and the first order according to the buffering task.
  • the container is in the target storage position of the first cache carrier, and a container pick-and-place instruction is sent to the target container pick-and-place device;
  • the target container pick-and-place device is configured to be set in the workstation area, obtain the first order container located in the workstation area according to the container pick-and-place instruction, and directly place the first order container in the workstation area to be transported the target memory location of the first cache carrier; or,
  • the target container pick-and-place device is configured to acquire the first order container located in the workstation area according to the container pick-and-place instruction, transport the first order container from the workstation area to the buffer area, and placing the first order container on a target storage position of the first buffer carrier.
  • the container pick-and-place equipment includes a container handling mechanism
  • the control server is configured to determine a first container handling mechanism, and send a first container handling instruction to the first container handling mechanism;
  • the first container loading and unloading mechanism is configured to be disposed in the workstation area, and place the first order container on the target storage position of the first buffer carrier in response to the first container pick-and-place instruction.
  • the system also includes handling equipment;
  • the control server is further configured to determine a first transport device that transports the first buffer carrier, and send a first transport instruction to the first transport device;
  • the first transport device is configured to transport the first buffer carrier from the buffer area to the workstation area in response to the first transport instruction, or transport the first buffer carrier from the The workstation area is moved back to the cache area.
  • the first transporting device is configured to transport the first buffering carrier from the workstation area back to the original buffering position or other buffering positions of the buffering area.
  • the container pick-and-place equipment includes an autonomous mobile robot for pick-and-place and carry order containers;
  • the control server is configured to determine the first autonomous mobile robot, and send a container pick-and-place instruction to the first autonomous mobile robot;
  • the first autonomous mobile robot is configured to obtain the first order container located in the workstation area in response to the container pick-and-place instruction, transport the first order container from the workstation area to the buffer area, and placing the first order container on the target storage position of the first buffer shelf.
  • the system further includes a transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive order containers for completing order tasks;
  • the target container pick and place device is located at the exit of the transfer line and is configured to remove the first order container from the exit of the transfer line.
  • the system further includes an autonomous mobile robot and an inventory area for picking, placing and carrying inventory containers, the inventory area is provided with a plurality of inventory carriers, and the inventory carriers are provided with at least one storage position, each storage slots can carry at least one inventory container that can accommodate stored goods;
  • the control server is further configured to determine the target inventory container, the target inventory carrier on which the target inventory container is located, and the second autonomous mobile robot used to carry the target inventory container according to the order task, and send a message to the second The autonomous mobile robot sends a second access command;
  • the second autonomous mobile robot is configured to move to the target inventory carrier in response to the second access instruction, take out the target inventory container from the target inventory carrier and carry the target inventory container to the workstation area in question.
  • the system further includes handling equipment, the inventory carrier includes a movable shelf, and the movable shelf includes at least one layer of partitions, and the at least one layer of partitions divides the movable shelf into at least Two layers, at least one storage position is arranged on the partition of the movable shelf;
  • the control server is further configured to determine the target inventory container and the target movable shelf where the target inventory container is located according to the order task, and is used to transport the second handling equipment of the target movable shelf, and send the The handling equipment sends the second handling instruction;
  • the second conveying device is configured to convey the target movable shelf to the workstation area in response to the second conveying instruction.
  • the system also includes a container loading and unloading mechanism
  • the control server is further configured to determine the second order container, the second buffer carrier where the second order container is located, the third handling device for handling the second buffer carrier, and the second order container according to the delivery task. the second container loading and unloading mechanism, and send a third handling instruction to the third handling equipment, and send a second container loading and unloading instruction to the second container loading and unloading mechanism;
  • the third transport device is configured to transport the second buffer carrier from the buffer area to an exit of the buffer area in response to the third transfer instruction;
  • the second container loading and unloading device is arranged at the exit of the buffer area, and is configured to take out the second order container from the second buffer carrier in response to the second container loading and unloading instruction, and place it in a designated area .
  • the system also includes an autonomous mobile robot for picking up and carrying order containers;
  • the control server is further configured to determine a third order container, a third buffer carrier where the third order container is located, and a third autonomous mobile robot for carrying the third order container according to the delivery task, and sending a third access command to the third autonomous mobile robot;
  • the third autonomous mobile robot is configured to move to the third buffer carrier in response to the third access instruction, take out the third order container from the third buffer carrier, and transfer the The above-mentioned third order container is transported to the designated area.
  • control server is further configured to determine the target storage position of the first order container in the first buffer carrier according to the order container processing task.
  • the order container processing task includes at least one of a task of merging order items in at least two order containers and a task of sorting at least two order containers.
  • the workstation area is provided with an auxiliary picking device, and the auxiliary picking device is used to assist in the operation of picking order goods from the inventory container into the order container after the inventory container arrives at the workstation area.
  • the auxiliary picking device includes at least one of a visual sensor and a light barrier.
  • the container loading and unloading mechanism includes: a frame body and a pick-and-place container assembly;
  • the frame body includes a horizontal X-axis track and a vertical Y-axis track perpendicular to each other;
  • the Y-axis track is configured to move along the X-axis track
  • the pick-and-place container assembly is configured to move along the Y-axis track.
  • the frame body includes a door frame assembly
  • the X-axis track includes a ground track structure and a sky track structure arranged on the gantry assembly;
  • the two ends of the Y-axis track are respectively guided and matched with the ground track structure and the sky track structure.
  • At least two Y-axis tracks there are at least two Y-axis tracks, and at least one pick-and-place container assembly is set on each Y-axis track.
  • the access container component accesses the container by at least one of suction, push, clamp, grasp, hook, pick up, and lift.
  • a warehouse scheduling method applied to a warehouse scheduling system includes a control server, a container pick-and-place device and a buffer area, and the buffer area is provided with a plurality of buffer carriers , wherein, the buffer carrier is provided with at least one storage position, and each storage position can carry at least one order container that can accommodate the order goods;
  • the methods include:
  • the control server determines the target container pick-and-place device, the first order container that has been picked and is to be buffered, the first buffer carrier that the first order container will be buffered, and the first order container in the the target storage location of the first cache carrier, and send a container pick and place command to the target container pick and place device;
  • the target container pick-and-place device is set in the workstation area, obtains the first order container located in the workstation area according to the container pick-and-place instruction, and directly places the first order container on the first order container transported to the workstation area.
  • a target memory location of a cache carrier or,
  • the target container pick-and-place device obtains the first order container located in the workstation area according to the container pick-and-place instruction, transports the first order container from the workstation area to the buffer area, and transfers the second order container to the storage area.
  • An order container is placed in the target storage location of the first buffer carrier.
  • the container pick-and-place equipment includes a container handling mechanism
  • the control server determines the target container pick-and-place device, and sends a container pick-and-place instruction to the target container pick-and-place device, including:
  • the control server determines the first container loading and unloading mechanism, and sends the first container loading and unloading instruction to the first container loading and unloading mechanism;
  • the target container pick-and-place device is set in the workstation area, and the first order container is directly placed on the target storage position of the first buffer carrier transported to the workstation area, including:
  • the first container loading and unloading mechanism is disposed in the workstation area, and places the first order container on the target storage position of the first buffer carrier in response to the first container pick-and-place instruction.
  • the system also includes handling equipment;
  • the method also includes:
  • the control server determines a first transport device that transports the first buffer carrier, and sends a first transport instruction to the first transport device;
  • the first transport device transports the first buffer carrier from the buffer area to the workstation area in response to the first transport instruction, or transports the first buffer carrier from the workstation area Move back to the cache area.
  • the method also includes:
  • the first transport device transports the first buffer carrier from the workstation area back to the original buffer position or other buffer positions in the buffer area.
  • the container pick-and-place equipment includes an autonomous mobile robot for pick-and-place and carry order containers;
  • the control server determines the target container pick-and-place device, and sends a container pick-and-place instruction to the target container pick-and-place device, including:
  • the control server determines the first autonomous mobile robot, and sends a container pick-and-place instruction to the first autonomous mobile robot;
  • the target container pick-and-place device acquires the first order container located in the workstation area according to the container pick-and-place instruction, transports the first order container from the workstation area to the buffer area, and The first order container is placed in the target storage position of the first buffer carrier, including:
  • the first autonomous mobile robot obtains the first order container located in the work station area in response to the container pick-and-place instruction, transports the first order container from the work station area to the buffer area, and transfers the first order container to the buffer area.
  • An order container is placed on the target storage position of the first buffer shelf.
  • the system further includes a transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive order containers for completing order tasks;
  • the target container pick-and-place device obtains the first order container located in the workstation area according to the container pick-and-place instruction, including:
  • the target container pick-and-place device takes out the first order container from the transmission line exit, wherein the target container pick-and-place device is located at the transmission line exit.
  • the system further includes an autonomous mobile robot and an inventory area for picking, placing and carrying inventory containers, the inventory area is provided with a plurality of inventory carriers, and the inventory carriers are provided with at least one storage position, each storage slots can carry at least one inventory container that can accommodate stored goods;
  • the method also includes:
  • the control server determines the target inventory container, the target inventory carrier where the target inventory container is located, and the second autonomous mobile robot used to carry the target inventory container according to the order task, and sends the second autonomous mobile robot to the second autonomous mobile robot.
  • Two access instructions Two access instructions;
  • the second autonomous mobile robot moves to the target inventory carrier in response to the second access command, takes out the target inventory container from the target inventory carrier and transports the target inventory container to the workstation area.
  • the system further includes handling equipment, the inventory carrier includes a movable shelf, and the movable shelf includes at least one layer of partitions, and the at least one layer of partitions divides the movable shelf into at least Two layers, at least one storage position is arranged on the partition of the movable shelf;
  • the method also includes:
  • the control server determines the target inventory container, the target movable shelf where the target inventory container is located according to the order task, the second handling equipment used to transport the target movable shelf, and sends the second handling equipment to the second handling equipment. handling instructions;
  • the second transport device transports the target movable rack to the workstation area in response to the second transport instruction.
  • the system also includes a container handling mechanism
  • the method also includes:
  • the control server determines the second order container, the second buffer carrier where the second order container is located, the third handling device for handling the second buffer carrier, and the second container loading and unloading mechanism according to the delivery task, and sending a third handling instruction to the third handling device, and sending a second container loading and unloading instruction to the second container handling mechanism;
  • the third transport device transports the second buffer carrier from the buffer area to an exit of the buffer area in response to the third transfer instruction
  • the second container handling device takes out the second order container from the second buffer carrier in response to the second container handling instruction and places it in a designated area, wherein the second container handling device is set at The egress of the cache area.
  • the system also includes an autonomous mobile robot for picking up and carrying order containers;
  • the method also includes:
  • the control server determines the third order container, the third buffer carrier where the third order container is located, and the third autonomous mobile robot used to carry the third order container according to the delivery task, and sends the third order container to the third order container.
  • the autonomous mobile robot sends the third access command;
  • the third autonomous mobile robot moves to the third buffer carrier in response to the third access instruction, takes out the third order container from the third buffer carrier, and transfers the third order container The container is moved to the designated area.
  • the method also includes:
  • the control server is further configured to determine the target storage position of the first order container in the first buffer carrier according to the order container processing task.
  • the order container processing task includes at least one of a task of merging order items in at least two order containers and a task of sorting at least two order containers.
  • the storage scheduling system includes a control server, a container pick-and-place device, and a buffer area, and the buffer area is provided with a plurality of buffer carriers, wherein the buffer carrier is provided with at least one storage location, each The storage position can carry at least one order container that can accommodate the order goods;
  • the control server is configured to determine the target container pick-and-place device, the first order container that has been picked and is to be cached, the first order container The first cache carrier to be cached and the first order container are in the target storage position of the first cache carrier, and a container pick-and-place instruction is sent to the target container pick-and-place device;
  • the target container pick-and-place device is configured to be set in the workstation area, obtain the first order container located in the workstation area according to the container pick-and-place instruction, and directly place the first order container in the first buffer load that is transported to the workstation area.
  • the target container pick-and-place device is configured to acquire the first order container located in the workstation area according to the container pick-and-place instruction, and remove the first order container from the workstation area transporting to the buffer area, and placing the first order container on the target storage position of the first buffer carrier.
