CN118062459A - Warehouse system, warehouse system control method and storage medium - Google Patents

Abstract

The present application provides a storage system, a warehouse, a storage system control method and a storage medium. The storage system provided in the present application includes a shelf, a track assembly, a pick-up and release device, and a sorting conveyor line. The shelf includes a plurality of storage layers arranged in a vertical direction; the track assembly includes a first movable track and a second movable track; there are a plurality of first movable tracks, and the plurality of first movable tracks are respectively located on opposite sides of the shelf and extend along the length direction of the shelf; the second movable track is arranged at the end of the shelf, and the two ends of the second movable track are respectively docked with the first movable tracks on both sides of the shelf. The pick-up and release device includes a mobile gantry and a fork device, and the mobile gantry is configured to move along the track assembly; the fork device is connected to the mobile gantry, and the fork device is configured to move in the height direction of the shelf relative to the mobile gantry; the sorting conveyor line is arranged at the end of the shelf, which can improve the efficiency of warehousing.

Description

Warehouse system, warehouse, warehouse system control method and storage medium

Technical Field

The present application relates to the technical field of warehousing and logistics, and in particular to a warehousing system, a warehouse, a warehousing system control method and a storage medium.

Background technique

The storage method of the three-dimensional warehousing system is widely used in the field of warehousing and logistics due to its large storage capacity. With the development of artificial intelligence and automation technology, the degree of automation of the logistics system is getting higher and higher. The three-dimensional warehouse can be connected with external equipment through automation devices to realize automatic picking and placing of goods.

In the related art, in order to improve the storage density of three-dimensional warehouses, mobile door frames can be set on the shelves of the three-dimensional warehouse. The mobile door frames are connected to the sides of the shelves and move in the single-side aisles of the shelves to carry out the cargo picking and placing operations of a single shelf without leaving the aisle.

However, currently, the mobile door frame on the warehouse shelf can only perform goods in and out operations on one side of a single shelf, resulting in low efficiency in goods in and out.

Summary of the invention

The present application provides a warehousing system, a warehouse, a warehousing system control method and a storage medium to solve the technical problem that the mobile door frame on the warehouse shelf can only perform goods in and out operations on one side of a single shelf, resulting in low efficiency of goods in and out.

In a first aspect, the present application provides a storage system, which includes: a shelf, a track assembly, a pick-up and release device, and a sorting conveyor line. The shelf includes a plurality of storage layers arranged in a vertical direction; the track assembly includes a first movable track and a second movable track; there are a plurality of first movable tracks, and the plurality of first movable tracks are respectively located on opposite sides of the shelf and extend along the length direction of the shelf; the second movable track is arranged at the end of the shelf, and the two ends of the second movable track are respectively connected to the first movable tracks on both sides of the shelf. The pick-up and release device includes a mobile gantry and a fork device, and the mobile gantry is configured to move along the track assembly; the fork device is connected to the mobile gantry, and the fork device is configured to move in the height direction of the shelf relative to the mobile gantry; the sorting conveyor line is arranged at the end of the shelf, and the sorting conveyor line is opposite to the second movable track.

The warehousing system provided by the present application forms an integral track by setting a first movable track on both sides of the shelf and connecting the first movable tracks on both sides with a second movable track, so that the movable door frame can move back and forth between different sides of the shelf, has a wider range of cargo picking and placing, and can flexibly select the moving path of cargo in and out of the warehouse according to the specific location of the material box, thereby improving the efficiency of in and out of the warehouse.

In some embodiments, second movable tracks are provided at both ends of the shelf, and both ends of the first movable track are respectively connected to the second movable tracks at both ends of the shelf, so that the first movable track and the second movable track are jointly arranged to form a circular track.

This arrangement can shorten the moving path of the mobile door frame moving back and forth between different sides of the shelf, thereby improving logistics efficiency.

In some embodiments, the first moving track and the second moving track have an arc transition.

Such an arrangement can improve the smoothness of the movement of the movable door frame between the first movable track and the second movable track.

In some embodiments, the second movable track is in an arc shape, and the diameter of the second movable track matches the width of the shelf.

In some embodiments, there may be a plurality of cargo picking and placing devices, and the plurality of cargo picking and placing devices are arranged at intervals along the track assembly; the plurality of cargo picking and placing devices can independently move along the track assembly.

With this setting, the outbound and inbound tasks of multiple material boxes can be performed simultaneously, improving logistics efficiency.

In some embodiments, the first moving track may include a first top track and a first bottom track, the first top track being connected to a top beam of the shelf, and the first bottom track being connected to a bottom beam of the shelf.

The second movable track may include a second top track and a second bottom track, wherein both ends of the second top track are respectively connected to the first top tracks on both sides of the shelf; and both ends of the second bottom track are respectively connected to the first bottom tracks on both sides of the shelf.

Such an arrangement can improve the stability of the cooperation between the movable door frame and the track assembly.

In some embodiments, the second movable track may further include a supporting column, with both ends of the supporting column being respectively connected to the second top track and the second bottom track.

Such an arrangement can improve the structural strength of the second movable track and ensure the stability of the movable door frame when moving along the second movable track.

In some embodiments, the track assembly may further include a rack, which extends along the first moving track and the second moving track in sequence; the picking and placing equipment may further include a driving unit and a gear, the driving unit is arranged on the moving door frame, the gear is connected to the output end of the driving unit, and the gear is meshed with the rack.

Such an arrangement can improve the position accuracy of the movable door frame moving along the track assembly.

In some embodiments, the mobile gantry may include columns and beams, there are at least two columns, and the height of the columns matches the height of the shelf; the beam is connected between adjacent columns; the fork device is arranged between adjacent columns and moves along the columns.

At least one of the columns and beams is provided with a roller, the first movable track has a first slide groove, the second movable track has a second slide groove, the first slide groove is connected to the second slide groove, and the roller rolls along the first slide groove or the second slide groove.

Such an arrangement can provide guidance for the movement of the movable gantry and reduce the friction resistance when the movable gantry moves.

