CN119858743B

CN119858743B - Warehouse system, cargo handling method, device, equipment and medium

Info

Publication number: CN119858743B
Application number: CN202510336411.6A
Authority: CN
Inventors: 曹涣岳; 苏权; 李必勇
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2025-03-20
Filing date: 2025-03-20
Publication date: 2025-07-01
Anticipated expiration: 2045-03-20
Also published as: CN119858743A

Abstract

The embodiment of the application provides a storage system, a cargo handling method, a device, equipment and a medium, which relate to the technical field of storage, wherein the storage system comprises control equipment and robots, the control equipment responds to the fact that first cargoes meet the cargo supplementing condition, the first cargoes loaded with the first cargoes are handled from a storage goods shelf to a working area of a sorting robot by a dispatching workbin handling robot, the first cargoes are sorted from the first workbin by the dispatching sorting robot, the sorted first cargoes are handled onto the cargo supplementing goods shelf by the dispatching cargo handling robot, and the control equipment responds to the cargo unloading requirement of second cargoes, and the second cargoes required by orders are unloaded from the cargo supplementing goods shelf by the dispatching cargo handling robot. The introduction of the robot greatly reduces the links of manual operation and can rapidly process a large amount of cargoes. When the order is generated, goods required by the order are directly carried from the goods supplementing goods shelf for delivery, and the real-time carrying of the material box and the sorting of the goods from the material box are not needed, so that the efficiency of carrying the goods is improved.

Description

Warehouse system, cargo handling method, device, equipment and medium

Technical Field

The application relates to the technical field of storage, in particular to a storage system, a cargo handling method, a device, equipment and a medium.

Background

In the technical field of warehousing, a plurality of links relying on manual operation exist in the traditional goods carrying method, specifically, when an order demand is generated, a worker can select a material box loaded with the required goods from a goods shelf according to the order information and then carry the material box to a warehouse-out working area. In the work area of leaving warehouse, the staff still need further select the goods that the order needs from the workbin to accomplish the shipment of goods.

However, the method of manual handling is not only time-consuming and laborious, but also the efficiency of manual handling is difficult to meet the requirements of rapid and accurate handling of goods in the face of large-scale handling of goods.

Disclosure of Invention

The embodiment of the application aims to provide a warehousing system, a cargo handling method, a cargo handling device, equipment and a medium, so as to improve the cargo handling efficiency. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a warehousing system including a control device, a bin handling robot, a sorting robot, and a cargo handling robot;

The control equipment responds to the fact that first goods stored on the goods supplementing goods shelf meet goods supplementing conditions, and the first material box is conveyed by the dispatching material box conveying robot, wherein the first material box is a material box loaded with the first goods;

The bin handling robot is used for handling the first bin from a storage shelf to a working area of the sorting robot;

The control device dispatches the sorting robot to sort cargoes in response to the first bin reaching the working area;

the sorting robot is used for sorting first cargoes from the first bin according to a sorting instruction of the control equipment;

the control device dispatches the cargo handling robot to handle the cargo in response to the completion of the first cargo picking;

the goods handling robot is used for handling the selected first goods from the working area to the goods supplementing goods shelf;

The control equipment responds to the delivery demand of the second goods stored on the goods supplementing goods shelf, and dispatches the goods carrying robot to carry the second goods, wherein the second goods are goods required by orders;

the cargo handling robot is further configured to deliver the second cargo from the restocking shelf.

Optionally, the storage shelf comprises a first buffer storage position and a first storage bin, and the replenishment shelf comprises a second buffer storage position and a second storage bin, wherein the first buffer storage position and the second buffer storage position are positioned in a working area of the sorting robot;

The bin handling robot is specifically configured to handle the first bin from the first storage bin to the first cache bin;

the sorting robot is specifically used for sorting first cargoes from the first material box according to a scheduling instruction of the control equipment and placing the first cargoes on the second buffer storage position;

the cargo handling robot is specifically configured to handle the first cargo stored on the second buffer storage position to the second storage position.

Optionally, the control device responds to the completion of the first cargo picking, sends a first scheduling instruction to the bin handling robot when the first bin after the completion of the picking is still loaded with the cargo, and sends a second scheduling instruction to the bin handling robot when the first bin after the completion of the picking is not loaded with the cargo;

The bin handling robot is used for responding to the first scheduling instruction, handling the picked first bin from the working area to the storage shelf, responding to the second scheduling instruction, and handling the picked first bin from the working area to the empty bin temporary storage area or discharging the picked first bin.

Optionally, the warehousing system further comprises a first conveying device, wherein the starting position of the first conveying device is positioned in the working area of the cargo handling robot;

The goods handling robot is specifically used for handling the second goods from the goods supplementing goods shelf to the first conveying equipment;

The first conveying equipment is used for conveying the second goods to a workstation for delivery.

Optionally, a part of the storage bin of the restocking shelf is arranged above the first conveying equipment;

And/or the number of the groups of groups,

And the replenishment goods shelf and/or part of storage bin of the storage goods shelf are/is arranged above the working area of the sorting robot.

Optionally, the warehousing system further comprises a second conveying device, wherein the tail end position of the second conveying device is positioned in the working area of the bin handling robot;

The control equipment responds to the warehousing requirement of a second bin, and dispatches a bin transfer robot to transfer the second bin, wherein the second bin is a bin loaded with goods to be warehoused;

And/or the number of the groups of groups,

The control equipment responds to the delivery demand of the third material box, and dispatches a material box transfer robot to transfer the third material box, wherein the material box transfer robot is also used for transferring the third material box from the storage shelf to the second conveying equipment.

Optionally, a portion of the storage bin of the storage shelf is disposed above the second conveying device.

Optionally, the first goods meeting the replenishment condition comprises the first goods being stored on the replenishment goods shelf being delivered out of the warehouse, and/or the quantity of the first goods being stored on the replenishment goods shelf being smaller than a quantity threshold value corresponding to the first goods.

In a second aspect, an embodiment of the present application provides a method for carrying goods, which is applied to a control device in a warehouse system, where the warehouse system further includes a bin carrying robot, a sorting robot, and a goods carrying robot, and the method includes:

Scheduling the bin handling robot to handle the first bin from the storage shelf to a working area of the sorting robot in response to the first good stored on the restocking shelf meeting restocking conditions; responsive to the first bin reaching the work area, scheduling the sorting robot to sort first goods from the first bin in accordance with a sort instruction; scheduling the cargo handling robot to handle the picked first cargo from the work area onto the restocking pallet in response to completion of the first cargo picking, wherein the first bin is a bin loaded with the first cargo;

And responding to the delivery demand of the second goods stored on the replenishment goods shelf, and dispatching the goods handling robot to deliver the second goods from the replenishment goods shelf, wherein the second goods are goods required by orders.