  • the cache carrier of the order container and the position of the cache carrier in the cache area are determined according to the delivery task, so that the subsequent The merging or sorting tasks of order containers save manpower and material resources, and improve efficiency and accuracy.
  • Fig. 1 is a schematic diagram of the system structure of a warehouse dispatching system provided by an embodiment of the present application
  • Fig. 2 is a schematic diagram of a container loading and unloading mechanism provided by an embodiment of the present application
  • Fig. 3 is a schematic diagram of the system structure of another storage scheduling system provided by an embodiment of the present application.
  • Fig. 4 is a flowchart of a warehouse scheduling method provided by an embodiment of the present application.
  • 110-control server 111-processor, 112-memory, 113-order pool, 114-operating table, 120-container picking and placing equipment, 130-caching area, 140-caching carrier, 150-container loading and unloading mechanism, 7- Frame body, 71-X-axis track, 72-Y-axis track, 2-feed container assembly, 160-handling equipment, 170-autonomous mobile robot, 180-delivery area.
  • 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.”
  • Figure 1 shows a schematic diagram of the system structure of a warehouse scheduling system provided by an embodiment of the present application, the system includes a control server 110, a container pick-and-place device 120, and a buffer area 130, and the buffer area 130 includes a plurality of buffer carriers 140 , the buffer carrier 140 is provided with at least one storage position, and each storage position can carry at least one order container capable of accommodating the order goods.
  • the control server 110 is wirelessly connected to the container pick-and-place equipment 120, 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. Wirelessly connected with the container pick-and-place equipment 120, etc., the control server 110 may include one or more servers, and may be a centralized control architecture or a distributed computing architecture.
  • the control server 110 has a processor 111 and a memory 112, and the memory 112 may have The order pool 113 stores order information in the order pool 113 .
  • the cache area 130 can be a dense storage area or a non-intensive storage area.
  • a plurality of cache carriers 140 are arranged in the cache area 130.
  • the cache carriers can be cache shelves, cage cars, pallet supports, etc. in practical applications. , the specific form of the buffer carrier 140 is subject to the actual application, and is not limited in this application.
  • the shelf is divided into at least two layers, and at least one storage position is arranged on the partition of the buffer shelf, and each storage position can carry at least one order container capable of accommodating the order goods.
  • the order container specifically refers to the container that has completed the order picking task and contains the order goods.
  • At least one storage position is provided in the buffer carrier, and each storage position can carry at least one order container capable of accommodating the order goods.
  • control server is configured to determine the target container pick-and-place device, the first order container that has been picked and is to be buffered, the first buffer carrier to be buffered by the first order container, and the The first order container is in the target storage location of the first buffer carrier, and a container pick-and-place instruction is sent to the target container pick-and-place device;
  • the target container pick-and-place device is configured to be set in the workstation area, obtain the first order container located in the workstation area according to the container pick-and-place instruction, and directly place the first order container in the workstation area to be transported the target memory location of the first cache carrier; or,
  • the target container pick-and-place device is configured to acquire the first order container located in the workstation area according to the container pick-and-place instruction, transport the first order container from the workstation area to the buffer area, and placing the first order container on a target storage position of the first buffer carrier.
  • the control server determines the target container pick-and-place device according to the cache task, and the container pick-and-place device is used to take out the order container and place it in the carrier according to the container pick-and-place instruction, or take out the order container from the carrier Take out the order container and place it in the specified location.
  • the order container needs to be further processed. For example, if the same order is in multiple different order containers, it needs to be combined. ; For example, according to the order address of the order, the order containers in the same area need to be processed together, and the order container that has been picked first needs to be temporarily stored; Place orders on the inside of the carrier, place orders with first-to-addresses on the outside of the carrier, and so on.
  • the target container pick-and-place device can also intelligently adjust the order container, determine the delivery route, delivery time, order wave and other information of each order container, and will have the same delivery
  • the order containers of the delivery route or order wave are placed in the same cache carrier, which is convenient for subsequent delivery, and can be processed in a centralized manner to improve delivery efficiency.
  • the cache carrier with higher requirements on delivery time can be The tools are placed close to the delivery area to further improve delivery efficiency.
  • the control server also needs to determine the first buffer carrier to be buffered for the order container, and the target storage position of the order container in the first buffer carrier. Specifically, the control server determines the target storage position of the order container in the first buffer carrier according to the order container processing task. Furthermore, the order container processing task specifically includes at least one of a task of merging order items in at least two order containers and a task of sorting at least two order containers. At the same time, the control server will also determine the target container pick-and-place device, and send a container pick-and-place instruction to the target container pick-and-place device.
  • Container pick-and-place equipment specifically refers to equipment used to take out and put into order containers.
  • the target container pick-and-place device may be configured in the workstation area, and take out the first order container from the workstation area according to the container pick-and-place instruction, and place the first order container in the target storage position of the first buffer carrier that is transported to the workstation area;
  • the container pick-and-place device can also be a device that can move autonomously. After the first order container is taken out from the workstation area according to the container pick-and-place instruction, the first order container is transported from the workstation area to the cache area, and placed in the first order container located in the cache area.
  • a target memory location of a cache carrier The following uses two different scenarios to further explain the application of the target container pick-and-place device.
  • the target container pick-and-place device is configured in the workstation area as an example for explanation.
  • the target container pick-and-place device includes a container handling mechanism 150, and the control server is further configured to determine the first
  • the container handling mechanism sends a first container handling instruction to the first container handling mechanism; the first container handling mechanism is configured to be arranged in the workstation area, and responds to the first container handling instruction to place the first order container placed in the target memory location of the first cache carrier.
  • FIG. 2 shows a schematic diagram of a container loading and unloading mechanism used in an embodiment of the present application.
  • the frame body 7 includes X-axis rails 71 and Y-axis rails 72 that are perpendicular to each other.
  • the X-axis rails 71 and the Y-axis The rails 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 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, and the Y-axis moving plate can move vertically along the Y-axis track 72, and the fetching container assembly is fixedly connected on 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 mechanism.
  • the loading and unloading mechanism is used to transfer the containers on the movable 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 movable shelf.
  • the access container assembly 2 accesses the container by at least one of suction, push, clamping, grasping, hooking, hugging, and lifting.
  • the container loading and unloading mechanism 150 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 warehouse scheduling system provided in the present application further includes a handling device 160, and the control server is further configured to determine the first handling device that transports the first buffer carrier, and send the first handling device to the first handling device. handling instructions;
  • the first transport device is configured to transport the first buffer carrier from the buffer area to the workstation area in response to the first transport instruction, or transport the first buffer carrier from the The workstation area is moved back to the cache area.
  • the buffer carrier 140 in the buffer area 130 can be transported, and the container loading and unloading mechanism 150 is fixed in the workstation area and cannot be moved. Therefore, the first buffer carrier can be transported from the buffer area by the first transport device 160 to the workstation area, or transport the first buffer carrier with the first order container loaded back to the buffer area from the workstation area.
  • the first buffer carrier can be transported from the workstation area back to the original buffer position of the buffer area, or the first buffer carrier can be transported back to the buffer area. other cache locations where tools are moved from the workstation area to the cache area.
  • the other cache positions of the cache carrier transported back to the cache area can be determined according to preset conditions, for example, the cache position of the cache carrier is determined according to the priority of the order, and the cache position of the order container with high priority in the cache area is at a distance of The closer the area exit is, so that the order containers with high priority can be processed in a timely and fast manner.
  • the target container pick-and-place equipment includes an autonomous mobile robot 170 (AMR) for picking, placing and handling order containers as an example.
  • AMR autonomous mobile robot 170
  • the autonomous mobile robot 170 can take out For the order container, the order container can be placed in the designated position, and the order container can also be moved between two designated positions.
  • control server is configured to determine the first autonomous mobile robot, and send a container pick-and-place instruction to the first autonomous mobile robot;
  • the first autonomous mobile robot is configured to obtain the first order container located in the workstation area in response to the container pick-and-place instruction, transport the first order container from the workstation area to the buffer area, and transfer the The first order container is placed in the target storage position of the first buffer shelf.
  • the control server determines that the target container pick-and-place device is the first autonomous mobile robot according to the cache task, and sends a container pick-and-place instruction to the first autonomous mobile robot.
  • the equipment transports the buffer carrier to the workstation area, the first autonomous mobile robot responds to the container pick-and-place command, obtains the first order container in the workstation area, and carries the first order container from the workstation area to the buffer area, and the first order The container is placed in the target storage location on the first cache shelf located in the cache area.
  • the autonomous mobile robot 170 directly transports the order container to the cache carrier in the cache area, which avoids the problem of slow movement of the transport equipment to carry the cache carrier in the storage scene, and is suitable for scenarios where a small number of order containers need to be placed in the cache area.
  • the container loading and unloading mechanism and the handling equipment cooperate to put the order container into the cache area, which is suitable for the scene of a large number of order containers; the autonomous mobile robot transports the order container to the cache carrier, which is suitable for a small
  • the container pick-and-place equipment can be freely selected according to the actual situation, which is not specifically limited in this application.
  • the order task is an order picking task completed in the workstation area. After the order picking task is completed, there will be an order container containing the order goods, and the order container needs to be placed in the cache area.
  • the warehouse dispatching system provided by the present application also includes a transmission line, which is used to transmit the order container that completes the order task, and the transmission line has a transmission line inlet and a transmission line outlet, wherein the transmission line entrance is used to receive the order container that completes the order task;
  • the target container pick-and-place device is located at the exit of the transmission line, and the first order container is taken out from the exit of the transmission line.
  • the container pick-and-place device is a container loading and unloading mechanism 150.
  • the container loading and unloading mechanism 150 takes out the order container from the exit of the transmission line and places it on the buffer carrier 140.
  • the buffer carrier 140 is moved by the handling device 160. 140 transport to the cache area.
  • the container pick-and-place device is specifically an autonomous mobile robot 170.
  • the autonomous mobile robot 170 takes out the order container from the exit of the transmission line, moves to the buffer area, and places the order container in the buffer area located in the buffer area. in the target memory location of the vehicle.
  • the warehouse dispatching system provided by the application also includes an autonomous mobile robot and an inventory area for picking, placing and handling inventory containers.
  • Multiple inventory carriers are set in the inventory area, and the inventory carrier is provided with at least one storage
  • Each storage location can carry at least one inventory container that can hold the stored goods;
  • the control server is further configured to determine the target inventory container, the target inventory carrier on which the target inventory container is located, and the second autonomous mobile robot used to carry the target inventory container according to the order task, and send a message to the second The autonomous mobile robot sends a second access instruction;
  • the second autonomous mobile robot is configured to move to the target inventory carrier in response to the second access instruction, take out the target inventory container from the target inventory carrier and carry the target inventory container to the workstation area in question.
  • the warehousing scheduling system includes the cache area after the order task is completed, and also includes the inventory area for storing goods.
  • the inventory carriers can be movable shelves and fixed shelves. , tray bracket, etc., the specific form of the inventory carrier is not limited in this application, and the actual application shall prevail.
  • a storage position is set in the inventory carrier, and an inventory container is stored on the storage position.
  • the control server determines the target inventory container hit by the order task, and at the same time determines the target inventory carrier where the target inventory container is located, the second autonomous mobile robot used to carry the target inventory container, and sends the second autonomous mobile robot to the second autonomous mobile robot. Two access instructions.
  • the second autonomous mobile robot moves to the target inventory carrier in response to the second access instruction, takes the target inventory carrier out of the target inventory container, and transports the target inventory container to the workstation area for order picking.
  • the storage scheduling system provided by this application also includes There is a handling device, and the control server determines the target inventory container and the target movable shelf where the target inventory container is located according to the order task, and the second handling equipment used to transport the target movable shelf, and sends a second handling instruction to the second handling equipment.
  • the second conveying device in response to the second conveying instruction, moves to the target movable shelf, and conveys the target movable shelf to the workstation area.
  • the target inventory container is transported to the workstation area, and the order picking task is completed in the workstation area, specifically, the order goods in the target inventory container are picked into the order container.