In some embodiments, there may be multiple shelves, and the multiple shelves are arranged at intervals, with lanes between adjacent shelves; the track assembly may also include a third movable track, and both ends of the third movable track are respectively connected to the first movable tracks of different shelves.

With this arrangement, the mobile gantry can carry out cargo picking and placing operations across different shelves.

In some embodiments, two ends of the third movable track are respectively opposite to two sides of the same lane; or, two ends of the third movable track are respectively opposite to different lanes.

With such arrangement, the mobile gantry can pick up and place goods on different shelves in the same aisle, or pick up and place goods on different shelves in different aisles, thereby expanding the range of movement of the mobile gantry.

In some embodiments, the first movable rail has an extension section, which extends from the side of the shelf to the outside of the aisle, and the second movable rail and the third movable rail are respectively docked with different positions of the extension section.

Such an arrangement can stagger the positions where the second movable track and the third movable track dock with the first movable track, thereby avoiding interference when the movable door frame moves between different tracks.

In some embodiments, the sorting conveyor line may include an input layer and an output layer, and the input layer and the output layer are arranged at intervals in the vertical direction; when the mobile gantry moves to the second mobile track, the fork device is configured to place the material box on the output layer, or to take the material box out from the output layer.

With this arrangement, the mobile gantry can carry out material box outbound and material box inbound operations at the same location, thereby improving logistics efficiency.

In a second aspect, the present application provides a warehouse, which includes a warehousing area, a storage area, an operation area, a warehousing area and handling equipment, and the warehouse is provided with the above-mentioned warehousing system;

The shelves of the storage system are set in the storage area, and the sorting and conveying lines of the storage system are set in the operation area;

The goods in the incoming warehouse area are transported to the shelves in the storage area by handling equipment; the goods on the shelves are transported to the sorting conveyor line along the track components by the warehousing system's pick-and-place equipment; the goods sorted out in the operating area are transported to the outgoing warehouse area by handling equipment.

In a third aspect, the present application provides a storage system control method, which is used for a controller of a storage system, and the method comprises:

Receive order information and determine the location coordinates of the target material box on the shelf based on the order information;

Determine the moving path of the pick-and-place device along the track assembly to the coordinates of the location of the target material box, so that the pick-and-place device can obtain the target material box and transport the target material box to the sorting conveyor line.

In some embodiments, a plurality of pick-up and place-cargo devices are arranged on the track assembly; after determining the moving path of the pick-up and place-cargo devices moving along the track assembly to the coordinates of the location of the target material box, the method further includes:

Select the pick-and-place equipment with the shortest moving path to transport the target material box.

In some embodiments, after the target material box is transported to the sorting conveyor line, the method further includes:

Send a storage instruction to the pick-up and release equipment so that the pick-up and release equipment can obtain the material box to be stored from the sorting conveyor line and transport the material box to be stored to the target empty space on the shelf.

In some embodiments, before transporting the material box to be stored to the target empty space on the shelf, the method further includes:

Determine whether the material box to be stored needs to be shipped out within the preset number of orders;

If the goods need to be shipped out, select the vacant storage space in the high-population area as the target space;

If there is no need to ship out, select the vacant storage space in the low-heat area as the target space.

In some embodiments, before transporting the material box to be stored to the target empty space on the shelf, the method further includes:

The target empty space is determined according to the position of the target material box corresponding to the next order to be executed by the pick-and-place device.

In some embodiments, the target empty space is a target material box corresponding to the next order that is located in the same storage row on the shelf or in an adjacent storage row on the shelf.

In a fourth aspect, the present application provides a storage medium storing computer execution instructions, which, when executed, are used to implement the warehouse system control method in the above technical solution.

The present application provides a storage system, a warehouse, a storage system control method and a storage medium, wherein the storage system includes: a shelf, a track assembly, a pick-up and release device, and a sorting conveyor line, wherein the shelf includes a plurality of storage layers arranged in a vertical direction; the track assembly includes a first moving track and a second moving track; there are a plurality of first moving tracks, and the plurality of first moving tracks are respectively located on opposite sides of the shelf and extend along the length direction of the shelf; the second moving track is arranged at the end of the shelf, and the two ends of the second moving track are respectively docked with the first moving tracks on both sides of the shelf. The pick-up and release device includes a mobile gantry and a fork device, the mobile gantry is configured to move along the track assembly; the fork device is connected to the mobile gantry, and the fork device is configured to move relative to the mobile gantry along the height direction of the shelf; the sorting conveyor line is arranged at the end of the shelf, and the sorting conveyor line is opposite to the second moving track, so that the mobile gantry can move back and forth between different sides of the shelf, has a wider range of goods pick-up and place, and can flexibly select the moving path of goods in and out of the warehouse according to the specific position of the material box, thereby improving the efficiency of in and out of the warehouse.

In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the warehousing system, warehouse, warehousing system control method and storage medium provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a structural schematic diagram 1 of a warehousing system provided in an embodiment of the present application;

FIG2 is a top view of a storage system provided in an embodiment of the present application;

FIG3 is a second structural schematic diagram of a warehousing system provided in an embodiment of the present application;

FIG4 is a second top view of the storage system provided in an embodiment of the present application;

FIG5 is a schematic diagram of a track assembly of a storage system provided in an embodiment of the present application;

FIG6 is a second schematic diagram of a track assembly of a storage system provided in an embodiment of the present application;

FIG. 7 is a third schematic diagram of a track assembly of a storage system provided in an embodiment of the present application;

FIG8 is a third structural diagram of a storage system provided in an embodiment of the present application;

FIG9 is a flow chart of a storage system control method provided in an embodiment of the present application;

FIG10 is a first schematic diagram of heat distribution of a storage system provided in an embodiment of the present application;

FIG11 is a second schematic diagram of heat distribution of a storage system provided in an embodiment of the present application;

FIG. 12 is a schematic diagram of a target space in a storage system provided in an embodiment of the present application.