The scheduling the bin handling robot to handle a first bin from a storage shelf to a work area of the sorting robot includes:

Scheduling the bin handling robot to handle a first bin from the first storage bin to the first cache bin;

the dispatch sorting robot picks a first item from the first bin according to a pick instruction, comprising:

Dispatching the sorting robot to sort out first cargoes from the first bin according to a sorting instruction and placing the first cargoes on the second cache position;

The scheduling the cargo handling robot to handle the sorted first cargo from the work area onto the restocking shelf includes:

And dispatching the cargo handling robot to carry the first cargo stored on the second buffer storage position to the second storage bin.

Optionally, the method further comprises:

responding to the completion of the picking of the first cargoes, judging whether the first bin after the completion of the picking is loaded with cargoes or not;

Under the condition that the picked first bin is still loaded with cargoes, the dispatching bin carrying robot carries the picked first bin from the working area to the storage shelf;

and under the condition that the picked first bin is not loaded with cargoes, the dispatching bin transfer robot transfers the picked first bin from the working area to the empty bin temporary storage area or unloads the picked first bin.

the scheduling the cargo handling robot to take the second cargo out of the restocking rack, comprising:

And dispatching the goods handling robot to carry the second goods from the goods supplementing goods shelf to first conveying equipment so that the first conveying equipment conveys the second goods to a workstation for delivery.

And/or the number of the groups of groups,

The method further comprises the steps of:

Scheduling the bin handling robot to handle the second bin from a second conveying device onto the storage shelf in response to a warehousing demand of the second bin, wherein the second bin is a bin loaded with goods to be warehoused;

And/or the number of the groups of groups,

And responding to the ex-warehouse demand of a third bin, and scheduling the bin transfer robot to transfer the third bin from the storage shelf to the second conveying equipment.

In a third aspect, an embodiment of the present application provides a cargo handling device applied to a control apparatus in a warehouse system, where the warehouse system further includes a bin handling robot, a sorting robot, and a cargo handling robot, the device includes:

The replenishment module is used for responding to the fact that first cargoes stored on the replenishment goods shelf meet replenishment conditions, and scheduling the bin transfer robot to transfer the first bin from the storage goods shelf to the working area of the sorting robot; responsive to the first bin reaching the work area, scheduling the sorting robot to sort first goods from the first bin in accordance with a sort instruction; scheduling the cargo handling robot to handle the picked first cargo from the work area onto the restocking pallet in response to completion of the first cargo picking, wherein the first bin is a bin loaded with the first cargo;

And the delivery module is used for responding to the delivery demand of the second goods stored on the replenishment goods shelf, and scheduling the goods handling robot to deliver the second goods from the replenishment goods shelf, wherein the second goods are goods required by orders.

The material box transfer robot is specifically configured to transfer a first material box from the first storage bin to the first buffer storage bin, sort out a first material from the first material box according to a sorting instruction by the sorting robot, place the first material in the second buffer storage bin, and transfer the first material stored in the second buffer storage bin to the second storage bin.

Optionally, the apparatus further includes:

The material box returning module is used for responding to the completion of the first cargo picking and judging whether the first material box after the completion of the picking is loaded with the cargo or not, the material box carrying robot is scheduled to carry the first material box after the completion of the picking onto the storage goods shelf from the working area under the condition that the first material box after the completion of the picking is still loaded with the cargo, and the material box carrying robot is scheduled to carry the first material box after the completion of the picking from the working area to the empty material box temporary storage area or to carry the first material box after the completion of the picking out of the warehouse under the condition that the first material box after the completion of the picking is not loaded with the cargo.

the replenishment module is specifically used for scheduling the cargo handling robot to carry the second cargo from the replenishment goods shelf to first conveying equipment, so that the first conveying equipment conveys the second cargo to a workstation for delivery.

Optionally, a part of the storage bin of the replenishment goods shelf is arranged above the first conveying equipment, and/or the replenishment goods shelf and/or the part of the storage bin of the storage shelf is arranged above the working area of the sorting robot.

Optionally, the warehousing system further comprises a second conveying device, wherein the tail end position of the second conveying device is located in the working area of the bin handling robot, and the device further comprises:

The warehouse-in module is used for responding to the warehouse-in requirement of a second workbin, scheduling the workbin transfer robot to transfer the second workbin from second conveying equipment to the storage shelf, wherein the second workbin is a workbin loaded with goods to be warehoused, and/or the warehouse-out module is also used for responding to the warehouse-out requirement of a third workbin, scheduling the workbin transfer robot to transfer the third workbin from the storage shelf to the second conveying equipment.

In a fourth aspect, an embodiment of the present application provides a control apparatus, including:

A memory for storing a computer program;

a processor configured to implement the method according to any one of the second aspect when executing the program stored in the memory.

In a fifth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored therein, which when executed by a processor implements the method of any of the second aspects above.

The embodiment of the application has the beneficial effects that:

The storage system comprises a control device, a bin transfer robot, a sorting robot and a cargo transfer robot, wherein the control device responds to the fact that first cargoes stored on a replenishment goods shelf meet replenishment conditions, the bin transfer robot is dispatched to transfer the first bin, the first bin is a bin loaded with the first cargoes, the bin transfer robot is used for transferring the first bin from a storage goods shelf to a working area of the sorting robot, the control device responds to the fact that the first bin reaches the working area, the sorting robot is dispatched to pick cargoes, the sorting robot is used for picking the first cargoes from the first bin according to a picking instruction of the control device, the control device responds to the fact that the picking of the first cargoes is completed, the cargo transfer robot is dispatched to transfer the picked first cargoes from the working area to the replenishment goods shelf, the control device responds to a delivery demand of second cargoes stored on the replenishment goods shelf, the second cargoes are dispatched to be cargoes required by an order, and the cargo transfer robot is used for delivering the second cargoes from the lower goods shelf to the cargo shelf.

With the adoption of the scheme, on one hand, the link of manual operation is greatly reduced by introducing the bin transfer robot, the sorting robot and the goods transfer robot, and a large amount of goods can be processed in a short time, so that the efficiency of goods transfer is remarkably improved. On the other hand, the goods supplementing goods shelves are arranged, goods in the feed boxes are selected to the goods supplementing goods shelves in advance, so that when orders are generated, only goods required by the orders are required to be carried out of the goods supplementing goods shelves directly, the feed boxes are not required to be carried in real time, the goods are selected from the feed boxes and then are carried out of the goods shelves, and the efficiency of carrying the goods is further improved.

Of course, it is not necessary for any one product or method of practicing the application to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and other embodiments may be obtained according to these drawings to those skilled in the art.