  • An auxiliary picking device is provided in the workstation area, and the auxiliary picking device is used to assist manual operations of picking order goods from the inventory container to the target order container after the target inventory container arrives at the workstation area.
  • the auxiliary picking device includes at least one of a visual sensor and a grating, and further, the visual sensor includes a camera.
  • the order container is cached in the cache area, it is necessary to further execute the delivery task for the goods in the order container, and take out the order container from the cache area 130 and transport it to the exit of the cache area.
  • the order container is placed in the delivery area 180 at the exit of the buffer area, and the delivery task of the order is completed in the delivery area 180 .
  • the cache carrier where the order container is located can be transported to the exit of the cache area, or only the order container can be transported to the exit of the cache area.
  • the allocation of the control server is To be accurate, the following will introduce how to move the order container to the cache area exit in the two application scenarios.
  • the control server is further configured to determine the second order container, the second buffer carrier where the second order container is located, and the third carrier used to transport the second buffer carrier according to the delivery task. equipment and the second container loading and unloading mechanism, and send a third handling instruction to the third handling equipment, and send a second container loading and unloading instruction to the second container handling mechanism;
  • the third transport device is configured to transport the second buffer carrier from the buffer area to an exit of the buffer area in response to the third transfer instruction;
  • the second container loading and unloading device is arranged at the exit of the buffer area, and is configured to take out the second order container from the second buffer carrier in response to the second container loading and unloading instruction, and place it in a designated area .
  • the control server determines the second order container and the second buffer carrier where the second order container is located according to the delivery task, and at the same time determines the third handling equipment and the second buffer carrier for handling the second buffer carrier.
  • the second container loading and unloading mechanism and sends a third handling instruction to and to the third handling equipment, and sends a second container loading and unloading instruction to the second container loading and unloading mechanism.
  • it is applicable to the situation that the delivery task hits multiple order containers on the same cache carrier, and the cache carrier is transported to the exit of the cache area to facilitate the delivery task of the order container.
  • the third transport device moves to the second buffer carrier in the buffer area in response to the third transfer instruction, and transports the second buffer carrier to the exit of the buffer area.
  • the second container loading and unloading equipment is arranged at the exit of the buffer area, and according to the second container loading and unloading instruction, the second order container is taken out from the second buffer carrier, and the second order container is placed in a designated area, where the designated area can be is the shipping area 180.
  • the warehouse scheduling system provided by the present application also includes an autonomous mobile robot for picking and placing or carrying order containers, and the control server is also configured to determine the third order container and the third order container according to the delivery task The third buffer carrier where it is located, the third autonomous mobile robot used to carry the third order container, and send a third access instruction to the third autonomous mobile robot;
  • the third autonomous mobile robot is configured to move to the third buffer carrier in response to the third access instruction, take out the third order container from the third buffer carrier, and transfer the The above-mentioned third order container is transported to the designated area.
  • the control server determines the third order container according to the delivery task, and at the same time determines the third buffer carrier where the third order container is located and the third autonomous mobile robot used to carry the third order container, and A third access instruction is sent to the third autonomous mobile robot.
  • the application scenario of this embodiment is applied to a scenario where a delivery task hits a small number of order containers. In order to improve the delivery efficiency of order containers, only an autonomous mobile robot is required to transport the order containers to a designated area.
  • the third autonomous mobile robot moves to the third buffer carrier in the buffer area, takes out the third order container from the third buffer carrier, and transports the third order container to the designated area (such as Cache area egress).
  • the storage scheduling system includes a control server, a container pick-and-place device, and a buffer area, and the buffer area is provided with a plurality of buffer carriers, wherein the buffer carrier is provided with at least one storage location, each The storage position can carry at least one order container that can accommodate the order goods;
  • the control server is configured to determine the target container pick-and-place device, the first order container that has been picked and is to be cached, the first order container The first cache carrier to be cached and the first order container are in the target storage position of the first cache carrier, and a container pick-and-place instruction is sent to the target container pick-and-place device;
  • the target container pick-and-place device is configured to be set in the workstation area, obtain the first order container located in the workstation area according to the container pick-and-place instruction, and directly place the first order container in the first buffer load that is transported to the workstation area.
  • the target container pick-and-place device is configured to acquire the first order container located in the workstation area according to the container pick-and-place instruction, and remove the first order container from the workstation area transporting to the buffer area, and placing the first order container on the target storage position of the first buffer carrier.
  • the cache carrier of the order container and the position of the cache carrier in the cache area are determined according to the delivery task, so that the subsequent The merging or sorting tasks of order containers save manpower and material resources, and improve efficiency and accuracy.
  • the storage scheduling system provided by this application can also automatically connect the subsequent order container shipment tasks, effectively reducing the labor required for order consolidation and handling, and saving manpower.
  • dense storage shelves can also be used in the cache area, which is extremely Greatly improve the cache capacity, reduce the cache area, and reduce the cost of storage scheduling.
  • the storage scheduling system provided by the present application will be further explained in combination with several specific embodiments. It should be noted that in the following embodiments, the order picking task is completed in the workstation area as an example. In this application, there is no limitation on the task of transporting the inventory container from the inventory area to the workstation area to complete the order picking task.
  • the warehouse dispatching system includes a control server, a transportation line, a buffer area, a handling device, and a container loading and unloading mechanism.
  • a plurality of buffer shelves are arranged in the buffer area, and at least one partition is included in the buffer shelf.
  • At least one storage position is provided, each storage position can carry at least one order container, and the transport line includes a transport line entrance and a transport line exit.
  • the control server determines the target order container that has been picked and is to be cached, the target cache shelf that the target order container will be cached, and the target storage position of the target order container on the target cache shelf, and at the same time determines the target container loading and unloading mechanism and user For the target handling equipment that transports the target buffer shelf, it sends a container pick-and-place command to the target container loading and unloading mechanism and sends a shelf handling command to the target handling device.
  • Workers or transportation devices in the workstation area place the target order container at the entrance of the transportation line, so that the target order container is transported in the transportation line.
  • the target handling device transports the target buffer rack from the buffer area to the rack docking position of the target container loading and unloading mechanism in response to the rack transport instruction.
  • the target container loading and unloading mechanism is located at the exit of the transport line, obtains the target order container from the exit of the transport line according to the container pick-and-place instruction, and places the target order container in the target storage position of the target buffer shelf.
  • the target handling device transports the target cache shelf back to the cache area to complete the cache task of the order container.
  • the storage scheduling system includes a control server, a transportation line, a buffer area, and an autonomous mobile robot.
  • a plurality of buffer shelves are arranged in the buffer area, and at least one partition is included in the buffer shelf, and at least A storage location, each storage location can carry at least one order container, and the transportation line includes a transportation line entrance and a transportation line exit.
  • the control server determines the target order container that has been picked and is to be cached, the target cache shelf that the target order container will be cached, and the target storage position of the target order container on the target cache shelf, and at the same time determines the target order container used for handling.
  • the target autonomous mobile robot and send container pick-and-place instructions to the target autonomous mobile robot.
  • the target autonomous mobile robot responds to the container pick-and-place instruction, moves to the exit of the transportation line, takes out the target order container, and transports the target order container to the target cache shelf in the buffer area, and places the target order container on the target The target storage slot for the cache shelf.
  • the target container loading and unloading mechanism and the target handling equipment used to transport the target buffer shelf are determined, and the container pick-and-place instruction is sent to the target container handling mechanism and the shelf handling instruction is sent to the target handling equipment.
  • the storage scheduling system includes a control server, a buffer area, a handling device, and a container loading and unloading mechanism.
  • the buffer area is provided with a plurality of buffer shelves, and the buffer rack includes at least one partition, and the partition is provided with at least one A storage position, each storage position can carry at least one order container, and the container loading and unloading mechanism is located at the exit of the buffer area.
  • the control server determines the target order container, the target cache shelf where the target order container is located, the shelf cache position of the target cache shelf in the cache area, and simultaneously determines the target container loading and unloading mechanism and the target handling equipment, and sends the target container loading and unloading mechanism to the target container according to the delivery task. Send container loading and unloading instructions and send shelf handling instructions to the target handling equipment.
  • the target handling device moves to the target buffer rack in the buffer area in response to the rack transfer instruction, and transfers the target buffer rack storing the target order container from the buffer area to the buffer area exit.
  • the target container loading and unloading device is located at the exit of the buffer area, and in response to the container loading and unloading instruction, takes out the target order container from the target buffer shelf and places it in the delivery area.
  • the storage scheduling system includes a control server, a cache area, and an autonomous mobile robot.
  • a plurality of cache shelves are arranged in the cache area, and at least one partition is included in the cache shelf, and at least one storage position is arranged on the partition. , each storage slot can hold at least one order container.
  • the control server determines the target order container, the target cache shelf where the target order container is located, and the shelf cache position of the target cache shelf in the cache area according to the delivery task, and at the same time determines the target autonomous mobile robot, and sends container loading and unloading instructions to the target autonomous mobile robot.
  • the target autonomous mobile robot moves to the shelf cache position in the cache area, takes out the target order container from the target cache shelf, and transports the target order container to the exit of the cache area.
  • FIG. 3 shows a schematic diagram of the system structure of another warehouse scheduling system provided by an embodiment of the present application.
  • the warehouse scheduling system provided in this embodiment includes a control server, an inventory area, and a cache Area 130, container handling mechanism 150, handling equipment 160, autonomous mobile robot 170, delivery area 180, inventory area and buffer area are located in the same area, as shown in Figure 3, the area on the side close to the workstation area in the figure is In the inventory area, the area near the container loading and unloading mechanism 150 is the buffer area 130 .
  • a plurality of buffering shelves are arranged in the buffering area 130, and the buffering racks include at least one partition, and at least one storage position is arranged on the partition, and each storage position can carry at least one order container.
  • the control server determines the target inventory container and the target inventory shelf where the target order container is located according to the picking task, determines the target handling equipment at the same time, and sends a handling instruction to the target handling equipment.
  • the target handling equipment moves to the target inventory shelf in the inventory area, takes out the target inventory container from the target inventory shelf, and transports the target inventory container to the workstation area for order picking, and picks the goods into the target order container. And transport the target order container to the container handling facility.
  • the control server determines the target cache shelf where the target order container is located and the shelf cache position of the target cache shelf in the cache area according to the cache task, and at the same time determines the first target autonomous mobile robot, and sends a container cache instruction to the first target autonomous mobile robot.
  • the first target autonomous mobile robot moves to the container loading and unloading mechanism in response to the container cache instruction, and the container loading and unloading mechanism loads the target order container onto the first target autonomous mobile robot, and then the target order container is transported by the first target autonomous mobile robot to the target cache shelf in the cache area.
  • the control server determines the target order container, the target cache shelf where the target order container is located, and the shelf cache position of the target cache shelf in the cache area according to the delivery task, and at the same time determines the second target autonomous mobile robot, and sends the container loading and unloading process to the second target autonomous mobile robot. instruction.
  • the second target autonomous mobile robot moves to the shelf cache position in the cache area, takes out the target order container from the target cache shelf, and transports the target order container to the exit of the cache area.
  • the target container loading and unloading device is located at the exit of the buffer area, and in response to the container loading and unloading instruction, takes out the target order container from the target buffer shelf and places it in the delivery area.
  • FIG. 4 shows a flowchart of a storage scheduling method provided by an embodiment of the present application.
  • the warehouse scheduling method is applied to a warehouse scheduling system, and the system includes a control server, a container pick-and-place device and a buffer area, and the buffer area is provided with a plurality of buffer carriers, wherein the buffer carrier is provided with at least one storage
  • the method includes steps 402-404:
  • Step 402 The control server determines the target container pick-and-place device, the first order container that has been picked and is to be cached, the first cache carrier that the first order container will be cached, and the first order container according to the cache task at the target storage position of the first cache carrier, and send a container pick-and-place instruction to the target container pick-and-place device.
  • Step 404 The target container pick-and-place device is set in the work station area, obtains the first order container located in the work station area according to the container pick-and-place instruction, and directly places the first order container in the work station area transported to the work station area.
  • the target storage location of the first buffer carrier; or, the target container pick-and-place device obtains the first order container located in the workstation area according to the container pick-and-place instruction, and transfers the first order container from the The workstation area is transported to the buffer area, and the first order container is placed on the target storage position of the first buffer carrier.