Description of reference numerals:

100-shelf; 101-storage layer; 102-lane; 103-temporary storage layer; 110-high temperature area; 120-low temperature area;

200-track assembly; 210-first moving track; 211-first top track; 212-first bottom track; 213-first slide; 214-extension section; 220-second moving track; 221-second top track; 222-second bottom track; 223-support column; 224-second slide; 230-third moving track; 240-rack;

300-cargo pick-up and release equipment; 310-mobile door frame; 311-column; 312-crossbeam; 320-fork device; 330-drive unit; 331-gear; 340-roller;

400-sorting conveyor line; 410-input layer; 420-output layer;

500-Handling equipment.

Detailed ways

In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

Secondly, it should be noted that in the description of the present application, terms such as "up", "down", "left", "right", "front", "back", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present application.

In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

The three-dimensional warehouse system is widely used in the field of warehousing and logistics due to its large storage capacity. The three-dimensional warehouse is usually composed of multiple shelves, and the robots used to pick up and place goods can move between the shelves. At present, in order to improve the storage density of the three-dimensional warehouse, a mobile door frame can be set on the shelf of the three-dimensional warehouse. The mobile door frame docks with the side of the shelf and moves in the single-side aisle of the shelf to perform the operation of picking up and placing goods on a single shelf without leaving the aisle.

However, currently the mobile gantries on warehouse shelves can only perform goods in and out operations on one side of a single shelf, and the mobile gantries can only move within a fixed aisle of a fixed shelf. For shelves with storage exits on both sides of the shelf, mobile gantries need to be installed on both sides of the shelf, and different mobile gantries can only be responsible for their respective areas. When there are many orders on one side of the shelf where a mobile gantries is located, other idle mobile gantries cannot pick up and place orders, resulting in low efficiency in goods in and out of the warehouse.

In response to the above-mentioned problems, the embodiments of the present application provide a warehousing system, a warehouse, a warehousing system control method and a storage medium, wherein a plurality of rails are arranged on the shelves in the warehousing system and are connected to each other, so that a mobile gantry can move between different sides of the shelves. In this way, when executing order tasks for entering and leaving the warehouse, the coverage area of the mobile gantry can be controlled according to the popularity of orders in different areas of the shelves, thereby expanding the activity area of the mobile gantry and improving the efficiency of entering and leaving the warehouse for goods.

To facilitate understanding, the application scenarios to which the embodiments of the present application are applicable are first described below.

The warehousing system provided in the embodiment of the present application can be applied to the production process of a manufacturing factory or the entry and exit of inventory products, the entry and exit of inventory products in the retail industry, and can also be applied to different fields such as express entry and exit sorting in e-commerce logistics. The products involved in transportation and entry and exit can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., and the material box referred to in this application can be a storage container for the products listed above. The specific structure of the material box can be a box structure with a accommodating space, or it can be a pallet structure, etc., and the embodiment of the present application does not make specific limitations on this.

FIG1 is a structural schematic diagram 1 of a warehousing system provided in an embodiment of the present application, and FIG2 is a top view 1 of a warehousing system provided in an embodiment of the present application.

Please refer to Figures 1 and 2, the present application provides a storage system, which includes a shelf 100, a track assembly 200 and a pick-and-place device 300. The shelf 100 is used to store material boxes. The track assembly 200 is connected to the shelf 100, and the pick-and-place device 300 can move on the track assembly 200, so that the pick-and-place device 300 can move on the shelf 100, and then the shelf 100 can be picked up and placed.

The shelf 100 includes a plurality of storage layers 101 arranged in a vertical direction. Each storage layer 101 has a plurality of storage locations for storing material boxes, and entrances and exits of the storage locations are arranged on opposite sides of the shelf 100.

Exemplarily, each storage layer 101 of the shelf 100 has two rows of storage locations, wherein the entrance and exit of one row of storage locations faces the first side of the shelf 100, and the entrance and exit of the other row of storage locations faces the second side of the shelf 100, thereby improving the storage density of the shelf 100. The picking and placing device 300 can pick and place material boxes in the corresponding storage locations on the first side of the shelf 100 or the second side of the shelf 100.

In some embodiments, the track assembly 200 includes a first moving track 210 and a second moving track 220. There are multiple first moving tracks 210, which are respectively located on opposite sides of the shelf 100 and extend along the length direction of the shelf 100. The second moving track 220 is disposed at the end of the shelf 100, and both ends of the second moving track 220 are respectively connected to the first moving tracks 210 on both sides of the shelf 100.

It can be understood that the second movable track 220 connects the first movable track 210 on the first side of the shelf 100 and the movable track on the second side of the shelf 100. In this way, with the second movable track 220 as a connection and transition, the picking and placing equipment 300 can move back and forth on both sides of the shelf 100 according to the specific location of the target storage location corresponding to the material box required to be picked up and placed in the order.

In some embodiments, the picking and placing equipment 300 includes a mobile gantry 310 and a fork device 320, and the mobile gantry 310 is configured to move along the track assembly 200. The fork device 320 is connected to the mobile gantry 310, and the fork device 320 is configured to move along the height direction of the shelf 100 relative to the mobile gantry 310.

It can be understood that the shelf 100 has a plurality of storage layers 101, and the height of the movable gantry 310 can match the height of the shelf 100. The movable gantry 310 extends in the vertical direction, that is, the movable gantry 310 extends along the arrangement direction of the plurality of storage layers 101, so that the fork device 320 can move along the movable gantry 310 to the storage layers 101 at different heights, and the movable gantry 310 moves along the track assembly 200, so that the fork device 320 can be opposite to the entrances of different storage locations in the corresponding storage layer 101, and then the fork device 320 can perform pick-up and place operations at any storage location on the shelf 100.

The warehousing system provided in the embodiment of the present application may further include a sorting conveying device. The sorting conveying line 400 is arranged at the end of the shelf 100, and the sorting conveying line 400 is opposite to the second moving track 220. When the mobile door frame 310 moves to the second moving track 220, the fork device 320 can obtain the material box entering the warehouse from the sorting conveying line 400, or place the material box taken out from the shelf 100 on the sorting conveying line 400.