FIG. 1 is a schematic diagram of a warehousing system according to an embodiment of the application;

FIG. 2 is a schematic illustration of a warehousing system according to the embodiment of FIG. 1;

FIG. 3a is a schematic diagram of a storage bin configuration based on the embodiment of FIG. 1;

FIG. 3b is a schematic diagram of another storage bin configuration based on the embodiment of FIG. 1;

FIG. 3c is a schematic diagram of a further storage bin configuration based on the embodiment of FIG. 1;

FIG. 4 is a schematic view of a construction of the bin/load handling robot based on the embodiment shown in FIG. 1;

FIG. 5 is a schematic illustration of the flow direction of a cargo stream in the warehousing system based on the embodiment shown in FIG. 1;

FIG. 6 is a flow chart of a method for handling cargo according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a cargo handling device according to an embodiment of the present application;

Fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.

In order to improve the efficiency of cargo handling, embodiments of the present application provide a warehousing system, a cargo handling method, a cargo handling device, a control apparatus, a computer readable storage medium, and a computer program product, and the warehousing system provided by the embodiments of the present application is first described below.

As shown in fig. 1, a warehouse system includes a control device 101, a bin handling robot 102, a sorting robot 103, and a cargo handling robot 104;

a control device 101 for dispatching the bin handling robot 102 to handle a first bin in response to a first load stored on a restocking shelf meeting restocking conditions, wherein the first bin is a bin loaded with the first load;

A bin handling robot 102 for handling a first bin from a storage rack to a work area of a sorting robot 103;

A control device 101, which, in response to the first bin reaching the work area, dispatches the sorting robot 103 to sort the goods;

A sorting robot 103 for sorting first goods from the first bin in accordance with a sorting instruction of the control apparatus 101;

A control device 101 that dispatches the cargo handling robot 104 to handle the cargo in response to completion of the first cargo picking;

A cargo handling robot 104 for handling the sorted first cargo from the work area onto a restocking rack;

a control device 101 for scheduling the cargo handling robot 104 to handle the second cargo in response to the delivery demand of the second cargo stored on the replenishment shelf, wherein the second cargo is a cargo required by the order;

the cargo handling robot 104 is also configured to remove the second cargo from the restocking rack for shipment.

According to the scheme provided by the embodiment of the application, on one hand, the link of manual operation is greatly reduced by introducing the bin transfer robot, the sorting robot and the goods transfer robot, and a large amount of goods can be processed in a short time, so that the efficiency of goods transfer is remarkably improved. On the other hand, the goods supplementing goods shelves are arranged, goods in the feed boxes are selected to the goods supplementing goods shelves in advance, so that when orders are generated, only goods required by the orders are required to be carried out of the goods supplementing goods shelves directly, the feed boxes are not required to be carried in real time, the goods are selected from the feed boxes and then are carried out of the goods shelves, and the efficiency of carrying the goods is further improved.

The warehousing system shown in fig. 1 will be described below from the restocking process and the shipment process.

1. And (5) a replenishment flow.

For "the first cargo stored on the replenishment shelf (the first cargo may be any cargo stored on the replenishment shelf) satisfies the replenishment condition", it may be obtained by monitoring by the control device or may be obtained by monitoring by the management device, specifically:

In one embodiment, the control device may monitor the storage of the goods on the restocking shelf (the type of goods stored and the number of each type of goods stored, etc.) in real time. When the control equipment monitors that at least one of certain cargoes stored on the replenishment goods shelf is put down and taken out of the warehouse, the control equipment can determine that the cargoes meet the replenishment condition and determine that the replenishment quantity is the number of the cargoes put down. Or when the control device monitors that the quantity of certain goods stored on the goods supplementing shelf is smaller than the minimum quantity threshold corresponding to the certain goods, the goods can be determined to meet the goods supplementing condition, and the quantity of the goods supplementing is determined to be the difference value between the quantity of the goods stored currently and the maximum quantity threshold corresponding to the goods.

For example, when the control device monitors that the class a goods stored on the restocking shelf are 3, it may be determined that the class a goods satisfy the restocking condition and determine that the number of restocks is 3. Or when the control equipment monitors that the number (5) of the class A cargoes stored on the replenishment goods shelf is smaller than the minimum number threshold (7) corresponding to the class A cargoes, the class A cargoes can be determined to meet the replenishment condition, and the number of the replenishment cargoes is determined to be the difference value between the number (5) of the class A cargoes and the maximum number threshold (10) corresponding to the class A cargoes, namely 5.

In another embodiment, the warehouse system may further include a management device, where the management device is configured to monitor a storage condition of the goods on the replenishment goods shelf in real time, and after the management device determines that the goods meet the replenishment condition and determines the quantity of the replenishment goods, the management device may send a replenishment task to the control device, so that the control device determines that the goods stored on the replenishment goods shelf meet the replenishment condition and determines the quantity of the replenishment goods to be replenished.

After the control equipment determines that the first goods stored on the goods supplementing goods shelf meet the goods supplementing condition, the first material box loaded with the first goods can be determined in the storage goods shelf according to the goods storage condition on the storage goods shelf, and then the control equipment can generate a dispatching instruction and send the dispatching instruction to the material box carrying robot according to the position of the first material box on the storage goods shelf so as to dispatch the material box carrying robot to carry the first material box.

After receiving the dispatching instruction sent by the control equipment, the bin handling robot can move to a storage bin where the first bin is located according to the position of the first bin included in the dispatching instruction. The bin handling robot may then take the first bin from the storage bin and handle it to the working area of the sorting robot. Finally, the bin handling robot may return notification information of the completion of the handling to the control apparatus after placing the first bin in the work area of the sorting robot, so that the control apparatus determines that the first bin reaches the work area.

The storage shelf can comprise a first buffer storage position and a first storage bin, wherein the first buffer storage position is positioned in a working area of the sorting robot, namely, the first buffer storage position is a butt joint position between the storage shelf and the sorting robot. In this case, the first bin may be transferred from the first storage bin to the first cache bin by the bin transfer robot when transferring the first bin to the working area of the sorting robot.

After determining that the first bin reaches the work area, the control device may generate a picking order according to the number of replenishment items to be performed and send the picking order to the sorting robot to schedule the sorting robot to pick the items.

Wherein, because one sorting robot may correspond to a plurality of bin handling robots, or the same bin handling robot may successively handle a plurality of bins to a working area of the sorting robot, and so on, there may be a plurality of bins needing to pick goods in the working area of the sorting robot, on the basis of this, in order to enable the sorting robot to accurately pick a corresponding number of goods from each bin, the control device may generate a picking instruction by, but not limited to, the following manner.

In a first embodiment, the control device may generate a picking order according to the number of restocking to be performed and the identification information of the first bin, so that when the sorting robot picks the items from the bin, the sorting robot may determine a picking order corresponding to the currently picked bin according to the identification information of the currently picked bin and the identification information in the received picking order, and further pick the corresponding number of items from the bin according to the number of restocking included in the picking order.