  • the container picking and placing equipment includes a container loading and unloading mechanism
  • the control server determines the target container pick-and-place device, and sends a container pick-and-place instruction to the target container pick-and-place device, including:
  • the control server determines the first container loading and unloading mechanism, and sends the first container loading and unloading instruction to the first container loading and unloading mechanism;
  • the target container pick-and-place device is set in the workstation area, and the first order container is directly placed on the target storage position of the first buffer carrier transported to the workstation area, including:
  • the first container loading and unloading mechanism is arranged in the workstation area, and places the first order container on the target storage position of the first buffer carrier in response to the first container pick-and-place instruction.
  • system further includes handling equipment
  • the method also includes:
  • the control server determines a first transport device that transports the first buffer carrier, and sends a first transport instruction to the first transport device;
  • the first transport device transports the first buffer carrier from the buffer area to the workstation area in response to the first transport instruction, or transports the first buffer carrier from the workstation area Move back to the cache area.
  • the method also includes:
  • the first transport device transports the first buffer carrier from the workstation area back to the original buffer position or other buffer positions in the buffer area.
  • the container pick-and-place equipment includes an autonomous mobile robot for picking, placing and carrying order containers
  • the control server determines the target container pick-and-place device, and sends a container pick-and-place instruction to the target container pick-and-place device, including:
  • the control server determines the first autonomous mobile robot, and sends a container pick-and-place instruction to the first autonomous mobile robot;
  • the target container pick-and-place device acquires the first order container located in the workstation area according to the container pick-and-place instruction, transports the first order container from the workstation area to the buffer area, and The first order container is placed in the target storage position of the first buffer carrier, including:
  • the first autonomous mobile robot obtains the first order container located in the work station area in response to the container pick-and-place instruction, transports the first order container from the work station area to the buffer area, and transfers the first order container to the buffer area.
  • An order container is placed on the target storage position of the first buffer shelf.
  • the system further includes a transmission line, and the transmission line includes a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive order containers for completing order tasks;
  • the target container pick-and-place device obtains the first order container located in the workstation area according to the container pick-and-place instruction, including:
  • the target container pick-and-place device takes out the first order container from the transmission line exit, wherein the target container pick-and-place device is located at the transmission line exit.
  • the system further includes an autonomous mobile robot and an inventory area for picking, placing and carrying inventory containers, the inventory area is provided with a plurality of inventory carriers, and the inventory carriers At least one storage location is provided, and each storage location can carry at least one inventory container that can accommodate stored goods;
  • the method also includes:
  • the control server determines the target inventory container, the target inventory carrier where the target inventory container is located, and the second autonomous mobile robot used to carry the target inventory container according to the order task, and sends the second autonomous mobile robot to the second autonomous mobile robot.
  • Two access instructions Two access instructions;
  • the second autonomous mobile robot moves to the target inventory carrier in response to the second access command, takes out the target inventory container from the target inventory carrier and transports the target inventory container to the workstation area.
  • the system further includes handling equipment, the inventory carrier includes a movable shelf, and the movable shelf includes at least one layer of partitions, and the at least one layer of partitions will The movable shelf is divided into at least two layers, and at least one storage position is arranged on the partition of the movable shelf;
  • the method also includes:
  • the control server determines the target inventory container, the target movable shelf where the target inventory container is located according to the order task, the second handling equipment used to transport the target movable shelf, and sends the second handling equipment to the second handling equipment. handling instructions;
  • the second transport device transports the target movable rack to the workstation area in response to the second transport instruction.
  • system further includes a container loading and unloading mechanism
  • the method also includes:
  • the control server determines the second order container, the second buffer carrier where the second order container is located, the third handling device for handling the second buffer carrier, and the second container loading and unloading mechanism according to the delivery task, and sending a third handling instruction to the third handling device, and sending a second container loading and unloading instruction to the second container handling mechanism;
  • the third transport device transports the second buffer carrier from the buffer area to an exit of the buffer area in response to the third transfer instruction
  • the second container handling device takes out the second order container from the second buffer carrier in response to the second container handling instruction and places it in a designated area, wherein the second container handling device is set at The egress of the cache area.
  • system further includes an autonomous mobile robot for picking up and carrying order containers;
  • the method also includes:
  • the control server determines the third order container, the third buffer carrier where the third order container is located, and the third autonomous mobile robot used to carry the third order container according to the delivery task, and sends the third order container to the third order container.