It should be noted that in the warehousing system provided in the embodiment of the present application, by setting the first movable rail 210 on both sides of the shelf 100, and connecting the first movable rail 210 on both sides by using the second movable rail 220 to form an integral rail, the movable gantry 310 can move back and forth between different sides of the shelf 100, with a wider range of cargo picking and placing, and can flexibly select the moving path of goods in and out of the warehouse according to the specific location of the material box, thereby improving the efficiency of entering and leaving the warehouse.

Figure 3 is a second schematic diagram of the structure of the warehousing system provided in an embodiment of the present application, Figure 4 is a second top view of the warehousing system provided in an embodiment of the present application, and Figure 5 is a first schematic diagram of the track assembly of the warehousing system provided in an embodiment of the present application.

The connection method and specific structure of the first movable track 210 and the second movable track 220 are described in detail below.

Please refer to Figures 3 and 4, and in combination with Figure 1, in some embodiments, a second movable rail 220 is provided at both ends of the shelf 100, and the two ends of the first movable rail 210 are respectively connected to the second movable rail 220 at both ends of the shelf 100, so that the first movable rail 210 and the second movable rail 220 are jointly arranged to form a circular rail.

It can be understood that when a cargo picking and placing device 300 needs to move from one side of the shelf 100 to the other side of the shelf 100 to perform cargo picking and placing operations, the cargo picking and placing device 300 has two options for its moving path. The first option is to move clockwise along the circular track formed by the first moving track 210 and the second moving track 220, and the second option is to move counterclockwise along the circular track formed by the first moving track 210 and the second moving track 220.

It should be noted that when actually executing an order task, the picking and placing device 300 can weigh multiple aspects to choose which moving path to use. For example, the picking and placing device 300 can choose to use the shortest moving path, thereby shortening the time for the mobile door frame 310 to move between different sides of the shelf 100, thereby improving logistics efficiency.

In addition, it is possible to first determine whether each moving path is occupied by other picking and placing equipment 300, and select a moving path that will not be occupied in the future to move, so as to avoid path interference in the process of executing the order task.

In some embodiments, the first moving rail 210 and the second moving rail 220 have an arc transition, so that the smoothness of the movement of the moving gantry 310 between the first moving rail 210 and the second moving rail 220 can be improved.

The first movable track 210 may extend in a straight line direction. The extension direction of the first movable track 210 is the length direction of the shelf 100. Since both ends of the second movable track 220 need to be docked with the first movable tracks 210 on both sides of the shelf 100, at least part of the structure of both ends of the second movable track 220 is arc-shaped.

It can be understood that the tangent of the end position of the second moving rail 220 can be parallel to or overlap with the extension direction of the first moving rail 210, so as to avoid jamming when the moving gantry 310 transitions from the first moving rail 210 to the second moving rail 220, or when the moving gantry 310 transitions from the second moving rail 220 to the first moving rail 210.

Exemplarily, as shown in Fig. 4, the second moving track 220 is in an arc shape, and the diameter of the second moving track 220 matches the width of the shelf 100. In this way, the smoothness of the moving door frame 310 when moving along the second moving track 220 can be improved.

Exemplarily, as shown in FIG. 5 , the second movable rail 220 may have arc segments only at both ends, and straight line segments are provided between the arc segments at both ends. In this way, while ensuring the smooth movement of the movable gantry 310, the space occupied by the second movable rail 220 at the end of the shelf 100 can be reduced.

In some embodiments, there may be multiple pick-up and place-down devices 300, and the multiple pick-up and place-down devices 300 are arranged at intervals along the track assembly 200. The multiple pick-up and place-down devices 300 can move independently along the track assembly 200. Thus, the tasks of taking out and into the warehouse of multiple material boxes can be performed simultaneously, thereby improving logistics efficiency.

It is understandable that multiple pick-up and placement devices 300 can respectively perform different order pick-up and delivery tasks. When different pick-up and placement devices 300 perform different order tasks at the same time, the target material boxes corresponding to the different order tasks can be in the warehouse on the same side of the shelf 100, or in the warehouse on different sides of the shelf 100, that is, multiple pick-up and placement devices 300 can pick up and place material boxes on the same side of the shelf 100 at the same time, or can pick up and place material boxes on different sides of the shelf 100.

Since each cargo picking and placing device 300 can be moved to the first moving track 210 on different sides of the shelf 100 via the second moving track 220 , the moving areas where different cargo picking and placing devices 300 can pick and place cargo at least partially overlap.

Exemplarily, two pick-up and place-cargo devices 300 may be arranged on each shelf 100, and the moving areas of the two pick-up and place-cargo devices 300 may both cover the entire shelf 100. Meanwhile, the moving area covered by each pick-up and place-cargo device 300 may include a primary area and a secondary area. For example, the primary area of the first pick-up and place-cargo device 300 is the first side of the shelf 100, and the secondary area is the second side of the shelf 100; while the primary area of the second pick-up and place-cargo device 300 is the second side of the shelf 100, and the secondary area is the first side of the shelf 100.

When executing order tasks, each pick-up and place device 300 can give priority to material boxes in its main area. When the popularity of a certain side of the shelf 100 is higher, that is, the number of orders corresponding to the material boxes on this side is larger, in addition to the pick-up and place device 300 with this side as the main area, the pick-up and place device 300 with this side as the secondary area can also move to this side to pick up and place material boxes, so as to relieve order pressure and improve the efficiency of order entry and exit.

Please continue to refer to Figures 1 and 2. In some embodiments, the first movable rail 210 may include a first top rail 211 and a first bottom rail 212. The first top rail 211 is connected to the top beam 312 of the shelf 100, and the first bottom rail 212 is connected to the bottom beam 312 of the shelf 100.

Accordingly, the second moving track 220 may include a second top track 221 and a second bottom track 222, and both ends of the second top track 221 are respectively connected to the first top tracks 211 on both sides of the shelf 100. Both ends of the second bottom track 222 are respectively connected to the first bottom tracks 212 on both sides of the shelf 100.

It is understandable that the first top rail 211 and the second top rail 221 can form a circular rail located at the top of the shelf 100. The second bottom rail 222 and the second bottom rail 222 can form a circular rail located at the bottom of the shelf 100. The top circular rail and the bottom circular rail can support the top and bottom of the moving door frame 310 respectively, thereby improving the stability of the moving door frame 310 and the track assembly 200.