For example, the bin to be picked currently by the sorting robot is bin 1, and from the received picking instructions, a picking instruction including the same bin identification information as that of bin 1 can be determined, and assuming that the picking instruction 1 is a picking instruction 1 and the number of replenishment products included in the picking instruction 1 is 3, the sorting robot can sort 3 cargos from bin 1 according to the picking instruction.

In a second embodiment, there may be a plurality of docking positions (i.e. the number of the first buffer positions is a plurality of) between the sorting robot and the storage shelf, and the scheduling instruction generated by the control device for the bin handling robot may include which docking position of the sorting robot the first bin is to be placed in, on the basis of which the control device may generate a picking instruction according to the number of the to-be-replenished cargoes and the position information of the first bin (which docking position the first bin is placed in), so that when the sorting robot picks the cargoes from the bin, the sorting instruction corresponding to the currently picked bin may be determined according to the position information of the currently picked bin and the position information in the received picking instruction, and then the corresponding number of cargoes may be picked from the bin according to the replenishment amount included in the picking instruction.

For example, the position of the bin to be picked currently by the sorting robot is located at the docking station 1, which can determine, from the received picking instructions, a picking instruction including the same position information as the position of the bin to be picked currently, assuming that the picking instruction 1 is a picking instruction 1 and the number of replenishment products included in the picking instruction 1 is 3, the sorting robot can sort out 3 cargos from the bin according to the picking instruction.

After receiving the picking instruction sent by the control equipment, the sorting robot can pick the first goods from the first material box according to the picking instruction, and after finishing picking, returns notification information of finishing picking to the control equipment so that the control equipment can determine that the picking of the first goods is finished. Wherein, when the number of the first cargoes to be picked is plural, the sorting robot can sort out the required plural first cargoes from the first bin in such a manner that one cargoes is picked at a time or plural cargoes are picked at a time.

After the control device determines that the first goods are picked, a storage bin is allocated to the picked goods on the replenishment goods shelf, and then a scheduling instruction is generated and sent to the goods handling robot to schedule the goods handling robot to handle the picked first goods according to the storage position of the picked first goods and the storage bin allocated to the picked first goods.

The embodiment of the application does not limit the specific allocation rule of the storage bin. Exemplary allocation rules include, but are not limited to, 1, allocating empty storage bins on the restocking shelf near the delivery device to goods with higher heat according to the cold and hot of the goods, and 2, allocating empty storage bins around the same storage bin as the goods stored on the restocking shelf to one good to the goods so as to realize centralized storage of the same goods. In addition, when the storage bin is allocated, the embodiment of the application does not limit the quantity of the cargoes stored in one storage bin, for example, the bin can be allocated according to the mode that one bin stores one cargo, the bin can be allocated according to the mode that one bin stores a plurality of cargoes, and the bin can be allocated according to the size of the cargoes by flexibly selecting the mode that one bin stores one cargo or the mode that one bin stores a plurality of cargoes.

After receiving the dispatching instruction sent by the control equipment, the cargo handling robot carries the first cargoes to a storage bin allocated to the first cargoes on the replenishment goods shelf for each first cargoes selected, until the selected first cargoes are carried to the replenishment goods shelf, and replenishment of the first cargoes is achieved.

The replenishment goods shelf can comprise a second buffer storage position and a second storage bin position, wherein the second buffer storage position is positioned in a working area of the sorting robot, namely, the second buffer storage position is a butt joint position between the replenishment goods shelf and the sorting robot. In this case, after sorting the goods from the first bin, the sorting robot may place the sorted first goods on the second buffer location, and correspondingly, the goods handling robot may handle the first goods stored on the second buffer location to the second storage bin.

It should be noted that, the "first buffer memory location and the" second buffer memory location "and the" first storage bin and the "second storage bin" are only for distinguishing the buffer memory location and the storage bin in the storage shelf and the restocking shelf, and do not refer to a specific certain buffer memory location and storage bin.

It should be noted here that, besides the real-time monitoring can be performed to the quantity of goods stored on the replenishment goods shelf, the real-time monitoring can also be performed to the quantity of goods stored on the storage goods shelf, specifically:

The control device or the management device can monitor the quantity of cargoes in the bin stored on the storage shelf in real time, and when the quantity of cargoes in a certain bin is smaller than a preset threshold value, the control device can schedule the bin transfer robot to deliver the bin to the warehouse so as to supplement the cargoes in the bin. And after the goods in the bin are replenished, the control equipment can also schedule the bin transfer robot to re-transfer the bin to the storage shelf.

For example, the number of goods a in the a bins stored on the storage shelf is 3 and less than 5, which is less than the preset threshold, then the control device may schedule the bin handling robot to handle the a bins to the conveying device below the storage shelf, and then convey the a bins to the warehouse workstation through the conveying device to supplement the goods a. And after the goods are supplemented to the A feed box, the A feed box can be further conveyed to the lower part of the storage shelf through the conveying equipment, and at the moment, the control equipment can schedule the feed box conveying robot to convey the feed box A below the storage shelf to the storage shelf again.

2. And (5) a warehouse-out process.

For the "delivery demand of the second goods stored on the restocking shelf", it may be determined by the control device or by the management device, in particular:

in one embodiment, the control device, upon receiving the order, may determine the goods (second goods) required for the order, and thus determine that the second goods stored on the restocking shelf creates a shipment demand. For example, the order received by the control device requires a class a good, and the control device may determine that the class a good stored on the restocking shelf meets the delivery requirements.

In another embodiment, after receiving the order, the management device may generate a delivery task of the goods (the second goods) required by the order, and send the delivery task to the control device, where the control device may determine that the second goods stored on the replenishment goods shelf generate a delivery requirement after receiving the delivery task.

After the control device determines that the second goods stored on the goods supplementing goods shelf generate the delivery demand, a storage bin for storing the second goods can be determined in the goods supplementing goods shelf according to the goods storage condition on the goods supplementing goods shelf, and then the control device can generate a dispatching instruction according to the storage bin and send the dispatching instruction to the goods carrying robot so as to dispatch the goods carrying robot to carry the second goods.

The cargo handling robot may move to the storage bin after receiving the dispatch instruction sent by the control device. Then, the cargo handling robot can take the second cargo from the storage bin and remove the second cargo from the restocking shelf for unloading and delivery. When the number of the second cargoes to be delivered is multiple, the cargo handling robot can deliver the required multiple second cargoes from the replenishment goods shelf in a manner of carrying one cargo at a time or picking multiple cargoes at a time.

According to the scheme provided by the embodiment of the application, on one hand, the link of manual operation is greatly reduced by introducing the bin transfer robot, the sorting robot and the goods transfer robot, and a large amount of goods can be processed in a short time, so that the efficiency of goods transfer is remarkably improved. On the other hand, the goods supplementing goods shelves are arranged, goods in the material boxes can be selected to the goods supplementing goods shelves in advance when the goods are delivered out of the goods shelves or the quantity of the goods is smaller than the preset threshold value, so that when an order is generated, the goods required by the order is delivered out of the goods supplementing goods shelves directly, the material boxes are not required to be carried in real time, the goods are selected from the material boxes and delivered out of the goods shelves, and the efficiency of carrying the goods is further improved.