  • the autonomous mobile robot sends the third access instruction
  • the third autonomous mobile robot moves to the third buffer carrier in response to the third access instruction, takes out the third order container from the third buffer carrier, and transfers the third order container The container is moved to the designated area.
  • the method also includes:
  • the control server is further configured to determine the target storage position of the first order container in the first buffer carrier according to the order container processing task.
  • the order container processing task includes at least one of a task of merging order items in at least two order containers and a task of sorting at least two order containers.
  • the storage scheduling method provided by the embodiment of the application is applied to the storage scheduling system.
  • the order containers that have been picked and are to be cached are placed in the cache area and cached, and the cache of the order container is determined according to the delivery task.
  • the position of the carrier and the cache carrier in the cache area is convenient for subsequent merging or sorting tasks of order containers, which saves manpower and material resources, and improves efficiency and accuracy.
  • the warehousing scheduling method provided by this application can also automatically connect the subsequent order container shipment tasks, effectively reducing the labor required for order consolidation and handling, and saving manpower.
  • dense storage shelves can also be used in the cache area, which is extremely Greatly improve the cache capacity, reduce the cache area, and reduce the cost of storage scheduling.

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Abstract

本申请提供一种仓储调度系统及方法，所述系统包括控制服务器、容器取放设备和缓存区域，缓存区域设置有多个缓存载具；控制服务器，被配置为根据缓存任务确定目标容器取放设备、第一订单容器、第一缓存载具以及目标存储位，并向目标容器取放设备发送容器取放指令；目标容器取放设备，被配置为设置于工作站区域，根据容器取放指令取得第一订单容器，将第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具；或目标容器取放设备，被配置为根据容器取放指令取得第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位。

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202111248974.8、发明名称为“一种仓储调度系统及方法”以及申请号为202122588185.0，发明名称为“一种仓储调度系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储技术领域，特别涉及一种仓储调度系统及方法。
背景技术
随着电子商务的快速发展，电子商务在消费者生活中扮演着越来越重要的角色，每年用户订单数量呈几何倍数增长，同时电子商务越来越成熟，用户对电子商务的服务质量也提出了更高的要求，仓储调度的处理能力也在经受严峻的考验。
在仓储调度系统，人工拣选完成后，还需要对拣选完成的订单容器进行进一步的处理，如合单、暂存、排序等，目前订单容器后续处理由人工操作完成，作业面积大、人工操作时效低且准确率低，还需要再增加复核环节确保准确率，遇到订单复杂的情况，其拣后订单容器的管理难度很大，对复核要求较高。
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、容器取放设备和缓存区域，所述缓存区域设置有多个缓存载具，其中，所述缓存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器；
所述控制服务器，被配置为根据缓存任务确定目标容器取放设备、已完成拣选且待缓存的第一订单容器、所述第一订单容器将要缓存的第一缓存载具以及所述第一订单容器在所述第一缓存载具的目标存储位，并向所述目标容器取放设备发送容器取放指令；
所述目标容器取放设备，被配置为设置于工作站区域，根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位；或者，
所述目标容器取放设备，被配置为根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位。
可选的，所述容器取放设备包括容器装卸机构；
所述控制服务器，被配置为确定第一容器装卸机构，并向所述第一容器装卸机构发送第一容器取放指令；
所述第一容器装卸机构，被配置为设置于工作站区域，响应于所述第一容器取放指令将所述第一订单容器放置在所述第一缓存载具的目标存储位。
可选的，所述系统还包括搬运设备；
所述控制服务器，还被配置为确定搬运所述第一缓存载具的第一搬运设备，并向所述第一搬运设备发送第一搬运指令；
所述第一搬运设备，被配置为响应于所述第一搬运指令，将所述第一缓存载具从所述缓存区域搬运到所述工作站区域，或者，将所述第一缓存载具从所述工作站区域搬运回所述缓存区域。
可选的，所述第一搬运设备被配置为，将所述第一缓存载具从所述工作站区域搬运回所述缓存区域的原缓存位置或者其它缓存位置。
可选的，所述容器取放设备包括用于取放及搬运订单容器的自主移动机器人；
所述控制服务器，被配置为确定第一自主移动机器人，并向所述第一自主移动机器人发送容器取放指令；
所述第一自主移动机器人，被配置为响应于所述容器取放指令，取得位于工作站区域的所述第一订单容器，将所述第一订单容器从工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存货架的目标存储位。
可选的，所述系统还包括传输线，所述传输线包括传输线入口和传输线出口，其中，所述传输线入口用于接收完成订单任务的订单容器；
所述目标容器取放设备位于所述传输线出口，被配置为从所述传输线出口取出所述第一订单容器。
可选的，所述系统还包括用于取放及搬运库存容器的自主移动机器人和库存区域，所述库存区域设置有多个库存载具，所述库存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳仓储货物的库存容器；
所述控制服务器，还被配置为根据订单任务确定目标库存容器、所述目标库存容器所在的目标库存载具、用于搬运所述目标库存容器的第二自主移动机器人，并向所述第二自主移动机器人发送第二存取指令；
所述第二自主移动机器人，被配置为响应于所述第二存取指令移动至所述目标库存载具，从所述目标库存载具取出所述目标库存容器并将所述目标库存容器搬运至所述工作站区域。
可选的，所述系统还包括搬运设备，所述库存载具包括可移动货架，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；
所述控制服务器，还被配置为根据订单任务确定目标库存容器、所述目标库存容器所在的目标可移动货架，用于搬运所述目标可移动货架的第二搬运设备，并向所述第二搬运设备发送第二搬运指令；
所述第二搬运设备，被配置为响应于所述第二搬运指令搬运所述目标可移动货架至所述工作站区域。
可选的，其特征在于，所述系统还包括容器装卸机构；
所述控制服务器，还被配置为根据发货任务确定第二订单容器、所述第二订单容器所在的第二缓存载具、用于搬运所述第二缓存载具的第三搬运设备和第二容器装卸机构，并向所述第三搬运设备发送第三搬运指令，向所述第二容器装卸机构发送第二容器装卸指令；
所述第三搬运设备，被配置为响应于所述第三搬运指令将所述第二缓存载具从所述缓存区域搬运至所述缓存区域的出口；
所述第二容器装卸设备设置于所述缓存区域的出口，被配置为响应于所述第二容器装卸指令从所述第二缓存载具中取出所述第二订单容器，并放在指定区域。
可选的，其特征在于，所述系统还包括用于取放及搬运订单容器的自主移动机器人；
所述控制服务器，还被配置为根据发货任务确定第三订单容器、所述第三订单容器所在的第三缓存载具、用于搬运所述第三订单容器的第三自主移动机器人，并向所述第三自主移动机器人发送第三存取指令；
所述第三自主移动机器人，被配置为响应于所述第三存取指令移动至所述第三缓存载具，从所述第三缓存载具中取出所述第三订单容器，并将所述第三订单容器搬运至指定区域。
可选的，所述控制服务器，还被配置为根据订单容器处理任务确定所述第一订单容器在所述第一缓存载具中的目标存储位。
可选的，所述订单容器处理任务包括将至少两个订单容器中的订单货物进行合并的任务、将至少两个订单容器进行排序的任务中的至少一个。
可选的，所述工作站区域设置有辅助拣选装置，所述辅助拣选装置用于在库存容器抵达工作站区域后，辅助执行从所述库存容器中拣选订单货物至订单容器的操作。
可选的，所述辅助拣选装置包括视觉传感器、光栅中的至少一种。
可选的，所述容器装卸机构包括：架体和取放容器组件；
所述架体包括方向相互垂直的水平方向的X轴轨道和竖直方向的Y轴轨道；
所述Y轴轨道被构造为沿着X轴轨道运动，所述取放容器组件被构造为沿着Y轴轨道运动。
可选的，所述架体包括门架组件；
所述X轴轨道包括地轨结构和设置在门架组件上的天轨结构；
所述Y轴轨道的两端分别与地轨结构和天轨结构导向配合在一起。
可选的，所述Y轴轨道设置有至少两个，每个Y轴轨道上设置有至少一个所述取放容器组件。
可选的，所述取放容器组件通过吸取、推动、夹取、抓取、钩取、抱起、抬升方式中的至少一种取放容器。
根据本申请实施例的第二方面，提供了一种仓储调度方法，应用于仓储调度系统，所述系统包括控制服务器、容器取放设备和缓存区域，所述缓存区域设置有多个缓存载具，其中，所述缓存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器；
所述方法包括：
所述控制服务器根据缓存任务确定目标容器取放设备、已完成拣选且待缓存的第一订单容器、所述第一订单容器将要缓存的第一缓存载具以及所述第一订单容器在所述第一缓存载具的目标存储位，并向所述目标容器取放设备发送容器取放指令；
所述目标容器取放设备设置于工作站区域，根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位；或者，
所述目标容器取放设备根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位。
可选的，所述容器取放设备包括容器装卸机构；
所述控制服务器确定目标容器取放设备，并向所述目标容器取放设备发送容器取放指令，包括：
所述控制服务器确定第一容器装卸机构，并向所述第一容器装卸机构发送第一容器取放指令；
相应的，所述目标容器取放设备设置于工作站区域，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位，包括：
所述第一容器装卸机构设置于工作站区域，响应于所述第一容器取放指令将所述第一订单容器放置在所述第一缓存载具的目标存储位。
可选的，所述系统还包括搬运设备；
所述方法还包括：
所述控制服务器确定搬运所述第一缓存载具的第一搬运设备，并向所述第一搬运设备发送第一搬运指令；
所述第一搬运设备响应于所述第一搬运指令，将所述第一缓存载具从所述缓存区域搬运到所述工作站区域，或者，将所述第一缓存载具从所述工作站区域搬运回所述缓存区域。
可选的，所述方法还包括：
所述第一搬运设备所述第一缓存载具从所述工作站区域搬运回所述缓存区域的原缓存位置或者其它缓存位置。
可选的，所述容器取放设备包括用于取放及搬运订单容器的自主移动机器人；
所述控制服务器确定目标容器取放设备，并向所述目标容器取放设备发送容器取放指令，包括：
所述控制服务器确定第一自主移动机器人，并向所述第一自主移动机器人发送容器取放指令；
相应的，所述目标容器取放设备根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位，包括：
所述第一自主移动机器人响应于所述容器取放指令，取得位于工作站区域的所述第一订单容器，将所述第一订单容器从工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存货架的目标存储位。
可选的，所述系统还包括传输线，所述传输线包括传输线入口和传输线出口，其中，所述传输线入口用于接收完成订单任务的订单容器；
所述目标容器取放设备根据所述容器取放指令取得位于工作站区域的所述第一订单容器，包括：
所述目标容器取放设备从所述传输线出口取出所述第一订单容器，其中，所述目标容器取放设备位于所述传输线出口。
可选的，所述系统还包括用于取放及搬运库存容器的自主移动机器人和库存区域，所述库存区域设置有多个库存载具，所述库存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳仓储货物的库存容器；
所述方法还包括：
所述控制服务器根据订单任务确定目标库存容器、所述目标库存容器所在的目标库存载具、用于搬运所述目标库存容器的第二自主移动机器人，并向所述第二自主移动机器人发送第二存取指令；
所述第二自主移动机器人响应于所述第二存取指令移动至所述目标库存载具，从所述目标库存载具取出所述目标库存容器并将所述目标库存容器搬运至所述工作站区域。
可选的，所述系统还包括搬运设备，所述库存载具包括可移动货架，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；
所述方法还包括：