In some embodiments, the second movable rail 220 may further include a support column 223 , and both ends of the support column 223 are respectively connected to the second top rail 221 and the second bottom rail 222 .

It can be understood that the first moving rail 210 extends along the length direction of the shelf 100, and multiple positions in the length direction of the first moving rail 210 can be connected to the shelf 100 by fasteners such as bolts. The second moving rail 220 is located at the end of the shelf 100, and the two ends of the second moving rail 220 are connected to the two first moving rails 210. At this time, the second moving rail 220 is in a suspended state, and the support column 223 can provide support for the second moving rail 220, thereby improving the structural strength of the second moving rail 220 and ensuring the stability of the moving gantry 310 when moving along the second moving rail 220.

The driving structure and guiding structure for the movable door frame 310 to move on the track assembly 200 are described in detail below.

1 and 2, in some embodiments, the track assembly 200 may further include a rack 240, which extends in sequence along the first moving track 210 and the second moving track 220. The cargo pick-up and placement device 300 may further include a drive unit 330 and a gear 331, wherein the drive unit 330 is disposed on the moving door frame 310, the gear 331 is connected to the output end of the drive unit 330, and the gear 331 is meshed with the rack 240, thereby improving the position accuracy of the moving door frame 310 moving along the track assembly 200.

It is understandable that the drive unit 330 can be a motor, and the gear 331 is connected to the output shaft of the motor. The drive unit 330 can be arranged on the top of the moving door frame 310, and the rack 240 can be arranged on the top of the first moving track 210 and the top of the second moving track 220.

Exemplarily, the fork device 320 may include a fixed arm and a telescopic arm. The telescopic arm may be extended relative to the fixed arm, and the telescopic arm may cooperate with two side walls of the material box to lift the material box.

It should be noted that the transmission and drive structure for the telescopic arm to be extended and retracted relative to the fixed arm, and the transmission and drive structure for the fork device 320 to move up and down relative to the movable door frame 310 as a whole, can be driven by a motor, as well as transmission structures such as chains, belts, gears 331, racks 240, and wire ropes, and the embodiments of the present application do not make specific limitations on this.

In some embodiments, the mobile door frame 310 may include a column 311 and a beam 312. There are at least two columns 311, and the height of the columns 311 matches the height of the shelf 100. The beam 312 is connected between adjacent columns 311. The fork device 320 is disposed between adjacent columns 311 and moves along the columns 311.

Exemplarily, there may be two columns 311 , which are parallel to each other, there may be two beams 312 , which are connected between the two columns 311 , and the two beams 312 are respectively connected to the bottom and top of the columns 311 , and the fork device 320 is disposed between the two columns 311 .

In addition, more cross beams 312 may be provided, for example, three, four or more cross beams 312 may be provided to improve the structural strength of the movable gantry 310 , and the embodiment of the present application does not make any specific limitation to this.

It should be noted that the transmission structure for the movable gantry 310 to move along the track assembly 200 on the shelf 100 may also use transmission structures such as chains and sprockets, belts and pulleys, and wire ropes in addition to the gear 331 and the rack 240.

In some embodiments, a roller 340 is provided on at least one of the columns 311 and the beams 312, the first movable rail 210 has a first slide groove 213, the second movable rail 220 has a second slide groove 224, the first slide groove 213 and the second slide groove 224 are connected, and the roller 340 rolls along the first slide groove 213 or the second slide groove 224, thereby providing guidance for the movement of the movable door frame 310 and reducing the friction resistance when the movable door frame 310 moves.

It can be understood that the first sliding groove 213 extends along the first moving track 210 , and the second sliding groove 224 extends along the second moving track 220 .

FIG6 is a second schematic diagram of a track assembly of a warehousing system provided in an embodiment of the present application, and FIG7 is a third schematic diagram of a track assembly of a warehousing system provided in an embodiment of the present application.

6 and 7, and in combination with FIG. 1 and FIG. 2, in some embodiments, there may be a plurality of shelves 100, and the plurality of shelves 100 are arranged at intervals, and there is an aisle 102 between adjacent shelves 100. The track assembly 200 may further include a third moving track 230, and both ends of the third moving track 230 are respectively connected to the first moving tracks 210 of different shelves 100, so that the mobile door frame 310 can perform cargo picking and placing operations across different shelves 100.

Exemplarily, the two ends of the third movable track 230 are respectively opposite to the two sides of the same lane 102. The shelf 100 includes a first shelf and a second shelf, the first shelf has an A-side storage location and a B-side storage location, and the second shelf has a C-side storage location and a D-side storage location, wherein the A-side storage location of the first shelf and the C-side storage location of the second shelf are opposite and both face the lane 102 therebetween, and the two ends of the third movable track 230 can be respectively connected to the first movable track 210 corresponding to the A-side storage location and the first movable track 210 corresponding to the C-side storage location.

Exemplarily, the two ends of the third movable track 230 are respectively opposite to different lanes 102. The shelf 100 includes a first shelf and a second shelf, the first shelf has an A-side storage location and a B-side storage location, and the second shelf has a C-side storage location and a D-side storage location, wherein the A-side storage location of the first shelf and the C-side storage location of the second shelf are opposite and both face the lane 102 between the two, the B-side storage location is located on the side of the first shelf away from the second shelf, and the D-side storage location is located on the side of the second shelf away from the first shelf. The two ends of the third movable track 230 can be connected to the first movable track 210 corresponding to the A-side storage location and the first movable track 210 corresponding to the D-side storage location, respectively. Alternatively, the two ends of the third movable track 230 can be connected to the first movable track 210 corresponding to the B-side storage location and the first movable track 210 corresponding to the C-side storage location, respectively.

It should be noted that the mobile gantry 310 can pick up and place goods on different shelves in the same lane 102, or pick up and place goods on different shelves 100 in different lanes 102, thereby expanding the range of motion of the mobile gantry 310. There can be multiple third moving rails 230, and multiple third moving rails 230 can adopt one or more of the above-mentioned docking structures, which is not specifically limited in the embodiments of the present application.