As an implementation manner of the embodiment of the present application, the control device in the warehouse system may further schedule the bin handling machine to execute a warehouse entry process, and the warehouse system shown in fig. 1 will be described from the warehouse entry process.

3. And (5) warehousing.

After determining that the second bin loaded with the goods to be put in storage generates the storage demand, the control device can allocate a storage bin for the second bin on the storage shelf, and schedule the bin transfer robot to transfer the second bin to the storage bin allocated for the second bin on the storage shelf so as to put the second bin in storage.

The embodiment of the application does not limit the specific allocation rule of the storage bin. Exemplary allocation rules include, but are not limited to, 1, allocating empty storage bins on a storage shelf near a sorting robot to bins with higher heat of loaded cargoes according to the heat of the cargoes, and 2, for one bin, allocating empty storage bins around the same bin as the cargoes loaded on the bin to the bin, so as to realize centralized storage of the same cargoes.

For the "warehouse entry requirement of the second bin", it may be determined by the control device or by the management device, in particular:

In one embodiment, for the second bin loaded with the goods to be put in storage, a worker in the storage workstation may input bin information of the second bin and information of the goods to be put in storage, etc. through a terminal device such as a PDA (personal DIGITAL ASSISTANT ), etc., the terminal device may send the information to the control device, and the control device may determine that the second bin generates a storage demand after receiving the information and determining that the second bin reaches the working area of the bin handling robot.

In another embodiment, the terminal device may send the information recorded by the staff to the management device, after receiving the information, the management device may generate a warehousing task of the second bin, and send the warehousing task to the control device, and after receiving the warehousing task, the control device determines that the second bin reaches the working area of the bin handling robot, and may determine that the second bin generates a warehousing requirement.

In the scheme provided by the embodiment of the application, the control equipment can also schedule the bin transfer machine to execute a warehouse-in process, and transfer the second bin loaded with the goods to be warehoused to the storage shelf for warehouse-in, so that the automatic operation of the warehouse-in process is realized, the links of manual operation are further reduced, and the efficiency of carrying the goods is obviously improved.

As an implementation manner of the embodiment of the present application, as shown in fig. 2, the warehousing system may further include a first conveying device 105 and a second conveying device 106, where a start position of the first conveying device 105 is located in a working area of the cargo handling robot, and an end position of the second conveying device 106 is located in a working area of the bin handling robot.

In the delivery process, when the cargo handling robot delivers the second cargo from the restocking shelf, the second cargo may be specifically handled from the storage bin of the restocking shelf to the first conveying device. Like this first conveying appliance can carry the workstation to the second goods through self transport function, and robot or manual work in the workstation can pack the second goods and go out the storehouse.

The starting position of the first conveying device is located in the working area of the cargo handling robot, so that the starting position of the first conveying device is the docking position of the first conveying device and the cargo handling robot, and accordingly, when the cargo handling robot carries cargoes onto the first conveying device, the cargo can be specifically carried onto the docking position of the first conveying device.

In the warehouse-in process, after staff in a warehouse-in workstation inputs the information of the material box of the second material box and the information of goods to be warehouse-in through terminal equipment such as a PDA, the second material box can be placed on the second conveying equipment. When the second conveying device conveys the second bin to the end position of the second conveying device, that is, the second bin is located in the working area of the bin conveying robot, the control device may schedule the bin conveying robot to convey the second bin on the second conveying device onto the storage shelf so as to put the second bin in storage.

The end position of the second conveying device is located in the working area of the bin conveying robot, so that the end position of the second conveying device is the butt joint position of the second conveying device and the bin conveying robot, and when the bin conveying robot conveys the bin from the second conveying device, the bin can be conveyed from the butt joint position of the second conveying device.

In one embodiment, for the determination mode that the second bin is located in the working area of the bin handling robot, a triggering device and an acquisition device may be installed at an end position of the second conveying device, the triggering device may trigger the acquisition device to acquire identification information of the bin when the bin conveyed by the second conveying device reaches the end position of the second conveying device, and the acquisition device may send the acquired identification information to the control device. When the control equipment determines that the identification information acquired by the acquisition equipment is the same as the identification information recorded by the staff, the control equipment can determine that the second workbin is positioned in the working area of the workbin transfer robot.

The specific types of the first conveying device and the second conveying device can be selected according to actual use requirements, and the specific types of the conveying devices are not limited in the embodiment of the application. For example, the conveying apparatus may be a belt conveyor, a roller conveyor, or the like.

In addition, the bin may be delivered by the second conveying apparatus, specifically, for a third bin to be delivered, the control apparatus may schedule the bin transfer robot to transfer the third bin from the storage shelf onto the second conveying apparatus in response to a delivery demand of the third bin, and then transfer the third bin into the warehouse-in workstation by a transfer function of the second conveying apparatus.

In the scheme provided by the embodiment of the application, the warehousing system can further comprise a first conveying device and a second conveying device, so that warehousing of the material box and ex-warehouse of goods can be realized by means of the conveying function of the conveying device, the links of manual operation are further reduced, and the efficiency of carrying the goods is remarkably improved. In addition, when the goods are the goods that need to be refrigerated and preserved such as fresh vegetables and fruits, ice cream, control device, workbin transfer robot, letter sorting robot and goods transfer robot can be located in the low-temperature warehouse, on this basis, carry the workbin to the low-temperature warehouse through first conveying equipment and carry the goods out the low-temperature warehouse through second conveying equipment, on the one hand can reduce the time that the low-temperature warehouse is open outward, thereby reduce the chance that external heat got into the warehouse, help keeping stable low-temperature environment, on the other hand can also avoid when carrying out above-mentioned step by the personnel, the low-temperature environment influences the human body, guarantee the continuation of goods transport.

As an implementation manner of the embodiment of the present application, in order to increase the storage density of the cargoes, storage bins may be disposed above the first conveying apparatus, the second conveying apparatus, and the sorting robot, specifically:

as shown in fig. 3a, a portion of the storage bin of the restocking pallet is disposed above the first conveyor.

And/or the number of the groups of groups,

As shown in fig. 3b, a portion of the storage bin of the storage shelf is disposed above the second conveyor apparatus.

And/or the number of the groups of groups,

The partial storage spaces of the restocking racks and/or the storage racks are arranged above the working area of the sorting robot. For example, as shown in fig. 3c, a portion of the storage bin of the storage rack is disposed above the working area of the sorting robot.