所述控制服务器根据订单任务确定目标库存容器、所述目标库存容器所在的目标可移动货架，用于搬运所述目标可移动货架的第二搬运设备，并向所述第二搬运设备发送第二 搬运指令；
所述第二搬运设备响应于所述第二搬运指令搬运所述目标可移动货架至所述工作站区域。
可选的，所述系统还包括容器装卸机构；
所述方法还包括：
所述控制服务器根据发货任务确定第二订单容器、所述第二订单容器所在的第二缓存载具、用于搬运所述第二缓存载具的第三搬运设备和第二容器装卸机构，并向所述第三搬运设备发送第三搬运指令，向所述第二容器装卸机构发送第二容器装卸指令；
所述第三搬运设备响应于所述第三搬运指令将所述第二缓存载具从所述缓存区域搬运至所述缓存区域的出口；
所述第二容器装卸设备响应于所述第二容器装卸指令从所述第二缓存载具中取出所述第二订单容器，并放在指定区域，其中，所述第二容器装卸设备设置于所述缓存区域的出口。
可选的，所述系统还包括用于取放及搬运订单容器的自主移动机器人；
所述方法还包括：
所述控制服务器根据发货任务确定第三订单容器、所述第三订单容器所在的第三缓存载具、用于搬运所述第三订单容器的第三自主移动机器人，并向所述第三自主移动机器人发送第三存取指令；
所述第三自主移动机器人响应于所述第三存取指令移动至所述第三缓存载具，从所述第三缓存载具中取出所述第三订单容器，并将所述第三订单容器搬运至指定区域。
可选的，所述方法还包括：
所述控制服务器，还被配置为根据订单容器处理任务确定所述第一订单容器在所述第一缓存载具中的目标存储位。
可选的，所述订单容器处理任务包括将至少两个订单容器中的订单货物进行合并的任务、将至少两个订单容器进行排序的任务中的至少一个。
本申请实施例提供的仓储调度系统，包括控制服务器、容器取放设备和缓存区域，所述缓存区域设置有多个缓存载具，其中，所述缓存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器；所述控制服务器，被配置为根据缓存任务确定目标容器取放设备、已完成拣选且待缓存的第一订单容器、所述第一订单容器将要缓存的第一缓存载具以及所述第一订单容器在所述第一缓存载具的目标存储位，并向所述目标容器取放设备发送容器取放指令；所述目标容器取放设备，被配置为设置于工作站区域，根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位；或者，所述目标容器取放设备，被配置为根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位。通过本申请提供的仓储调度系统，在将完成拣选且待缓存的订单容器放置在缓存区域缓存，根据发货任务确定订单容器的缓存载具和缓存载具在缓存区域中的位置，以便后续的订单容器的合并任务或排序任务，节省了人力物力，提高了效率和准确率。
附图说明
图1是本申请一实施例提供的仓储调度系统的系统结构示意图；
图2是本申请一实施例提供的容器装卸机构的示意图；
图3是本申请一实施例提供的另一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仓储调度方法的流程图。
附图标记
110-控制服务器，111-处理器，112-存储器，113-订单池，114-操作台，120-容器取放设备，130-缓存区域，140-缓存载具，150-容器装卸机构，7-架体，71-X轴轨道，72-Y轴轨道，2-取送容器组件，160-搬运设备，170-自主移动机器人，180-发货区域。
具体实施方式
在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开的具体实施的限制。
在本申请一个或多个实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请一个或多个实施例。在本申请一个或多个实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本申请一个或多个实施例中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请一个或多个实施例中可能采用术语第一、第二等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请一个或多个实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
在本申请中，提供了一种仓储调度系统及方法，在下面的实施例中逐一进行详细说明。
图1示出了本申请一实施例提供的仓储调度系统的系统结构示意图，该系统包括控制服务器110、容器取放设备120、缓存区域130，所述缓存区域130中包括多个缓存载具140，缓存载具140中设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器。
控制服务器110与容器取放设备120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，可以通过无线与容器取放设备120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。
缓存区域130可以为密集存储区，也可以为非密集存储区，在缓存区域130中设置有多个缓存载具140，缓存载具在实际应用中可以是缓存货架、笼车、托盘支架等等，缓存载具140的具体形式以实际应用为准，在本申请中不做限定，在缓存载具为缓存货架的情况下，缓存货架包括至少一层隔板，至少一层隔板将，缓存货架分割为至少两层，缓存货架的隔板上设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器。订单容器具体是指已经完成订单拣选任务，装有订单货物的容器。缓存载具中设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器。
在本申请中，控制服务器，被配置为根据缓存任务确定目标容器取放设备、已完成拣选且待缓存的第一订单容器、所述第一订单容器将要缓存的第一缓存载具以及所述第一订单容器在所述第一缓存载具的目标存储位，并向所述目标容器取放设备发送容器取放指令；
所述目标容器取放设备，被配置为设置于工作站区域，根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位；或者，
所述目标容器取放设备，被配置为根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位。
其中，在本申请提供的仓储调度系统中，控制服务器根据缓存任务确定目标容器取放设备，容器取放设备用于根据容器取放指令将订单容器取出并放置在载具中，或从载具中取出订单容器并放置在指定位置。
在实际应用中，当订单任务中的货物被拣选到订单容器中后，还需要对订单容器进行进一步的处理，例如会有同一个订单在多个不同的订单容器中，则需要进行合单处理；例如需要根据订单的订单地址将同一个地区的订单容器集中处理，则需要将先完成拣选的订单容器做暂存处理；又例如根据送货路线，对订单容器进行排序，将后到地址的订单放在运输工具靠里的位置，将先到地址的订单放在运输工具靠外的位置等等。
在本申请提供的另一具体实施方式中，目标容器取放设备还可以对订单容器进行智能调整，确定每个订单容器的发货路线、发货时间、订单波次等信息，将具有相同发货路线或订单波次的订单容器放置在同一个缓存载具中，便于后续发货时，可以集中处理，提高发货效率，更进一步的，可以将对发货时效有较高要求的缓存载具放置在靠近发货区的位置，进一步提高发货效率。
基于此，控制服务器，还需要确定订单容器要缓存的第一缓存载具，以及订单容器在第一缓存载具中的目标存储位。具体的，控制服务器要根据订单容器处理任务来确定订单容器在第一缓存载具中的目标存储位。更进一步的，订单容器处理任务具体包括将至少两个订单容器中的订单货物进行合并的任务、将至少两个订单容器进行排序的任务中的至少一个。同时控制服务器还会确定目标容器取放设备，并向目标容器取放设备发送容器取放指令。
容器取放设备具体是指用于取出放入订单容器的设备。目标容器取放设备可以配置于工作站区域，根据容器取放指令从工作站区域取出第一订单容器，并将第一订单容器放置在被搬运到工作站区域的第一缓存载具的目标存储位；目标容器取放设备，还可以是可以自主移动的设备，根据容器取放指令从工作站区域取出第一订单容器后，将第一订单容器从工作站区域搬运至缓存区域，并放置在位于缓存区域的第一缓存载具的目标存储位。下面分别用两个不同的场景对目标容器取放设备的应用做进一步解释说明。
在本申请提供的一具体应用场景中，以目标容器取放设备被配置于工作站区域为例进行解释说明，该目标容器取放设备包括容器装卸机构150，控制服务器，进一步被配置为确定第一容器装卸机构，并向第一容器装卸机构发送第一容器取放指令；第一容器装卸机构，被配置为设置于工作站区域，响应于所述第一容器取放指令将所述第一订单容器放置在所述第一缓存载具的目标存储位。
具体的，参见图2，图2示出了本申请一实施例体用的容器装卸机构的示意图，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。
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，提高了装卸机构的工作效率。
本实施例中，装卸机构用于转运可移动货架上的容器，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，移动至可移动货架的目标位置。
在实际应用中，取放容器组件2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。
容器装卸机构150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。
本申请提供的仓储调度系统，还包括有搬运设备160，所述控制服务器，还被配置为确定搬运所述第一缓存载具的第一搬运设备，并向所述第一搬运设备发送第一搬运指令；
所述第一搬运设备，被配置为响应于所述第一搬运指令，将所述第一缓存载具从所述缓存区域搬运到所述工作站区域，或者，将所述第一缓存载具从所述工作站区域搬运回所述缓存区域。
在实际应用中，缓存区域130中的缓存载具140是可以被搬运的，容器装卸机构150固定在工作站区域无法移动，因此，可以由第一搬运设备160将第一缓存载具从缓存区域搬运到工作站区域，或者将已经装好第一订单容器的第一缓存载具从工作站区域搬运回缓存区域。
更进一步的，当第一搬运设备160将第一缓存载具搬回缓存区域的情况下，可以将第一缓存载具从工作站区域搬运回缓存区域的原缓存位置，也可以将第一缓存载具从工作站区域搬运至缓存区域的其他缓存位置。
缓存载具搬运回缓存区域的其他缓存位置具体可以根据预设条件来确定，例如根据订单的优先级来确定缓存载具的缓存位置，优先级高的订单容器在缓存区域中的缓存位置距离缓存区域出口的距离越近，以便优先级高的订单容器可以被优先、及时、快速地处理。
在本申请提供的另一具体应用场景中，以目标容器取放设备包括用于取放及搬运订单容器的自主移动机器人170(AMR)为例进行解释说明，自主移动机器人170可以从指定位置取出订单容器，可以将订单容器放入指定位置，也可以搬运订单容器在两个指定位置件移动。
具体的，控制服务器，被配置为确定第一自主移动机器人，并向所述第一自主移动机器人发送容器取放指令；
第一自主移动机器人，被配置为响应于所述容器取放指令，取得位于工作站区域的所述第一订单容器，将所述第一订单容器从工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存货架的目标存储位。
在本实施方式提供的应用场景中，控制服务器在根据缓存任务确定目标容器取放设备 为第一自主移动机器人，并向第一自主移动机器人发送容器取放指令，在此场景下，无需由搬运设备将缓存载具搬运至工作站区域，第一自主移动机器人响应于容器取放指令，在工作站区域取得第一订单容器，并搬运第一订单容器从该工作站区域移动至缓存区域，将第一订单容器放置在位于缓存区域的第一缓存货架的目标存储位。
通过自主移动机器人170将订单容器直接搬运至缓存区域的缓存载具中，避免了搬运设备搬运缓存载具移动在仓储场景中移动慢的问题，适用于少数的订单容器需要放到缓存区域的场景。
综上两种应用场景，容器装卸机构和搬运设备配合将订单容器放入到缓存区域的方式，适用于大量订单容器的场景；自主移动机器人将订单容器搬运至缓存载具的方式，适用于少量订单容器的场景，在实际应用中，可以根据实际情况来自由选择容器取放设备，在本申请中对此不做具体限定。
通常情况下，订单任务是在工作站区域完成的订单拣选任务，完成订单拣选任务之后，会有装有订单货物的订单容器，需要将订单容器放入到缓存区域，为了提高订单容器的存入效率，在本申请提供的仓储调度系统中还包括有传输线，该传输线用于传输完成订单任务的订单容器，传输线有传输线入口和传输线出口，其中，传输线入口用于接收完成订单任务的订单容器；所述目标容器取放设备位于所述传输线出口，从所述传输线出口取出所述第一订单容器。
在本申请提供的一具体实施方式中，容器取放设备为容器装卸机构150，容器装卸机构150从传输线出口处取出订单容器，并放置在缓存载具140上，由搬运设备160将缓存载具140搬运至缓存区域。
在本申请提供的另一具体实施方式中，容器取放设备具体为自主移动机器人170，自主移动机器人170从传输线出口处取出订单容器，移动至缓存区域，将订单容器放置在位于缓存区域的缓存载具的目标存储位中。
在实际应用中，本申请提供的仓储调度系统还包括用于取放及搬运库存容器的自主移动机器人和库存区域，在库存区域中设置有多个库存载具，库存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳仓储货物的库存容器；
所述控制服务器，还被配置为根据订单任务确定目标库存容器、所述目标库存容器所在的目标库存载具、用于搬运所述目标库存容器的第二自主移动机器人，并向所述第二自主移动机器人发送第二存取指令；
所述第二自主移动机器人，被配置为响应于所述第二存取指令移动至所述目标库存载具，从所述目标库存载具取出所述目标库存容器并将所述目标库存容器搬运至所述工作站区域。
具体的，仓储调度系统出了包括订单任务完成之后的缓存区域，还包括有存储货物的库存区域，在库存区域中设置有多个库存载具，库存载具具体可以为可移动货架、固定货架、托盘支架等等，库存载具的具体形式，在本申请中不做限定，以实际应用为准。在库存载具中设置有存储位，存储位上存放有库存容器。
控制服务器根据订单任务，确定订单任务命中的目标库存容器，同时确定目标库存容器所在的目标库存载具，用于搬运目标库存容器的第二自主移动机器人，并向该第二自主移动机器人发送第二存取指令。
第二自主移动机器人响应于第二存取指令，移动至目标库存载具处，将目标库存载具从目标库存容器中取出，并将目标库存容器搬运至工作站区域进行订单拣选。
在实际应用中，当库存载具为可移动货架的情况下，有时多个订单会命中同一个可移动货架的多个目标库存容器，为了提高搬运效率，本申请提供的仓储调度系统中还包括有 搬运设备，控制服务器根据订单任务确定目标库存容器、目标库存容器所在的目标可移动货架，用于搬运该目标可移动货架的第二搬运设备，并向第二搬运设备发送第二搬运指令。
第二搬运设备，响应于该第二搬运指令，移动至目标可移动货架处，搬运该目标可移动货架至所述工作站区域。
经过自主移动机器人或搬运设备的操作，将目标库存容器搬运至工作站区域后，在工作站区域完成订单拣选任务，具体的是，将目标库存容器中的订单货物拣选至订单容器中。在工作站区域设置有辅助拣选装置，该辅助拣选装置用于在目标库存容器抵达工作站区域后，辅助人工执行从库存容器中将订单货物拣选至目标订单容器的操作。
具体的，辅助拣选装置包括有视觉传感器、光栅中的至少一种，更进一步的，视觉传感包括有摄像头。