6 and 7, in some embodiments, the first moving rail 210 has an extension section 214, and the extension section 214 extends from the side of the shelf 100 to the outside of the lane 102, and the second moving rail 220 and the third moving rail 230 are respectively docked with different positions of the extension section 214. In this way, the positions where the second moving rail 220 and the third moving rail 230 dock with the first moving rail 210 can be staggered, so as to avoid interference when the moving door frame 310 moves between different rails.

Exemplarily, a direction-changing switch may be provided at the position where the second moving rail 220 and the first moving rail 210 are docked. When the moving gantry 310 moves to the docking position of the first moving rail 210 and the second moving rail 220, the direction-changing switch enables the moving gantry 310 to select a different moving path. For example, the direction-changing switch may be a guide plate driven by a motor. When the guide plate is raised, the moving gantry 310 may continue to move along the extension section 214 until the moving gantry 310 moves to the third moving rail 230. When the guide plate is lowered, the moving gantry 310 may change its moving direction under the guidance of the guide plate and move to the second moving rail 220.

In some embodiments, the sorting conveyor line 400 may include an input layer 410 and an output layer 420, and the input layer 410 and the output layer 420 are arranged at intervals in the vertical direction.

It is understandable that when the mobile gantry 310 moves to the second moving track 220, the fork device 320 is configured to place the material box on the output layer 420, or to take the material box out of the output layer 420. In this way, the mobile gantry 310 can perform the material box outbound and material box inbound operations at the same position, thereby improving logistics efficiency.

The conveying directions of the input layer 410 and the output layer 420 are opposite. The input layer 410 and the output layer 420 are both extended in the horizontal direction. By arranging the input layer 410 and the output layer 420 in the vertical direction, the longitudinal space can be fully utilized, the area occupied by the sorting conveyor line 400 can be reduced, and the space utilization rate can be improved.

It should be noted that a sorting mechanism can be provided around the sorting conveyor line 400, and the sorting is used to sort the goods in the material box output by the sorting conveyor line 400. In addition, a button for stopping the operation of the sorting conveyor line 400 can be provided to control the start and stop of the sorting conveyor line 400 during the sorting process. The sorting mechanism can be provided with a detection mechanism for detecting whether the sorting operation of the goods in the current material box is completed. In addition, the sorting mechanism can adopt either a robot automatic sorting method or a manual sorting method, and the embodiments of the present application do not specifically limit this.

FIG8 is a third structural diagram of the warehousing system provided in an embodiment of the present application.

Referring to FIG8 and FIG1 , in a possible implementation, at least one of the plurality of storage layers 101 arranged in the vertical direction is provided as a temporary storage layer 103. Exemplarily, the temporary storage layer 103 may be located at the bottom layer of the shelf 100.

The storage system may further include a handling device 500, and a moving passage for the handling device 500 to move may be provided at the bottom of the shelf 100 below the temporary storage layer 103. When the goods are shipped out, the pick-up and delivery device 300 may pick up and place the material box of the target storage location to an empty position in the temporary storage layer 103, and the handling device 500 moves to the bottom of the corresponding material box position of the corresponding temporary storage layer 103, takes out the material box to be shipped out and transports it to the next process. When the goods are shipped in, the handling device 500 may transport the material box to the temporary storage layer 103, and then the pick-up and delivery device 300 may transport the material box to be shipped in the temporary storage layer 103 to the target storage location of the upper storage layer 101.

It can be understood that when the warehousing system of the present application is performing a warehousing or outbound process, the picking and placing equipment 300 can cooperate with the sorting conveyor line 400 to output or obtain material boxes, or the picking and placing equipment 300 can transition through the temporary storage layer 103 and the material boxes can be output or obtained by the handling equipment 500.

It should be noted that the warehousing system can select different order outbound methods and paths according to the popularity of orders in different areas of the shelves, as well as the busyness of the sorting conveyor line 400 and the handling equipment 500. The picking and placing equipment 300, the sorting conveyor line 400 and the handling equipment 500 can work in coordination with each other. The embodiment of the present application does not specifically limit the specific logistics path.

An embodiment of the present application provides a warehouse, which includes a warehousing area, a storage area, an operation area, a warehousing area and handling equipment, and the warehouse is provided with the above-mentioned warehousing system.

The shelves 100 of the storage system may be arranged in the storage area, and the sorting conveyor line 400 of the storage system may be arranged in the operation area.

It is understandable that the goods in the storage area are transported to the shelves 100 in the storage area by the handling equipment. The goods on the shelves 100 are transported to the sorting conveyor line 400 along the track assembly 200 by the warehousing system's pick-and-place equipment 300. The goods sorted out in the operation area are transported to the outbound area by the handling equipment.

The warehouse in the embodiment of the present application may include all the technical solutions and technical effects of the aforementioned warehousing system, which will not be repeated here.

FIG. 9 is a flow chart of a storage system control method provided in an embodiment of the present application.

Referring to FIG. 9 , in combination with FIGS. 1 to 7 , an embodiment of the present application provides a storage system control method, which is used for a controller of the storage system. The controller of the storage system serves as an execution subject of the method. The method includes:

S100, receiving order information, and determining the position coordinates of the target material box on the shelf according to the order information.

The controller of the storage system can receive the order information by wireless communication or wired communication. The order information includes the type and quantity of goods in the target order. The controller of the storage system can determine the specific coordinate position of the target material box in the shelf 100 of the storage system according to the information of the target order.

It should be noted that the storage system's memory stores the storage information of the goods in the material boxes on all shelves 100 of the current storage system, including the type of goods and the storage quantity of the goods in the material box, etc. After receiving the order information, the controller can retrieve the coordinates of all the material boxes where the required target goods are located from the memory by keyword search, and determine the pick-up and release equipment 300 and sorting conveyor line 400 that need to execute the target order outbound task according to the busy status of all the pick-up and release equipment 300 and sorting conveyor line 400 in the current storage system.