In the scheme provided by the embodiment of the application, the storage bin is arranged above the first conveying equipment, the second conveying equipment and the sorting robot, so that the space left idle can be fully utilized, the quantity of storable goods is increased under the condition that the ground space is not additionally occupied, the efficient utilization of the storage space is realized, and the storage density of the warehouse goods is greatly improved.

As an implementation manner of the embodiment of the present application, after the bin handling robot carries the first bin from the storage shelf to the working area of the sorting robot, the bin handling robot may further return the first bin, specifically:

and the control equipment can judge whether the first material box after finishing picking is loaded with cargos or not after receiving the notification information of finishing picking of the first cargos sent by the sorting robot.

In one embodiment, the sorting robot may acquire an image of the first bin via its own camera after completing the sorting of the first bin. After the sorting robot obtains the image of the first bin, the image can be analyzed to determine whether the first bin after sorting is finished is loaded with goods, and an analysis result is sent to the control equipment, so that the control equipment can judge whether the first bin after sorting is finished is loaded with goods according to the analysis result of the sorting robot. Or after the sorting robot obtains the image of the first bin, the image can be directly sent to the control equipment, and the control equipment can judge whether the first bin after finishing sorting is loaded with cargos or not through analyzing the image.

In another embodiment, the control device may determine the number of items originally loaded in the first bin, and the control device may further determine the number of items to be picked, on the basis of which the control device may determine whether the first bin after completing the picking is loaded with items based on a difference between the number of items originally loaded in the first bin and the number of items to be picked.

If the picked first bin is still loaded with goods, the control device may send a first scheduling instruction to the bin handling robot, which may, in response to the first scheduling instruction, handle the picked first bin from the work area onto the storage rack, such that the picking process may be performed again subsequently by the first bin.

The bin handling robot is used for handling the first bin after finishing picking from the working area to the storage shelf, and can be used for handling the first bin after finishing picking to an original storage bin, or reallocating the storage bin for the first bin after finishing picking, and handling the first bin after finishing picking to the newly allocated storage bin.

If the picked first bin is not loaded with goods, the control device may send a second scheduling instruction to the bin handling robot, and the bin handling robot may, in response to the second scheduling instruction, handle the picked first bin from the work area to the empty bin staging area. Of course, the control device may also send a third scheduling instruction to the bin handling robot, where the bin handling robot responds to the third scheduling instruction, and may directly handle the picked first bin onto the second conveying device, and by using the reverse motion of the second conveying device, the empty bin (i.e. the picked first bin) is conveyed to the warehouse-in workstation to be delivered out of the warehouse, so that other goods to be warehoused may be loaded through the empty bin subsequently.

The temporary storage area of the empty bin can be any pre-planned area for temporarily storing the empty bin, and can also be an area around the second conveying equipment under the condition that the storage system comprises the second conveying equipment, so that the empty bin can be conveyed to a storage workstation when the second conveying equipment moves reversely, and the loading of goods to be stored is realized.

According to the scheme provided by the embodiment of the application, after the sorting robot finishes sorting the bin, the control equipment can flexibly schedule the bin to return to the storage shelf or the empty bin temporary storage area according to whether the bin still has loaded cargos, so that the cyclic utilization rate of the bin is improved, the occupied space of the empty bin is reduced, the overall operation efficiency of a storage system is optimized, and especially when the second conveying equipment is combined, the automatic circulation from the empty bin to a storage workstation can be realized, and the automation level of storage logistics is further improved.

The above-mentioned bin handling robot and the cargo handling robot may be any robot capable of taking and placing a bin and a cargo from a shelf, for example, a robot having a gripper and a gripper that can be lifted and lowered, a robot having a telescopic arm structure, or the like, and the types of the bin handling robot and the cargo handling robot may be the same or different. The picking robot may be any robot capable of picking the goods, for example, an articulated robot, a cartesian robot, a parallel robot, or the like.

In a specific example, the bin handling robot and the load handling robot may be the robots shown in fig. 4. The robot may include a lower drive module 401, a lift module 402, and a pick and place module 403. The lower driving module 401 and the lifting module 402 can drive the pick-and-place module 403 to move in the vertical direction, and meanwhile, the robot can move in the horizontal direction through a top rail installed on a goods shelf, so that the pick-and-place module 403 can move to various positions on the goods shelf to pick and place goods. Meanwhile, the robot can adopt the trolley line to supply power, so that 24-hour continuous operation of the robot can be ensured, the condition of interrupting operation due to charging is avoided, and the continuity and the efficiency of operation are improved.

The picking robot may be an articulated robot, and since both the bin handling robot and the goods handling robot move into the working area of the articulated robot, the articulated robot may be configured with an obstacle avoidance laser sensor for ensuring safety, so that the articulated robot may detect the surrounding environment in real time through the obstacle avoidance laser sensor, and take measures immediately (stop operation or notify the control device to cause the control device to control other robots entering the preset obstacle avoidance area to stop operation) once an object is detected to enter the preset obstacle avoidance area, thereby ensuring operation safety.

In the following, taking fig. 5 as an example, the flow direction of the cargo flow in the warehouse system according to the embodiment of the present application will be described:

The bin loaded with the goods to be put in storage is conveyed by the second conveying equipment to the working area of the bin conveying robot, and then the bin conveying robot conveys the bin to the storage shelf, so that the putting in process of the goods is completed.

When the supplementary goods are needed on the supplementary goods shelf, the material box carrying robot carries the material box which is stored in the storage bin of the storage shelf and is used for loading the goods to be supplemented into the buffer storage bin of the storage shelf, then the sorting robot picks the goods to be supplemented from the material box and places the goods to be supplemented on the buffer storage bin of the supplementary goods shelf, and finally the goods carrying robot carries the goods stored in the buffer storage bin of the supplementary goods shelf into the storage bin of the supplementary goods shelf, so that the supplementary goods flow of the goods is completed.

When an order is generated, the goods handling robot can carry goods to be delivered (goods required by the order) stored on the goods supplementing goods shelf to the first conveying equipment, and then the first conveying equipment can convey the goods to be delivered to the workstation for delivery, so that the delivery flow of the goods is completed.

In response to the warehousing system, the embodiment of the application also provides a cargo handling method, and the cargo handling method provided by the embodiment of the application is described below.

As shown in fig. 6, the cargo handling method is applied to a control device in a warehouse system, and the warehouse system further comprises a bin handling robot, a sorting robot and a cargo handling robot, and the method comprises the following steps:

s601, in response to the first goods stored on the replenishment shelf meeting the replenishment condition, the dispatch bin handling robot handles the first bin from the storage shelf to a work area of the sorting robot.

Wherein the first bin is a bin loaded with a first cargo.

S602, in response to the first bin reaching the working area, the sorting robot is scheduled to sort the first goods from the first bin according to the sorting instruction.