本申请提供的仓储调度系统，在将订单容器缓存到缓存区域之后，还需要进一步的对订单容器中的货物执行发货任务，将订单容器从缓存区域130中取出并搬运至缓存区域出口处，在缓存区域出口处将订单容器放置在发货区域180，在发货区域180完成订单的发货任务。
在将订单容器搬运至发货区的应用场景中，可以将订单容器所在的缓存载具搬运至缓存区域出口，也可以只将订单容器搬运至缓存区域出口，具体应用，以控制服务器的分配为准，下面将分别介绍两种应用场景下的是如何将订单容器搬运至缓存区域出口。
在本申请提供的一应用场景中，以将订单容器所在的缓存载具搬运至缓存区域出口为例进行解释说明，在此场景下，在缓存区域出口还会设置有容器装卸机构，用于装卸订单容器。具体的，所述控制服务器，还被配置为根据发货任务确定第二订单容器、所述第二订单容器所在的第二缓存载具、用于搬运所述第二缓存载具的第三搬运设备和第二容器装卸机构，并向所述第三搬运设备发送第三搬运指令，向所述第二容器装卸机构发送第二容器装卸指令；
所述第三搬运设备，被配置为响应于所述第三搬运指令将所述第二缓存载具从所述缓存区域搬运至所述缓存区域的出口；
所述第二容器装卸设备设置于所述缓存区域的出口，被配置为响应于所述第二容器装卸指令从所述第二缓存载具中取出所述第二订单容器，并放在指定区域。
在本实施例的应用场景中，控制服务器根据发货任务确定第二订单容器，第二订单容器所在的第二缓存载具，同时确定用于搬运第二缓存载具的第三搬运设备和第二容器装卸机构，并向并向所述第三搬运设备发送第三搬运指令，向所述第二容器装卸机构发送第二容器装卸指令。本实施例的应用场景中，适用于发货任务命中了同一个缓存载具上的多个订单容器的情况，将缓存载具搬运至缓存区域出口，方便订单容器的出货任务。
第三搬运设备，响应于该第三搬运指令，移动至缓存区域中第二缓存载具处，并将第二缓存载具搬运至缓存区域的出口。第二容器装卸设备被设置于该缓存区域的出口，根据第二容器装卸指令，从第二缓存载具中取出第二订单容器，并将第二订单容器放置在指定区域，这里的指定区域可以是发货区域180。
在本申请提供的另一应用场景中，以将订单容器搬运至缓存出口为例进行解释说明。本申请提供给的仓储调度系统中，还包括用于取放或搬运订单容器的自主移动机器人，所述控制服务器，还被配置为根据发货任务确定第三订单容器、所述第三订单容器所在的第三缓存载具、用于搬运所述第三订单容器的第三自主移动机器人，并向所述第三自主移动机器人发送第三存取指令；
所述第三自主移动机器人，被配置为响应于所述第三存取指令移动至所述第三缓存载具，从所述第三缓存载具中取出所述第三订单容器，并将所述第三订单容器搬运至指定区 域。
在本实施例的应用场景中，控制服务器根据发货任务确定第三订单容器，同时确定第三订单容器所在的第三缓存载具和用于搬运第三订单容器的第三自主移动机器人，并向第三自主移动机器人发送第三存取指令。本实施例的应用场景应用于发货任务命中了少量订单容器的场景，为了提高订单容器的发货效率，仅需要自主移动机器人将订单容器搬运至指定区域即可。
第三自主移动机器人响应于第三存取指令，移动至缓存区域的第三缓存载具处，从第三缓存载具中取出第三订单容器，并将第三订单容器搬运至指定区域(如缓存区域的出口)。
本申请实施例提供的仓储调度系统，包括控制服务器、容器取放设备和缓存区域，所述缓存区域设置有多个缓存载具，其中，所述缓存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器；所述控制服务器，被配置为根据缓存任务确定目标容器取放设备、已完成拣选且待缓存的第一订单容器、所述第一订单容器将要缓存的第一缓存载具以及所述第一订单容器在所述第一缓存载具的目标存储位，并向所述目标容器取放设备发送容器取放指令；所述目标容器取放设备，被配置为设置于工作站区域，根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位；或者，所述目标容器取放设备，被配置为根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位。通过本申请提供的仓储调度系统，在将完成拣选且待缓存的订单容器放置在缓存区域缓存，根据发货任务确定订单容器的缓存载具和缓存载具在缓存区域中的位置，以便后续的订单容器的合并任务或排序任务，节省了人力物力，提高了效率和准确率。
其次，本申请提供给的仓储调度系统，还可以自动接驳后续的订单容器出货任务，有效减少合单、搬运所需要的人工，节省人力，同时在缓存区域还可以使用密集存储货架，极大提升缓存能力，减少缓存面积，降低仓储调度的成本。
下面，结合几个具体实施例来对本申请提供的仓储调度系统做进一步解释说明。需要注意的是，在下述实施例中，均以在工作站区域完成了订单拣选任务为例，在本申请中，对从库存区域将库存容器搬运至工作站区域完成订单拣选的任务不做限定。
实施例一
在本实施例中提供的仓储调度系统，包括控制服务器、运输线、缓存区域、搬运设备、容器装卸机构，缓存区域中设置有多个缓存货架，缓存货架中包括至少一个隔板，隔板上设置有至少一个存储位，每个存储位可承载至少一个订单容器，运输线包括运输线入口和运输线出口。
控制服务器根据缓存任务确定已完成拣选且待缓存的目标订单容器、该目标订单容器将要缓存的目标缓存货架，以及目标订单容器在目标缓存货架上的目标存储位，同时确定目标容器装卸机构和用于搬运目标缓存货架的目标搬运设备，向目标容器装卸机构发送容器取放指令和向目标搬运设备发送货架搬运指令。
工作站区域的工作人员或运输装置将目标订单容器放置在运输线入口，使得目标订单容器在运输线中运输。
目标搬运设备响应于货架搬运指令，从缓存区域中将目标缓存货架搬运至目标容器装卸机构的货架停靠位。
目标容器装卸机构位于运输线出口，根据容器取放指令从运输线出口处获取目标订单容器，并将目标订单容器放置在目标缓存货架的目标存储位。
目标搬运设备在目标订单容器被放置在目标缓存货架的目标存储位后，将目标缓存货架搬运回缓存区域，完成订单容器的缓存任务。
实施例二
在本实施例中提供的仓储调度系统，包括控制服务器、运输线、缓存区域、自主移动机器人，缓存区域中设置有多个缓存货架，缓存货架中包括至少一个隔板，隔板上设置有至少一个存储位，每个存储位可承载至少一个订单容器，运输线包括运输线入口和运输线出口。
控制服务器根据缓存任务确定已完成拣选且待缓存的目标订单容器、该目标订单容器将要缓存的目标缓存货架，以及目标订单容器在目标缓存货架上的目标存储位，同时确定用于搬运目标订单容器的目标自主移动机器人，并向所述目标自主移动机器人发送容器取放指令。
目标自主移动机器人响应于容器取放指令，移动至所述运输线出口，取出目标订单容器，并将所述目标订单容器搬运至缓存区域的目标缓存货架处，将目标订单容器放置于所述目标缓存货架的目标存储位。
同时确定目标容器装卸机构和用于搬运目标缓存货架的目标搬运设备，向目标容器装卸机构发送容器取放指令和向目标搬运设备发送货架搬运指令。
在下述实施例中，对从缓存区域中的订单容器执行出货任务的应用场景做进一步解释说明。
实施例三
在本实施例中提供的仓储调度系统，包括控制服务器、缓存区域、搬运设备、容器装卸机构，缓存区域中设置有多个缓存货架，缓存货架中包括至少一个隔板，隔板上设置有至少一个存储位，每个存储位可承载至少一个订单容器，容器装卸机构位于缓存区域出口。
控制服务器根据发货任务确定目标订单容器、目标订单容器所在的目标缓存货架，目标缓存货架在缓存区域的货架缓存位置，同时确定目标容器装卸机构和目标搬运设备，并向所述目标容器装卸机构发送容器装卸指令和向目标搬运设备发送货架搬运指令。
目标搬运设备，响应于货架搬运指令，移动至缓存区域的目标缓存货架处，将存储有目标订单容器的目标缓存货架从缓存区域中搬运至缓存区域出口。
目标容器装卸设备位于缓存区域出口，响应于容器装卸指令，从目标缓存货架中取出目标订单容器，并放置在发货区域。
实施例四
在本实施例中提供的仓储调度系统，包括控制服务器、缓存区域、自主移动机器人，缓存区域中设置有多个缓存货架，缓存货架中包括至少一个隔板，隔板上设置有至少一个存储位，每个存储位可承载至少一个订单容器。
控制服务器根据发货任务确定目标订单容器、目标订单容器所在的目标缓存货架，目标缓存货架在缓存区域的货架缓存位置，同时确定目标自主移动机器人，向目标自主移动机器人发送容器装卸指令。
目标自主移动机器人响应于该容器装卸指令，移动至缓存区域的货架缓存位置，从目标缓存货架中取出目标订单容器，并将该目标订单容器搬运至缓存区域出口。
实施例五
参见图3，图3示出本申请一实施例提供的另一仓储调度系统的系统结构示意图，如图3所示，在本实施例中提供的仓储调度系统，包括控制服务器、库存区域、缓存区域130、容器装卸机构150、搬运设备160、自主移动机器人170、发货区域180，库存区域和缓存 区域位于同一个区域，如图3所示，图中的靠近工作站区域的一侧的区域为库存区域，靠近容器装卸机构150一侧的区域为缓存区域130。在缓存区域130中设置有多个缓存货架，缓存货架中包括至少一个隔板，隔板上设置有至少一个存储位，每个存储位可承载至少一个订单容器。
控制服务器根据拣选任务确定目标库存容器、目标订单容器所在的目标库存货架，同时确定目标搬运设备，向目标搬运设备发送搬运指令。
目标搬运设备移动至库存区域中的目标库存货架，从目标库存货架中取出目标库存容器，并将目标库存容器搬运至工作站区域进行订单拣选，将货物拣选至目标订单容器。并将目标订单容器运输至容器装卸机构。
控制服务器根据缓存任务确定目标订单容器所在的目标缓存货架、目标缓存货架在缓存区域的货架缓存位置，同时确定第一目标自主移动机器人，向第一目标自主移动机器人发送容器缓存指令。
第一目标自主移动机器人响应于容器缓存指令，移动至容器装卸机构处，由容器装卸机构将目标订单容器装载至第一目标自主移动机器人上，再由第一目标自主移动机器人将目标订单容器运至缓存区域的目标缓存货架上。
控制服务器根据发货任务确定目标订单容器、目标订单容器所在的目标缓存货架，目标缓存货架在缓存区域的货架缓存位置，同时确定第二目标自主移动机器人，向第二目标自主移动机器人发送容器装卸指令。
第二目标自主移动机器人响应于该容器装卸指令，移动至缓存区域的货架缓存位置，从目标缓存货架中取出目标订单容器，并将该目标订单容器搬运至缓存区域出口。
目标容器装卸设备位于缓存区域出口，响应于容器装卸指令，从目标缓存货架中取出目标订单容器，并放置在发货区域。
参见图4，图4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、容器取放设备和缓存区域、所述缓存区域设置有多个缓存载具，其中，所述缓存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器。具体的，所述方法包括步骤402-404：
步骤402：所述控制服务器根据缓存任务确定目标容器取放设备、已完成拣选且待缓存的第一订单容器、所述第一订单容器将要缓存的第一缓存载具以及所述第一订单容器在所述第一缓存载具的目标存储位，并向所述目标容器取放设备发送容器取放指令。
步骤404：所述目标容器取放设备设置于工作站区域，根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位；或者，所述目标容器取放设备根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位。
在本申请提供的一可选实施方式中，所述容器取放设备包括容器装卸机构；
所述控制服务器确定目标容器取放设备，并向所述目标容器取放设备发送容器取放指令，包括：
所述控制服务器确定第一容器装卸机构，并向所述第一容器装卸机构发送第一容器取放指令；
相应的，所述目标容器取放设备设置于工作站区域，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位，包括：
所述第一容器装卸机构设置于工作站区域，响应于所述第一容器取放指令将所述第一 订单容器放置在所述第一缓存载具的目标存储位。
在本申请提供的一可选实施方式中，所述系统还包括搬运设备；
所述方法还包括：
所述控制服务器确定搬运所述第一缓存载具的第一搬运设备，并向所述第一搬运设备发送第一搬运指令；
所述第一搬运设备响应于所述第一搬运指令，将所述第一缓存载具从所述缓存区域搬运到所述工作站区域，或者，将所述第一缓存载具从所述工作站区域搬运回所述缓存区域。
在本申请提供的一可选实施方式中，所述方法还包括：
所述第一搬运设备所述第一缓存载具从所述工作站区域搬运回所述缓存区域的原缓存位置或者其它缓存位置。
在本申请提供的一可选实施方式中，所述容器取放设备包括用于取放及搬运订单容器的自主移动机器人；
所述控制服务器确定目标容器取放设备，并向所述目标容器取放设备发送容器取放指令，包括：
所述控制服务器确定第一自主移动机器人，并向所述第一自主移动机器人发送容器取放指令；
相应的，所述目标容器取放设备根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位，包括：
所述第一自主移动机器人响应于所述容器取放指令，取得位于工作站区域的所述第一订单容器，将所述第一订单容器从工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存货架的目标存储位。
在本申请提供的一可选实施方式中，所述系统还包括传输线，所述传输线包括传输线入口和传输线出口，其中，所述传输线入口用于接收完成订单任务的订单容器；
所述目标容器取放设备根据所述容器取放指令取得位于工作站区域的所述第一订单容器，包括：
所述目标容器取放设备从所述传输线出口取出所述第一订单容器，其中，所述目标容器取放设备位于所述传输线出口。
在本申请提供的一可选实施方式中，所述系统还包括用于取放及搬运库存容器的自主移动机器人和库存区域，所述库存区域设置有多个库存载具，所述库存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳仓储货物的库存容器；
所述方法还包括：
所述控制服务器根据订单任务确定目标库存容器、所述目标库存容器所在的目标库存载具、用于搬运所述目标库存容器的第二自主移动机器人，并向所述第二自主移动机器人发送第二存取指令；
所述第二自主移动机器人响应于所述第二存取指令移动至所述目标库存载具，从所述目标库存载具取出所述目标库存容器并将所述目标库存容器搬运至所述工作站区域。
在本申请提供的一可选实施方式中，所述系统还包括搬运设备，所述库存载具包括可移动货架，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；
所述方法还包括：
所述控制服务器根据订单任务确定目标库存容器、所述目标库存容器所在的目标可移动货架，用于搬运所述目标可移动货架的第二搬运设备，并向所述第二搬运设备发送第二搬运指令；
所述第二搬运设备响应于所述第二搬运指令搬运所述目标可移动货架至所述工作站区域。
在本申请提供的一可选实施方式中，所述系统还包括容器装卸机构；
所述方法还包括：
所述控制服务器根据发货任务确定第二订单容器、所述第二订单容器所在的第二缓存载具、用于搬运所述第二缓存载具的第三搬运设备和第二容器装卸机构，并向所述第三搬运设备发送第三搬运指令，向所述第二容器装卸机构发送第二容器装卸指令；
所述第三搬运设备响应于所述第三搬运指令将所述第二缓存载具从所述缓存区域搬运至所述缓存区域的出口；
所述第二容器装卸设备响应于所述第二容器装卸指令从所述第二缓存载具中取出所述第二订单容器，并放在指定区域，其中，所述第二容器装卸设备设置于所述缓存区域的出口。
在本申请提供的一可选实施方式中，所述系统还包括用于取放及搬运订单容器的自主移动机器人；
所述方法还包括：
所述控制服务器根据发货任务确定第三订单容器、所述第三订单容器所在的第三缓存载具、用于搬运所述第三订单容器的第三自主移动机器人，并向所述第三自主移动机器人发送第三存取指令；