S200, determining a moving path of the pick-up and place device along the track assembly to the coordinates of the location of the target material box, so that the pick-up and place device obtains the target material box and transports the target material box to the sorting conveyor line.

It can be understood that after the coordinate position of the target material box is determined and the picking and placing device 300 that executes the corresponding order task is determined, a first picking instruction is sent to the picking and placing device 300, wherein the first picking instruction includes the coordinate information of the target material box, for example, the coordinates of the target material box are [W, X, Y], W is the side of the storage location of the target material box on the shelf 100, X corresponds to the storage column of the target material box on the shelf 100, and Y corresponds to the storage layer 101 where the target material box is located in the corresponding storage column.

When the picking and placing equipment 300 is picking up goods, the movable gantry 310 first moves along the track assembly 200 to the corresponding side of the shelf 100, and moves along the first movable track 210 on this side to the storage column corresponding to the target material box, and then the fork device 320 moves along the movable gantry 310 to the corresponding storage layer 101, opposite to the target material box, and performs the picking and placing operation.

In some embodiments, a plurality of cargo pick-up and placement devices 300 are disposed on the track assembly 200; after determining the moving path of the cargo pick-up and placement device 300 moving along the track assembly 200 to the coordinates of the location of the target material box, the method further includes:

The picking and placing device 300 with the shortest moving path is selected to transport the target material box.

It is understandable that when the selected picking and placing device 300 and the storage location where the target material box is located are located on the same side of the target shelf 100, the picking and placing device 300 only needs to move along the first moving track 210 on that side to reach the storage location where the target material box is located.

When the selected picking and placing equipment 300 and the storage location where the target material box is located are located on the other side of the target shelf 100, the picking and placing equipment 300 can move across from the end of the shelf 100 to the first moving track 210 on the side where the storage location of the target material box is located via the second moving track 220, and then move along the first moving track 210 to reach the storage location where the target material box is located.

When the selected picking and placing equipment 300 and the storage location where the target material box is located are not on the same shelf 100, the picking and placing equipment 300 can cross the aisle 102 between the shelves 100 from the end of the shelf 100 via the third moving track 230, move to the first moving track 210 on the side where the storage location of the target material box is located, and then move along the first moving track 210 to the storage location where the target material box is located.

In some embodiments, after the target material box is transported to the sorting conveying line 400, the method further includes:

A storage instruction is sent to the picking and placing device 300 so that the picking and placing device 300 obtains the material box to be stored from the sorting conveyor line 400 and transports the material box to be stored to the target empty position on the shelf 100.

FIG10 is a first schematic diagram of heat distribution of a storage system provided in an embodiment of the present application, and FIG11 is a second schematic diagram of heat distribution of a storage system provided in an embodiment of the present application.

In some embodiments, before the material box to be stored is transported to the target empty space on the shelf 100, the process further includes:

Determine whether the material box to be stored needs to be shipped out within the preset number of orders; if it needs to be shipped out, select the vacant storage space in the high-heat zone 110 as the target space; if it does not need to be shipped out, select the vacant storage space in the low-heat zone 120 as the target space.

It can be understood that when the material box to be stored needs to be shipped out within the preset number of orders, it means that the material box to be stored needs to be taken out from the shelf 100 again to the sorting conveyor line 400 after a short time. Therefore, the vacant storage space in the high-temperature zone 110 is used as the target space. When the material box to be stored needs to be shipped out again, the picking and releasing equipment 300 can take it out and transport it to the sorting conveyor line 400 through a shorter shipping path, thereby improving logistics efficiency.

When the material box to be stored does not need to be shipped out within the preset number of orders, it means that there will be no order hitting the material box to be stored in a short time. Therefore, selecting the vacant storage space in the low-temperature zone 120 as the target space can ensure that the space on the shelf 100 is fully utilized.

For example, referring to FIG. 10 , the high temperature zone 110 and the low temperature zone 120 may be vertically distributed on the shelf 100, for example, the upper layer is the high temperature zone 110, and the lower layer is the low temperature zone 120. Alternatively, referring to FIG. 11 , the high temperature zone 110 and the low temperature zone 120 may be horizontally distributed on the shelf 100, with the side close to the sorting conveyor line 400 being the high temperature zone 110 and the side away from the sorting conveyor line 400 being the low temperature zone 120.

FIG. 12 is a schematic diagram of a target space in a storage system provided in an embodiment of the present application.

In some embodiments, before the material box to be stored is transported to the target empty space on the shelf 100, the process may further include: determining the target empty space according to the position of the target material box corresponding to the next order to be executed by the picking and placing device 300.

It is understandable that the target empty space can be located near the location of the target material box corresponding to the next order. After the picking and placing device 300 places the material box to be stored in the target empty space, the picking and placing device 300 can move to the target material box corresponding to the next order through a shorter path and time, so that the next order task can be quickly executed, thereby improving logistics efficiency.

Exemplarily, the target empty space is a target material box corresponding to the next order that is located in the same storage row on the shelf 100 or in an adjacent storage row on the shelf 100 .

Please refer to Figure 12. The target material box of the next order is at position a on shelf 100. The target empty position to be selected may be b, c, d, e, etc. You can select a target empty position that is closer to position a.

An embodiment of the present application also provides a storage medium, which stores computer execution instructions, and when the computer execution instructions are executed, they are used to implement the warehouse system control method in the above technical solution.

Among them, the storage medium can be a computer-readable storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer-readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. In addition, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

Exemplarily, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special-purpose computer.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the scope of the technical solution of the embodiments of the present application.

Claims (21)

1. A warehousing system, comprising:

The storage rack comprises a plurality of storage layers which are arranged along the vertical direction;

A track assembly including a first moving track and a second moving track; the plurality of first moving tracks are respectively positioned at two opposite sides of the goods shelf and extend along the length direction of the goods shelf; the second moving track is arranged at the end part of the goods shelf, and two ends of the second moving track are respectively in butt joint with the first moving tracks at two sides of the goods shelf;

A pick and place apparatus comprising a moving gantry and a fork arrangement, the moving gantry configured to move along the track assembly; the fork device is connected with the movable door frame and is configured to move along the height direction of the goods shelf relative to the movable door frame;

Sorting transfer chain, sorting transfer chain set up in the tip of goods shelves, just sorting transfer chain with the second removes the track relatively.