S603, in response to the completion of the first cargo picking, the cargo handling robot is scheduled to handle the picked first cargo from the work area to the replenishment shelf.

S604, in response to the delivery demand of the second goods stored on the replenishment goods shelf, the goods handling robot is dispatched to deliver the second goods from the replenishment goods shelf.

Wherein the second cargo is a cargo required for the order.

The storage shelf comprises a first buffer storage position and a first storage bin, and the replenishment shelf comprises a second buffer storage position and a second storage bin, wherein the first buffer storage position and the second buffer storage position are positioned in a working area of the sorting robot;

dispatch workbin transfer robot transfers a first workbin from a storage shelf to a work area of a sorting robot, comprising:

A dispatch bin handling robot handles the first bin from the first storage bin to the first cache bin;

Scheduling the sorting robot to pick a first item from a first bin according to a pick order, comprising:

The dispatching and sorting robot sorts out the first goods from the first material box according to the sorting instruction and places the first goods on the second buffer position;

scheduling the cargo handling robot to handle the selected first cargo from the work area onto the restocking shelf, comprising:

and the dispatching cargo handling robot carries the first cargo stored on the second buffer storage position to the second storage bin.

As an implementation manner of the embodiment of the present application, the method further includes:

Under the condition that the picked first bin is not loaded with cargoes, the dispatching bin transfer robot transfers the picked first bin from the working area to the empty bin temporary storage area or unloads the picked first bin.

As an implementation of the embodiment of the present application, the warehousing system may further include a first conveying device, where a starting position of the first conveying device is located in a working area of the cargo handling robot;

Scheduling the cargo handling robot to remove the second cargo from the restocking shelf for shipment may include:

The dispatch cargo handling robot carries the second cargo from the restocking shelf onto the first conveying device so that the first conveying device conveys the second cargo to the workstation for shipment.

As an implementation manner of the embodiment of the present application, a part of the storage space of the restocking shelf is arranged above the first conveying device;

And/or the number of the groups of groups,

The partial storage spaces of the restocking racks and/or the storage racks are arranged above the working area of the sorting robot.

As an implementation of the embodiment of the application, the warehouse system may further include a second conveying device, where an end position of the second conveying device is located in a working area of the bin handling robot;

The method may further include:

Responding to the warehousing requirement of a second bin, and dispatching a bin transfer robot to transfer the second bin from second conveying equipment to a storage shelf, wherein the second bin is a bin loaded with goods to be warehoused;

And/or the number of the groups of groups,

Responsive to the discharge demand of the third bin, the dispatch bin handling robot handles the third bin from the storage shelf onto the second conveyor device.

As an implementation of the embodiment of the application, a part of the storage bin of the storage rack is arranged above the second conveying device.

As one implementation mode of the embodiment of the application, the first goods meeting the replenishment condition comprises the first goods being stored on the replenishment goods shelf and being delivered out of the warehouse, and/or the quantity of the first goods being stored on the replenishment goods shelf is smaller than a quantity threshold value corresponding to the first goods.

In response to the above cargo handling method, the embodiment of the application further provides a cargo handling device, and the cargo handling device provided by the embodiment of the application is described below.

As shown in fig. 7, a cargo handling device is applied to a control device in a warehouse system, and the warehouse system further includes a bin handling robot, a sorting robot, and a cargo handling robot, where the device includes:

The system comprises a replenishment module 701, a dispatch bin transfer robot, a sorting module and a storage rack, wherein the replenishment module is used for responding to that first cargoes stored on the replenishment rack meet replenishment conditions, dispatching the bin transfer robot to transfer the first bin from the storage rack to a working area of the sorting robot;

The shipment module 702 is configured to schedule the cargo handling robot to ship the second cargo from the restocking shelf for shipment in response to a shipment demand of the second cargo stored on the restocking shelf, where the second cargo is a cargo required by the order.

The goods supplementing module can be specifically used for dispatching the material box carrying robot to carry the first material box from the first storage bin to the first cache bin, dispatching the sorting robot to sort out the first goods from the first material box according to the sorting instruction and place the first goods on the second cache bin, and dispatching the goods carrying robot to carry the first goods stored on the second cache bin to the second storage bin.

As an implementation manner of the embodiment of the present application, the foregoing apparatus may further include:

The material box returning module is used for judging whether the first material box after finishing picking is loaded with the goods or not in response to the completion of the first goods picking, and scheduling the material box carrying robot to carry the first material box after finishing picking from the working area to the storage goods shelf under the condition that the first material box after finishing picking is still loaded with the goods, and scheduling the material box carrying robot to carry the first material box after finishing picking from the working area to the empty material box temporary storage area or to carry the first material box after finishing picking out of the warehouse under the condition that the first material box after finishing picking is not loaded with the goods.

As an implementation of the embodiment of the application, the warehouse system further comprises a first conveying device, wherein the starting position of the first conveying device is positioned in the working area of the cargo handling robot;

the replenishment module can be specifically used for scheduling the cargo handling robot to carry the second cargo from the replenishment goods shelf to the first conveying equipment so that the first conveying equipment can convey the second cargo to the workstation for delivery.

And/or the number of the groups of groups,

As an implementation of the embodiment of the application, the warehouse system further comprises a second conveying device, wherein the tail end position of the second conveying device is positioned in the working area of the bin handling robot;

the apparatus may further include:

the warehouse-in module is used for responding to the warehouse-in requirement of the second workbin, and dispatching the workbin transfer robot to transfer the second workbin from the second conveying equipment to the storage shelf, wherein the second workbin is a workbin loaded with goods to be warehoused;

And/or the number of the groups of groups,

The ex-warehouse module is also used for responding to the ex-warehouse requirement of the third bin, and scheduling the bin transfer robot to transfer the third bin from the storage shelf to the second conveying equipment.

The embodiment of the application also provides a control device, as shown in fig. 8, comprising:

a memory 801 for storing a computer program;

the processor 802 is configured to implement the cargo handling method according to any of the above embodiments when executing the program stored in the memory 801.

And the control device may further comprise a communication bus and/or a communication interface, through which the processor 802, the communication interface, and the memory 801 communicate with each other.

The communication bus mentioned by the control device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the control device and other devices.

The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The Processor may be a general-purpose Processor including a central processing unit (Central Processing Unit, CPU), a network Processor (Network Processor, NP), etc., or may be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.

In yet another embodiment of the present application, a computer readable storage medium is provided, in which a computer program is stored, which when executed by a processor, implements the steps of the cargo handling method according to any of the embodiments described above.