所述第三自主移动机器人响应于所述第三存取指令移动至所述第三缓存载具，从所述第三缓存载具中取出所述第三订单容器，并将所述第三订单容器搬运至指定区域。
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，还被配置为根据订单容器处理任务确定所述第一订单容器在所述第一缓存载具中的目标存储位。
在本申请提供的一可选实施方式中，所述订单容器处理任务包括将至少两个订单容器中的订单货物进行合并的任务、将至少两个订单容器进行排序的任务中的至少一个。
本申请实施例提供的仓储调度方法，应用于仓储调度系统，通过本申请提供的仓储调度系统，在将完成拣选且待缓存的订单容器放置在缓存区域缓存，根据发货任务确定订单容器的缓存载具和缓存载具在缓存区域中的位置，以便后续的订单容器的合并任务或排序任务，节省了人力物力，提高了效率和准确率。
其次，本申请提供给的仓储调度方法，还可以自动接驳后续的订单容器出货任务，有效减少合单、搬运所需要的人工，节省人力，同时在缓存区域还可以使用密集存储货架，极大提升缓存能力，减少缓存面积，降低仓储调度的成本。
上述对本申请特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
需要说明的是，对于前述的各方法实施例，为了简便描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为 依据本申请，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定都是本申请所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。
以上公开的本申请优选实施例只是用于帮助阐述本申请。可选实施例并没有详尽叙述所有的细节，也不限制该发明仅为所述的具体实施方式。显然，根据本申请的内容，可作很多的修改和变化。本申请选取并具体描述这些实施例，是为了更好地解释本申请的原理和实际应用，从而使所属技术领域技术人员能很好地理解和利用本申请。本申请仅受权利要求书及其全部范围和等效物的限制。

Claims (30)

  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、容器取放设备和缓存区域，所述缓存区域设置有多个缓存载具，其中，所述缓存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器；
    所述控制服务器，被配置为根据缓存任务确定目标容器取放设备、已完成拣选且待缓存的第一订单容器、所述第一订单容器将要缓存的第一缓存载具以及所述第一订单容器在所述第一缓存载具的目标存储位，并向所述目标容器取放设备发送容器取放指令；
    所述目标容器取放设备，被配置为设置于工作站区域，根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位；或者，
    所述目标容器取放设备，被配置为根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位。
  2. 如权利要求1所述的仓储调度系统，其特征在于，所述容器取放设备包括容器装卸机构；
    所述控制服务器，被配置为确定第一容器装卸机构，并向所述第一容器装卸机构发送第一容器取放指令；
    所述第一容器装卸机构，被配置为设置于工作站区域，响应于所述第一容器取放指令将所述第一订单容器放置在所述第一缓存载具的目标存储位。
  3. 如权利要求2所述的仓储调度系统，其特征在于，所述系统还包括搬运设备；
    所述控制服务器，还被配置为确定搬运所述第一缓存载具的第一搬运设备，并向所述第一搬运设备发送第一搬运指令；
    所述第一搬运设备，被配置为响应于所述第一搬运指令，将所述第一缓存载具从所述缓存区域搬运到所述工作站区域，或者，将所述第一缓存载具从所述工作站区域搬运回所述缓存区域。
  4. 如权利要求3所述的仓储调度系统，其特征在于，所述第一搬运设备被配置为，将所述第一缓存载具从所述工作站区域搬运回所述缓存区域的原缓存位置或者其它缓存位置。
  5. 如权利要求1所述的仓储调度系统，其特征在于，所述容器取放设备包括用于取放及搬运订单容器的自主移动机器人；
    所述控制服务器，被配置为确定第一自主移动机器人，并向所述第一自主移动机器人发送容器取放指令；
    所述第一自主移动机器人，被配置为响应于所述容器取放指令，取得位于工作站区域的所述第一订单容器，将所述第一订单容器从工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存货架的目标存储位。
  6. 如权利要求1所述的仓储调度系统，其特征在于，所述系统还包括传输线，所述传输线包括传输线入口和传输线出口，其中，所述传输线入口用于接收完成订单任务的订单容器；
    所述目标容器取放设备位于所述传输线出口，被配置为从所述传输线出口取出所述第一订单容器。
  7. 如权利要求1所述的仓储调度系统，其特征在于，所述系统还包括用于取放及搬运库存容器的自主移动机器人和库存区域，所述库存区域设置有多个库存载具，所述库存载具 设置有至少一个存储位，每个存储位可承载至少一个可容纳仓储货物的库存容器；
    所述控制服务器，还被配置为根据订单任务确定目标库存容器、所述目标库存容器所在的目标库存载具、用于搬运所述目标库存容器的第二自主移动机器人，并向所述第二自主移动机器人发送第二存取指令；
    所述第二自主移动机器人，被配置为响应于所述第二存取指令移动至所述目标库存载具，从所述目标库存载具取出所述目标库存容器并将所述目标库存容器搬运至所述工作站区域。
  8. 如权利要求7所述的仓储调度系统，其特征在于，所述系统还包括搬运设备，所述库存载具包括可移动货架，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；
    所述控制服务器，还被配置为根据订单任务确定目标库存容器、所述目标库存容器所在的目标可移动货架，用于搬运所述目标可移动货架的第二搬运设备，并向所述第二搬运设备发送第二搬运指令；
    所述第二搬运设备，被配置为响应于所述第二搬运指令搬运所述目标可移动货架至所述工作站区域。
  9. 如权利要求1-7中任意一项所述的仓储调度系统，其特征在于，所述系统还包括容器装卸机构；
    所述控制服务器，还被配置为根据发货任务确定第二订单容器、所述第二订单容器所在的第二缓存载具、用于搬运所述第二缓存载具的第三搬运设备和第二容器装卸机构，并向所述第三搬运设备发送第三搬运指令，向所述第二容器装卸机构发送第二容器装卸指令；
    所述第三搬运设备，被配置为响应于所述第三搬运指令将所述第二缓存载具从所述缓存区域搬运至所述缓存区域的出口；
    所述第二容器装卸设备设置于所述缓存区域的出口，被配置为响应于所述第二容器装卸指令从所述第二缓存载具中取出所述第二订单容器，并放在指定区域。
  10. 如权利要求1-7中任意一项所述的仓储调度系统，其特征在于，所述系统还包括用于取放及搬运订单容器的自主移动机器人；
    所述控制服务器，还被配置为根据发货任务确定第三订单容器、所述第三订单容器所在的第三缓存载具、用于搬运所述第三订单容器的第三自主移动机器人，并向所述第三自主移动机器人发送第三存取指令；
    所述第三自主移动机器人，被配置为响应于所述第三存取指令移动至所述第三缓存载具，从所述第三缓存载具中取出所述第三订单容器，并将所述第三订单容器搬运至指定区域。
  11. 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，还被配置为根据订单容器处理任务确定所述第一订单容器在所述第一缓存载具中的目标存储位。
  12. 如权利要求11所述的仓储调度系统，其特征在于，所述订单容器处理任务包括将至少两个订单容器中的订单货物进行合并的任务、将至少两个订单容器进行排序的任务中的至少一个。
  13. 如权利要求7或8所述的仓储调度系统，其特征在于，所述工作站区域设置有辅助拣选装置，所述辅助拣选装置用于在库存容器抵达工作站区域后，辅助执行从所述库存容器中拣选订单货物至订单容器的操作。
  14. 如权利要求13所述的仓储调度系统，其特征在于，所述辅助拣选装置包括视觉传感器、光栅中的至少一种。
  15. 如权利要求2所述的仓储调度系统，其特征在于，所述容器装卸机构包括：架体和取放容器组件；
    所述架体包括方向相互垂直的水平方向的X轴轨道和竖直方向的Y轴轨道；
    所述Y轴轨道被构造为沿着X轴轨道运动，所述取放容器组件被构造为沿着Y轴轨道运动。
  16. 如权利要求15所述的仓储调度系统，其特征在于，所述架体包括门架组件；
    所述X轴轨道包括地轨结构和设置在门架组件上的天轨结构；
    所述Y轴轨道的两端分别与地轨结构和天轨结构导向配合在一起。
  17. 如权利要求16所述的仓储调度系统，其特征在于，所述Y轴轨道设置有至少两个，每个Y轴轨道上设置有至少一个所述取放容器组件。
  18. 如权利要求15所述的仓储调度系统，其特征在于，所述取放容器组件通过吸取、推动、夹取、抓取、钩取、抱起、抬升方式中的至少一种取放容器。
  19. 一种仓储调度方法，其特征在于，应用于仓储调度系统，所述系统包括控制服务器、容器取放设备和缓存区域，所述缓存区域设置有多个缓存载具，其中，所述缓存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳订单货物的订单容器；
    所述方法包括：
    所述控制服务器根据缓存任务确定目标容器取放设备、已完成拣选且待缓存的第一订单容器、所述第一订单容器将要缓存的第一缓存载具以及所述第一订单容器在所述第一缓存载具的目标存储位，并向所述目标容器取放设备发送容器取放指令；
    所述目标容器取放设备设置于工作站区域，根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位；或者，
    所述目标容器取放设备根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位。
  20. 如权利要求19所述的仓储调度方法，其特征在于，所述容器取放设备包括容器装卸机构；
    所述控制服务器确定目标容器取放设备，并向所述目标容器取放设备发送容器取放指令，包括：
    所述控制服务器确定第一容器装卸机构，并向所述第一容器装卸机构发送第一容器取放指令；
    相应的，所述目标容器取放设备设置于工作站区域，将所述第一订单容器直接放置在被搬运到工作站区域的所述第一缓存载具的目标存储位，包括：
    所述第一容器装卸机构设置于工作站区域，响应于所述第一容器取放指令将所述第一订单容器放置在所述第一缓存载具的目标存储位。
  21. 如权利要求20所述的仓储调度方法，其特征在于，所述系统还包括搬运设备；
    所述方法还包括：
    所述控制服务器确定搬运所述第一缓存载具的第一搬运设备，并向所述第一搬运设备发送第一搬运指令；
    所述第一搬运设备响应于所述第一搬运指令，将所述第一缓存载具从所述缓存区域搬运到所述工作站区域，或者，将所述第一缓存载具从所述工作站区域搬运回所述缓存区域。
  22. 如权利要求21所述的仓储调度方法，其特征在于，所述方法还包括：
    所述第一搬运设备所述第一缓存载具从所述工作站区域搬运回所述缓存区域的原缓存位置或者其它缓存位置。
  23. 如权利要求19所述的仓储调度方法，其特征在于，所述容器取放设备包括用于取放及搬运订单容器的自主移动机器人；
    所述控制服务器确定目标容器取放设备，并向所述目标容器取放设备发送容器取放指令，包括：
    所述控制服务器确定第一自主移动机器人，并向所述第一自主移动机器人发送容器取放指令；
    相应的，所述目标容器取放设备根据所述容器取放指令取得位于工作站区域的所述第一订单容器，将所述第一订单容器从所述工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存载具的目标存储位，包括：
    所述第一自主移动机器人响应于所述容器取放指令，取得位于工作站区域的所述第一订单容器，将所述第一订单容器从工作站区域搬运到所述缓存区域，并将所述第一订单容器放置在所述第一缓存货架的目标存储位。
  24. 如权利要求19所述的仓储调度方法，其特征在于，所述系统还包括传输线，所述传输线包括传输线入口和传输线出口，其中，所述传输线入口用于接收完成订单任务的订单容器；
    所述目标容器取放设备根据所述容器取放指令取得位于工作站区域的所述第一订单容器，包括：
    所述目标容器取放设备从所述传输线出口取出所述第一订单容器，其中，所述目标容器取放设备位于所述传输线出口。
  25. 如权利要求19所述的仓储调度方法，其特征在于，所述系统还包括用于取放及搬运库存容器的自主移动机器人和库存区域，所述库存区域设置有多个库存载具，所述库存载具设置有至少一个存储位，每个存储位可承载至少一个可容纳仓储货物的库存容器；
    所述方法还包括：
    所述控制服务器根据订单任务确定目标库存容器、所述目标库存容器所在的目标库存载具、用于搬运所述目标库存容器的第二自主移动机器人，并向所述第二自主移动机器人发送第二存取指令；
    所述第二自主移动机器人响应于所述第二存取指令移动至所述目标库存载具，从所述目标库存载具取出所述目标库存容器并将所述目标库存容器搬运至所述工作站区域。
  26. 如权利要求25所述的仓储调度方法，其特征在于，所述系统还包括搬运设备，所述库存载具包括可移动货架，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；
    所述方法还包括：
    所述控制服务器根据订单任务确定目标库存容器、所述目标库存容器所在的目标可移动货架，用于搬运所述目标可移动货架的第二搬运设备，并向所述第二搬运设备发送第二搬运指令；
    所述第二搬运设备响应于所述第二搬运指令搬运所述目标可移动货架至所述工作站区域。
  27. 如权利要求19-25中任意一项所述的仓储调度方法，其特征在于，所述系统还包括 容器装卸机构；
    所述方法还包括：
    所述控制服务器根据发货任务确定第二订单容器、所述第二订单容器所在的第二缓存载具、用于搬运所述第二缓存载具的第三搬运设备和第二容器装卸机构，并向所述第三搬运设备发送第三搬运指令，向所述第二容器装卸机构发送第二容器装卸指令；
    所述第三搬运设备响应于所述第三搬运指令将所述第二缓存载具从所述缓存区域搬运至所述缓存区域的出口；
    所述第二容器装卸设备响应于所述第二容器装卸指令从所述第二缓存载具中取出所述第二订单容器，并放在指定区域，其中，所述第二容器装卸设备设置于所述缓存区域的出口。
  28. 如权利要求19-25中任意一项所述的仓储调度方法，其特征在于，所述系统还包括用于取放及搬运订单容器的自主移动机器人；
    所述方法还包括：
    所述控制服务器根据发货任务确定第三订单容器、所述第三订单容器所在的第三缓存载具、用于搬运所述第三订单容器的第三自主移动机器人，并向所述第三自主移动机器人发送第三存取指令；
    所述第三自主移动机器人响应于所述第三存取指令移动至所述第三缓存载具，从所述第三缓存载具中取出所述第三订单容器，并将所述第三订单容器搬运至指定区域。
  29. 如权利要求19所述的仓储调度方法，其特征在于，所述方法还包括：
    所述控制服务器，还被配置为根据订单容器处理任务确定所述第一订单容器在所述第一缓存载具中的目标存储位。
  30. 如权利要求29所述的仓储调度方法，其特征在于，所述订单容器处理任务包括将至少两个订单容器中的订单货物进行合并的任务、将至少两个订单容器进行排序的任务中的至少一个。
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