2. The warehousing system according to claim 1, wherein the second moving rails are provided at both ends of the shelf, and both ends of the first moving rail are respectively abutted to the second moving rails at both ends of the shelf, so that the first moving rails and the second moving rails are jointly enclosed to form an annular rail.

3. The warehousing system of claim 1 wherein the first and second travel rails are in a circular arc transition therebetween.

4. The warehousing system of claim 3 wherein the second travel track is circular arc shaped and the diameter of the second travel track matches the width of the shelves.

5. The warehousing system of any one of claims 1-4 wherein the pick and place device is a plurality of the pick and place devices spaced along the track assembly; a plurality of the pick and place devices are independently movable along the track assembly.

6. The warehousing system of any one of claims 1-4 wherein the first travel track includes a first top track and a first bottom track, the first top track being connected to a top beam of the rack and the first bottom track being connected to a bottom beam of the rack;

the second moving track comprises a second top track and a second bottom track, and two ends of the second top track are respectively connected with the first top tracks on two sides of the goods shelf; and two ends of the second bottom rail are respectively connected with the first bottom rails on two sides of the goods shelf.

7. The warehousing system of claim 6 wherein the second moving track further includes support columns, the support columns being connected at both ends to the second top track and the second bottom track, respectively.

8. The warehousing system of any one of claims 1-4 wherein the track assembly further includes a rack extending sequentially along the first and second travel tracks; the pick-and-place equipment further comprises a driving unit and a gear, wherein the driving unit is arranged on the movable door frame, the gear is connected with the output end of the driving unit, and the gear is meshed with the rack.

9. The warehousing system of any one of claims 1-4 wherein the mobile gantry includes at least two columns and a cross beam, the columns having a height that matches the height of the shelves; the cross beam is connected between the adjacent upright posts; the fork device is arranged between the adjacent upright posts and moves along the upright posts;

The stand with be provided with the gyro wheel on at least one of the crossbeam, first removal track has first spout, the second removes the track and has the second spout, first spout with second spout intercommunication, the gyro wheel is followed first spout or second spout roll.

10. The warehousing system of any one of claims 1-4 wherein the plurality of shelves are spaced apart with lanes between adjacent shelves; the rail assembly further comprises a third moving rail, and two ends of the third moving rail are respectively in butt joint with the first moving rail of different goods shelves.

11. The warehousing system of claim 10 wherein the ends of the third moving track are respectively opposite the sides of the same lane; or two ends of the third moving track are respectively opposite to different roadways.

12. The warehousing system of claim 10 wherein the first movement track has an extension extending from a side of the rack to an exterior of the roadway, the second and third movement tracks respectively interfacing with different locations of the extension.

13. The warehousing system of any one of claims 1-4 wherein the sorting conveyor line includes an input layer and an output layer, the input layer and the output layer being spaced apart in a vertical direction; the fork device is configured to place the material bin to the output level or to remove the material bin from the output level when the mobile mast moves to the second mobile track.

14. A warehouse, characterized in that it comprises a warehouse area, a storage area, an operation area, a warehouse-out area and a handling equipment, said warehouse being provided with a warehouse system as claimed in any one of claims 1-13;

the goods shelf of the warehousing system is arranged in the storage area, and the sorting conveying line of the warehousing system is arranged in the operation area;

the goods in the warehouse-in area are conveyed to the goods shelves in the storage area through the conveying equipment; the goods on the goods shelf are conveyed to the sorting conveying line along the track assembly through the pick-and-place equipment of the warehousing system; and conveying cargoes sorted out from the working area to the warehouse-out area through the conveying equipment.

15. The storage system control method is characterized by comprising a controller for the storage system, wherein the storage system comprises a goods shelf, a track assembly and pick-and-place equipment, the track assembly comprises a first moving track and a second moving track, the first moving track is arranged on two opposite sides of the goods shelf, the second moving track is arranged at the end part of the goods shelf, and two ends of the second moving track are respectively in butt joint with the first moving tracks on two sides of the goods shelf;

the method comprises the following steps:

Receiving order information, and determining the position coordinates of a target material box on the goods shelf according to the order information;

And determining a moving path of the picking and placing equipment along the track assembly to the position coordinate of the target material box, so that the picking and placing equipment acquires the target material box and conveys the target material box to a sorting conveying line.

16. The warehousing system control method of claim 15 wherein the track assembly has a plurality of pick and place devices disposed thereon; after determining the moving path of the pick-and-place equipment along the track assembly to the position coordinates of the target material box, the pick-and-place equipment further comprises:

And selecting the picking and placing equipment with the shortest moving path to convey the target material box.

17. The warehouse system control method as claimed in claim 15, wherein after transporting the target material bin to a sorting conveyor line, further comprising:

and sending a warehousing instruction to the picking and placing equipment so that the picking and placing equipment acquires a material box to be warehoused from the sorting conveying line and conveys the material box to be warehoused to a target vacancy on the goods shelf.

18. The warehousing system control method of claim 17, wherein prior to transporting the to-be-stocked material tank to the target void on the shelf, further comprising:

judging whether the material box to be warehoused needs to be warehoused in the preset order times;

If the warehouse-out is needed, selecting an empty warehouse position of the high-heat area as a target vacancy;

And if the warehouse-out is not needed, selecting the empty warehouse bit of the low-heat zone as a target empty position.

19. The warehousing system control method of claim 17, wherein prior to transporting the to-be-stocked material tank to the target void on the shelf, further comprising:

And determining the target vacancy according to the position of the target material box corresponding to the next order to be executed by the pick-and-place equipment.

20. The warehousing system control method of claim 19, wherein the target empty space is the same warehouse column on the shelf or an adjacent warehouse column on the shelf as the target material box corresponding to the next order.

21. A storage medium having stored thereon computer-executable instructions that, when executed, are adapted to implement the warehousing system control method of any one of claims 15-20.