In yet another embodiment of the present application, a computer program product comprising instructions that, when executed on a computer, cause the computer to perform the method of cargo handling of any of the above embodiments is also provided.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a Solid state disk (Solid STATE DISK, SSD), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the method, apparatus, control device, computer readable storage medium and computer program product embodiments, the description is relatively simple as it is substantially similar to the system embodiments, as relevant points are found in the partial description of the system embodiments.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. The warehousing system is characterized by comprising a control device, a material box carrying robot, a sorting robot and a goods carrying robot;

2. The system of claim 1, wherein the storage shelf comprises a first cache location and a first storage bin, the restocking shelf comprises a second cache location and a second storage bin, the first cache location and the second cache location are located in a work area of the sorting robot;

3. The system of claim 1, wherein the system further comprises a controller configured to control the controller,

The control equipment is used for responding to the completion of the first cargo picking, sending a first scheduling instruction to the bin handling robot under the condition that the first bin after the completion of the picking is still loaded with cargos, and sending a second scheduling instruction to the bin handling robot under the condition that the first bin after the completion of the picking is not loaded with cargos;

4. The system of claim 1, wherein the warehousing system further comprises a first conveyor apparatus having a home position located in a work area of the cargo handling robot;

5. The system of claim 4, wherein the system further comprises a controller configured to control the controller,

The part of storage bin of the replenishment goods shelf is arranged above the first conveying equipment;

And/or the number of the groups of groups,

6. The system of claim 1, wherein the warehousing system further comprises a second conveyor apparatus having an end position located in a work area of the bin handling robot;

And/or the number of the groups of groups,

7. The system of claim 6, wherein the system further comprises a controller configured to control the controller,

And part of the storage bin of the storage shelf is arranged above the second conveying equipment.

8. The system of any of claims 1-7, wherein the first item meeting the restocking condition includes the first item being deposited on the restocking shelf being delivered from a warehouse and/or the number of first items being deposited on the restocking shelf being less than a number threshold corresponding to the first item.

9. A method of cargo handling, characterized by being applied to a control device in a warehouse system, the warehouse system further comprising a bin handling robot, a sorting robot, and a cargo handling robot, the method comprising:

10. The method of claim 9, wherein the step of determining the position of the substrate comprises,

The storage shelf comprises a first buffer storage position and a first storage bin, wherein the goods supplementing shelf comprises a second buffer storage position and a second storage bin, the first buffer storage position and the second buffer storage position are positioned in a working area of the sorting robot, the dispatching of the goods handling robot to handle the first goods from the storage shelf to the working area of the sorting robot comprises dispatching of the goods handling robot to handle the first goods from the first storage bin to the first buffer storage position, the dispatching of the sorting robot to pick the first goods from the first goods box according to a picking instruction comprises dispatching of the sorting robot to pick the first goods from the first goods box according to the picking instruction and place the first goods on the second buffer storage position, and the dispatching of the goods handling robot to handle the selected first goods from the working area to the goods supplementing shelf comprises dispatching of the goods handling robot to handle the first goods stored on the second buffer storage bin to the second storage bin;

And/or the number of the groups of groups,

The method further comprises the steps of responding to the completion of the picking of the first cargoes, judging whether the first bin after the completion of the picking is loaded with the cargoes or not, and under the condition that the first bin after the completion of the picking is still loaded with the cargoes, dispatching a bin transfer robot to transfer the first bin after the completion of the picking onto the storage shelf from the working area;

And/or the number of the groups of groups,

The warehousing system further comprises first conveying equipment, wherein the starting position of the first conveying equipment is positioned in the working area of the goods handling robot; the dispatching the goods handling robot to take the second goods out of the shelf of the restocking shelf comprises dispatching the goods handling robot to carry the second goods from the restocking shelf to a first conveying device so that the first conveying device conveys the second goods to a workstation for taking out;

And/or the number of the groups of groups,

The storage bin of the replenishment goods shelf is arranged above the first conveying equipment, and/or the storage bin of the replenishment goods shelf and/or the storage bin of the storage shelf is arranged above the working area of the sorting robot;

And/or the number of the groups of groups,

The warehouse system further comprises a second conveying device, wherein the tail end position of the second conveying device is located in the working area of the bin conveying robot, and the method further comprises the steps of responding to the warehouse-in requirement of a second bin, scheduling the bin conveying robot to convey the second bin from the second conveying device to the storage shelf, wherein the second bin is a bin loaded with goods to be warehoused;

And/or the number of the groups of groups,

A part of storage bin of the storage shelf is arranged above the second conveying equipment;

And/or the number of the groups of groups,

The first goods meeting the replenishment condition comprises the first goods being stored on the replenishment goods shelf and being delivered out of the warehouse, and/or the quantity of the first goods being stored on the replenishment goods shelf is smaller than a quantity threshold value corresponding to the first goods.

11. A cargo handling device, characterized by a control device for use in a warehouse system, the warehouse system further comprising a bin handling robot, a sorting robot, and a cargo handling robot, the device comprising:

12. The apparatus of claim 11, wherein the device comprises a plurality of sensors,

The storage shelf comprises a first buffer storage position and a first storage bin, wherein the goods supplementing shelf comprises a second buffer storage position and a second storage bin, the first buffer storage position and the second buffer storage position are positioned in a working area of the sorting robot, the goods supplementing module is specifically used for scheduling the material box carrying robot to carry a first material box from the first storage bin to the first buffer storage position, scheduling the sorting robot to sort out a first goods from the first material box according to a sorting instruction and place the first goods on the second buffer storage position, and scheduling the goods carrying robot to carry the first goods stored on the second buffer storage position into the second storage bin;

And/or the number of the groups of groups,

The device comprises a first material box returning module, a material box carrying robot, a material box storing module and a material box storing module, wherein the first material box returning module is used for responding to the completion of the picking of first materials and judging whether the first material box after the completion of the picking is loaded with the materials;

And/or the number of the groups of groups,

The warehousing system further comprises first conveying equipment, wherein the starting position of the first conveying equipment is positioned in the working area of the goods handling robot; the replenishment module is specifically used for scheduling the cargo handling robot to carry the second cargo from the replenishment goods shelf to first conveying equipment so that the first conveying equipment conveys the second cargo to a workstation for delivery;

And/or the number of the groups of groups,

The warehousing system further comprises a second conveying device, wherein the tail end position of the second conveying device is positioned in the working area of the bin handling robot; the device further comprises a warehousing module, a storage rack and a storage rack, wherein the warehousing module is used for responding to the warehousing requirement of a second workbin, scheduling the workbin transfer robot to transfer the second workbin from second conveying equipment to the storage rack, the second workbin is a workbin loaded with goods to be warehoused, and/or the ex-warehouse module is also used for responding to the ex-warehouse requirement of a third workbin, and scheduling the workbin transfer robot to transfer the third workbin from the storage rack to the second conveying equipment;

And/or the number of the groups of groups,

13. A control apparatus, characterized by comprising:

A memory for storing a computer program;

a processor for implementing the method of any of claims 9-10 when executing a program stored on a memory.

14. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when executed by a processor, implements the method of any of claims 9-10.